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Transmission control method for real-time positioning signal of unmanned aerial vehicle

A real-time positioning and transmission control technology, applied in the field of drones, can solve the problems of inaccurate positioning control and single reference factors

Pending Publication Date: 2021-11-12
北京晟天行科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of single reference factors and inaccurate positioning control in the current UAV positioning, the present invention requests protection of a transmission control method for real-time positioning signals of UAVs

Method used

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  • Transmission control method for real-time positioning signal of unmanned aerial vehicle
  • Transmission control method for real-time positioning signal of unmanned aerial vehicle
  • Transmission control method for real-time positioning signal of unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] Specifically, refer to the attached figure 2 , Embodiment 1 of a transmission control method of a real-time positioning signal of a UAV involved in the present invention, said S1: Acquiring the collected images of the UAV flying over the multi-terrain, specifically including:

[0044] S11. Perform image preprocessing, establish a noise model, complete spatial domain filtering and frequency domain filtering, and use Gaussian low-pass filtering plus median filtering;

[0045] S12. Using the Lucy-Richardision algorithm to perform global motion blur and local motion blur elimination;

[0046] S13. Using the improved K-means clustering method to re-cluster the real frame to obtain an anchor frame more suitable for the current data set;

[0047] S14. Adjust the structure of the convolutional layer, perform sensitivity analysis based on the L1 norm, and perform pruning according to the analysis result.

[0048] Gaussian low-pass filtering is performed in the Fourier frequen...

Embodiment 2

[0060] Specifically, refer to image 3 It is the second embodiment of the transmission control method of a UAV real-time positioning signal involved in the present invention. The S2: Acquire multi-type sensor data installed on the UAV, and fuse the multi-type sensor data for positioning, specifically include:

[0061] S21: Establish a suitable coordinate system and navigate the coordinate system O n -X n Y n Z n And the airborne coordinate system O-XYZ, the navigation coordinate system is a coordinate system that uses the ground as a reference, and is used to describe the movement state of the UAV when the ground is used as a reference system. The navigation coordinate system is a reference fixed on the UAV. Tie;

[0062] S22: Wheel odometer data analysis, using photoelectric encoder, using dead reckoning positioning algorithm to solve positioning parameters;

[0063] S23: analyzing and processing the IMU data of the UAV;

[0064] S24: Process the laser radar data of th...

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Abstract

The invention relates to a transmission control method for a real-time positioning signal of an unmanned aerial vehicle, which is used for controlling positioning control when the unmanned aerial vehicle flies over multiple terrains, and comprises the following steps that: acquired images are obtained when the unmanned aerial vehicle flies over the multiple terrains, data of multiple types of sensors mounted on the unmanned aerial vehicle are obtained, multiple types of sensor data are fused and positioned, a prediction model is constructed by using a positioning algorithm of a Monte Carlo method, an output result of adaptive Monte Carlo positioning is matched with features of an acquired image to serve as a positioning result of a positioning system, and a path planning algorithm is adopted to navigate the unmanned aerial vehicle. According to the transmission control method for the real-time positioning signal of the unmanned aerial vehicle, the problem of inaccurate image precision identification during current unmanned aerial vehicle positioning control is avoided, the autonomous navigation function of the unmanned aerial vehicle is realized, the position of the unmanned aerial vehicle is quickly determined when the unmanned aerial vehicle is started, and the positioning algorithm has the advantages of high precision and good robustness.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a transmission control method for real-time positioning signals of an unmanned aerial vehicle. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. There is no cockpit on board, but it is equipped with autopilot, program control device, signal acquisition device and other equipment. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. Under the radio control, it can take off like an ordinary aircraft or be launched into the air with a booster rocket, and it can also be taken into the air by the parent aircraft for flight. In the prior art, image tracking technology already exists in unmanned ae...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01C21/16
CPCG01C21/20G01C21/005G01C21/1652G01C21/165
Inventor 王佩李帅
Owner 北京晟天行科技有限公司