Sense and avoid system and avoid method for multi-rotor UAV

A multi-rotor UAV and sensing module technology, applied in the field of multi-rotor UAV perception and avoidance systems, can solve the problem of high false alarm probability, large angle error of the UAV airspace perception system, and disadvantageous light and small multi-rotor unmanned aerial vehicles. Machine system integration application and other issues

CN103869822BActive Publication Date: 2016-09-07NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2016-09-07

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Abstract

The invention discloses a multiple-rotor-wing unmanned aerial vehicle sensing and avoiding system which comprises a barrier avoiding module. The output end of the barrier avoiding module is connected with a flight control module, the input end of the barrier avoiding module is further connected with a navigation module, the barrier avoiding module is further connected with an ADS-B perception module for data receiving and sending, the ADS-B perception module comprises an ADS-B OUT transmitting module and an ADS-B IN receiving module, the ADS-B OUT transmitting module is connected with a transmitting antenna, and the ADS-B IN receiving module is connected with a receiving antenna. The invention further discloses an avoiding method which simplifies spatial perception and barrier avoiding complexity of an unmanned aerial vehicle, can guarantee safe space flight of the unmanned aerial vehicle without dependence on an air control system, and is suitable for the low-flying multiple-rotor-wing unmanned aerial vehicle sensing and avoiding system.
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Description

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicle navigation and control, and in particular relates to a multi-rotor unmanned aerial vehicle perception and avoidance system and an avoidance method thereof. Background technique

[0002] With the continuous development of UAV technology in the civilian field and the continuous implementation of the low-altitude field open policy in recent years, a large number of applications of multi-rotor UAVs in the low-altitude civilian field will become inevitable. A large number of unmanned applications in the low-altitude field will inevitably bring new threats to flight safety and traffic control in the airspace.

[0003] In the existing UAV space perception technology, commonly used airborne sensors include photoelectric, radar and so on. Information is acquired through sensors, and target status information is extracted according to the back-end processing of sensor information, so as to ...

Examples

Embodiment Construction

[0056] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0057] The present invention provides a multi-rotor unmanned aerial vehicle perception and avoidance system, refer to the structure figure 1 , comprising an obstacle avoidance module 4, the output of the obstacle avoidance module 4 is connected to the flight control module 5, the input end of the obstacle avoidance module 4 is also connected to the navigation module 6, and the obstacle avoidance module 4 is also connected to the ADS-B perception module 1 for data processing. Transceiver; ADS-B sensing module 1 includes ADS-B OUT sending module 1-1 and ADS-B IN receiving module 1-2, ADS-B OUT sending module 1-1 is connected with sending antenna 2, ADS-B IN receiving module 1-2 is connected with receiving antenna 3 .

[0058] Wherein, obstacle avoidance module 4 comprises data transceiver module, threat estimation module and collision avoidance plannin...