A target positioning method based on multi-source information fusion

Abstract

The present invention provides a target positioning method based on multi-source information fusion, which relates to the technical field of radio direction finding, and includes the following steps: obtaining the position information of a target based on the GPS positioning system of the target collected; synchronously obtaining the self-position information of two sets of airborne radio wave ranging devices; obtaining the distance information between each airborne radio wave ranging device and the target point; calculating the actual data of the target point based on the distance data measured and collected by the airborne radio wave ranging devices; outputting the fused target positioning data; collecting the distance information between the two sets of airborne radio wave ranging devices to verify the obtained target positioning data. The present invention uses two sets of airborne radio wave ranging devices to collect the target positioning distance information, improves the accuracy of target positioning, and the two airborne radio wave ranging devices can verify each other, reduce errors, and improve the protection effect on the internal radio wave ranging module.

Description

Technical Field

[0001] The present invention relates to the technical field of radio direction finding, and specifically to a target positioning method based on multi-source information fusion. Background Technique

[0002] Radio wave technology plays an important role in the field of positioning and navigation. It is very suitable for fields that require high-precision position information, such as construction engineering and geographic information systems. By measuring the propagation time and distance of radio signals, the position of an object or a receiving device can be determined. On the other hand, GPS uses radio waves for ranging and speed measurement, providing accurate geographical location information for global navigation. The role of radio waves in GPS is also indispensable.

[0003] In the prior art, when positioning a target at a fixed point, GPS positioning technology and radio wave fixed-point ranging schemes are often used. However, in conventional multi-source information fusion target positioning schemes, only different target positioning information can be directly fused and calculated, but the reliability of different information acquisition sources cannot be verified. Especially when directly measuring the distance to a target point using radio wave technology, it is very easy to obtain target positioning data with large errors due to the angle offset of the radio wave ranging unit itself, and this data will greatly increase the final target data after multi-source information fusion. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a target positioning method based on multi-source information fusion to solve the problems raised in the above background technique. The present invention uses two sets of airborne radio wave ranging devices to collect target positioning distance information, improving the accuracy of target positioning. Moreover, the two airborne radio wave ranging devices can verify each other, reducing errors and improving the protection effect on the internal radio wave ranging module.

[0005] To achieve the above purpose, the present invention is realized through the following technical solutions: A target positioning method based on multi-source information fusion, including the following steps:

[0006] Step 1: Obtain its position information based on the GPS positioning system of the collected target;

[0007] Step 2: Control two sets of airborne radio wave ranging devices to be at fixed points to monitor the distance to the target point;

[0008] Step 3: Synchronously obtain the position information of each of the two sets of airborne radio wave ranging devices. Each set of airborne radio wave ranging devices is equipped with an independent GPS positioning system;

[0009] Step 4: Control the operation of the distance information acquisition unit in each group of airborne radio wave ranging devices respectively, adjust the radio wave ranging module to point to the target area, and obtain the distance information between each airborne radio wave ranging device and the target point;

[0010] Step 5: Calculate the actual data of the target point based on the distance data measured and collected by the airborne radio wave ranging device;

[0011] Step 6: Integrate the position data calculated for the target point obtained in Step 5 and the GPS positioning information of the target point in Step 1, and output the integrated target positioning data;

[0012] Step 7: Control the first motor inside the airborne mounting frame. After unfolding the distance information acquisition unit, point the radio wave ranging modules in the two groups of airborne radio wave ranging devices at each other respectively, collect the distance information between the two groups of airborne radio wave ranging devices, and use this data to verify the target positioning data obtained in Step 6.

[0013] Further, in Step 2, control each group of airborne radio wave ranging devices to be at different positions at different distances relative to the target point, and synchronously control the radio wave ranging module at the bottom to rotate inside the bottom sandwich layer to adjust the pointing angle of the radio wave ranging module.

[0014] Further, the adjustment of the pointing angle of each radio wave ranging module includes horizontal angle adjustment and vertical angle adjustment. The horizontal angle adjustment is achieved by remotely controlling the horizontal rotation of the unmanned aerial vehicle; the vertical angle adjustment is achieved by starting the second motor and driving the radio wave ranging module at the bottom layer to rotate in cooperation with the second drive shaft.

[0015] Further, in Step 4, each airborne radio wave ranging device remains stationary during the process of collecting the position of the target point, and judges the motion state of the target point according to the change of the distance information obtained in real time.

[0016] Further, in Step 6, the integrated information consists of three groups of data, including the positioning information of the target point by the two groups of airborne radio wave ranging devices and the self-positioning information data of the target point.

[0017] Further, in Step 7, the positioning calibration process between the two airborne radio wave ranging devices is carried out before or after the target positioning process.

[0018] Further, the verification of the target positioning data specifically includes the following process: controlling the airborne radio wave ranging device at a lower position to start the first motor. After the first motor rotates, the counterweight assembly and the distance information acquisition unit are respectively moved out from the inside of the airborne mounting frame, and synchronously controlling the rotated radio wave ranging module after being moved out to detect the distance towards another set of airborne radio wave ranging devices obliquely upward.

[0019] Further, the verification process includes the verification of the distance data between two sets of airborne radio wave ranging devices to achieve the accuracy verification of the monitoring data of each radio wave ranging module; and the mutual verification of the distance data directly detected between two airborne radio wave ranging devices and the distance data calculated from their own GPS positioning data.

[0020] Further, it also includes the landing process of each airborne radio wave ranging device, specifically including: controlling each radio wave ranging module to detect the position vertically towards the bottom ground, obtaining the distance information between the drone and the ground, and sending the distance information to the control host in real time to assist the drone in the subsequent landing process.

[0021] Further, at the moment of landing of each set of airborne radio wave ranging devices, the impact force is used to control the contraction of the buffer protection assembly at the bottom, driving the pallet to move upward, and closing and shielding the bottom end of the radio wave ranging module through the upward and translational processes of the pallet.

[0022] Advantages of the present invention:

[0023] 1. The target positioning method based on multi-source information fusion uses two sets of airborne radio wave ranging devices to collect the target positioning distance information, and performs multi-source fusion on the target point position data measured by the device and the GPS positioning information collected at the target point, and outputs the fused target positioning data, improving the accuracy of target positioning.

[0024] 2. The target positioning method based on multi-source information fusion can be mutually verified between two airborne radio wave ranging devices. By controlling the airborne radio wave ranging device at a lower position to unfold, the radio wave ranging module at the bottom can be rotated and tilted upward, so that even if there is a large height difference between the two airborne radio wave ranging devices, the purpose of mutual ranging verification can still be achieved, thereby making the positioning data of the target point more reliable and reducing the error.

[0025] 3. The airborne radio wave ranging device provided in the present invention provides support and protection for the entire device with the help of a buffer protection component, and provides guidance for landing for the airborne device body with the help of a rotatable radio wave ranging module, improving the stability during landing. It also cooperates with the buffer protection component to shield and enclose the radio wave ranging module at the moment of landing, improving the protection effect on the internal radio wave ranging module. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flowchart of a target positioning method based on multi-source information fusion according to the present invention;

[0027] Figure 2 It is a schematic structural diagram of a part of the airborne radio wave ranging device used in the positioning method of the present invention;

[0028] Figure 3 It is a schematic structural diagram of an airborne mounting bracket part of the airborne radio wave ranging device of the present invention;

[0029] Figure 4 It is a structural diagram of a counterweight component part of the airborne radio wave ranging device of the present invention;

[0030] Figure 5 It is a schematic structural diagram of a distance information acquisition unit part of the present invention;

[0031] Figure 6 It is a sectional view of the inner side of the distance information acquisition unit of the present invention;

[0032] Figure 7 It is a side sectional view of the distance information acquisition unit of the present invention;

[0033] In the figure: 1, airborne mounting bracket; 2, distance information acquisition unit; 3, buffer protection component; 4, counterweight component; 5, top plate; 6, first slot; 7, second slot; 8, third slot; 9, locking block; 10, first motor; 11, first drive shaft; 12, first gear; 13, second gear; 14, counterweight plate; 15, second sliding plate; 16, third sliding plate; 17, top layer rack; 18, housing; 19, side baffle; 20, bottom interlayer; 21, column; 22, top interlayer; 23, first sliding plate; 24, bottom layer rack; 25, lifting groove; 26, sliding plate; 27, second motor; 28, second drive shaft; 29, radio wave ranging module; 30, fixing plate; 31, spring rod; 32, support foot pad; 33, first inclined plate; 34, telescopic rod; 35, support plate; 36, second inclined plate; 37, gap. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] To make the technical means, creative features, achieved purposes and effects of the present invention easily understood, the present invention will be further described below in conjunction with specific embodiments.

[0035] Please refer to Figures 1 to 7 , the present invention provides the following technical solution: A target positioning method based on multi-source information fusion, comprising the following steps:

[0036] Step 1: Obtain the position information of the target based on the GPS positioning system of the collected target. Each radio wave ranging device is carried on the unmanned aerial vehicle by means of the airborne mounting frame 1. The airborne mounting frame 1 includes a top plate 5 and a first motor 10. The inside of the top plate 5 is provided with a first slot 6, a second slot 7, and a third slot 8. The second slot 7 and the third slot 8 are arranged in the same direction. A locking block 9 is integrally formed at the top edge of the top plate 5, and the locking block 9 is fixed to the bottom of the unmanned aerial vehicle by bolts.

[0037] Step 2: Control two groups of airborne radio wave ranging devices to be at fixed-point positions to monitor the distance to the target point. Control each group of airborne radio wave ranging devices to be at different positions at different distances relative to the target point, and synchronously control the radio wave ranging module 29 at the bottom to rotate inside the bottom interlayer 20 to adjust the pointing angle of the radio wave ranging module 29.

[0038] In this step, the airborne mounting frame 1 and the distance information acquisition unit 2 in the airborne radio wave ranging device are used. The distance information acquisition unit 2 includes a housing 18 and side baffles 19. The side baffles 19 are integrally formed at the bottom of the housing 18. A bottom interlayer 20 is provided between the side baffles 19. A bottom rack 24 is provided on the surface of the housing 18. A column 21 is integrally formed at one end of the housing 18. A first sliding plate 23 is welded to one side of the column 21. The first sliding plate 23 is inserted into the first slot 6, and a top interlayer 22 is provided between the two columns 21.

[0039] The pointing angle adjustment of each radio wave ranging module 29 includes horizontal angle adjustment and vertical angle adjustment. The horizontal angle adjustment is achieved by remotely controlling the horizontal rotation of the unmanned aerial vehicle; the vertical angle adjustment is achieved by starting the second motor 27 and driving the radio wave ranging module 29 at the bottom to rotate in cooperation with the second drive shaft 28.

[0040] The radio wave ranging module 29 is installed below the first drive shaft 11. The two ends of the first drive shaft 11 are inserted into the side baffles 19. The end of the drive shaft is connected to the second motor 27. After the second motor 27 is started, it drives the radio wave ranging module 29 to rotate along the bottom interlayer 20 and the top interlayer 22.

[0041] Step 3: Synchronously obtain the position information of two sets of airborne radio wave ranging devices. Each set of airborne radio wave ranging devices is equipped with an independent GPS positioning system.

[0042] Step 4: Control the operation of the distance information acquisition unit 2 in each set of airborne radio wave ranging devices respectively, regulate the radio wave ranging module 29 to point to the target area, obtain the distance information between each airborne radio wave ranging device and the target point, and keep each airborne radio wave ranging device stationary during the process of collecting the position of the target point, and judge the motion state of the target point according to the change of the distance information obtained in real time.

[0043] Step 5: Calculate the actual data of the target point based on the distance data measured and collected by the airborne radio wave ranging device.

[0044] Step 6: Integrate the position data calculated for the target point obtained in Step 5 and the GPS positioning information of the target point in Step 1, and output the integrated target positioning data. The integrated information consists of three sets of data, including the positioning information of the target point by two sets of airborne radio wave ranging devices and the self-positioning information data of the target point.

[0045] Step 7: Control the first motor 10 inside the airborne mounting frame 1, unfold the distance information acquisition unit 2, and then point the radio wave ranging modules 29 in the two sets of airborne radio wave ranging devices at each other, collect the distance information between the two sets of airborne radio wave ranging devices, and use this data to verify the target positioning data obtained in Step 6. The positioning calibration process between the two airborne radio wave ranging devices is carried out before or after the target positioning process.

[0046] The verification of the target positioning data specifically includes the following process: Control the airborne radio wave ranging device at a lower position to start the first motor 10. After the first motor 10 rotates, the counterweight assembly 4 and the distance information acquisition unit 2 are respectively moved out from the inside of the airborne mounting frame 1. Synchronously control the rotation of the radio wave ranging module 29 after it is moved out, and conduct distance detection towards the other set of airborne radio wave ranging devices diagonally upward. The verification process includes the verification of the distance data between the two sets of airborne radio wave ranging devices to achieve the accuracy verification of the monitoring data of each radio wave ranging module 29; and the mutual verification of the distance data directly detected between the two airborne radio wave ranging devices and the distance data calculated from their own GPS positioning data.

[0047] This process is achieved by starting the first motor 10. The output end of the first motor 10 is plugged with a first drive shaft 11. A first gear 12 and a second gear 13 are key-connected to the surface of the first drive shaft 11. The first gear 12 meshes with the bottom rack 24, and the second gear 13 meshes with the top rack 17. After the first motor 10 is started, the top rack 17 and the bottom rack 24 will be respectively pushed out in different directions on both sides at the same time, controlling the counterweight assembly 4 and the distance information acquisition unit 2 to move out in different directions.

[0048] Among them, the counterweight assembly 4 includes a third sliding plate 16 and a counterweight plate 14. On one side of the top of the counterweight plate 14, a second sliding plate 15 and a third sliding plate 16 are integrally formed. And the second sliding plate 15 is embedded into the inside of the second slot 7, and the third sliding plate 16 is embedded into the inside of the third slot 8. The bottom of the second sliding plate 15 is provided with a top rack 17.

[0049] In this embodiment, during the landing process of each airborne radio wave ranging device, it specifically includes: controlling each radio wave ranging module 29 to vertically detect the bottom ground position, obtaining the distance information between the drone and the ground, and sending this distance information to the control host in real time to assist the drone in the subsequent landing process. At the moment when each group of airborne radio wave ranging devices lands, the impact force is used to control the contraction of the bottom buffer protection assembly 3, and drive the support plate 35 to move upward. Through the upward and translational processes of the support plate 35, the bottom end of the radio wave ranging module 29 is hermetically blocked.

[0050] The buffer protection assembly 3 therein includes a fixed plate 30, a spring rod 31 and a sliding plate 26. A lifting groove 25 is opened on the surface of the side baffle 19. The spring rod 31 passes through the surface of the sliding plate 26. A telescopic rod 34 is welded to the inner side of the sliding plate 26. The end of the telescopic rod 34 is embedded into the inside of the support plate 35. A second inclined plate 36 is provided on the other end surface of the support plate 35. A gap 37 is provided between the two support plates 35. A first inclined plate 33 is provided on the inner wall of the lifting groove 25. A support foot pad 32 is installed at the end of the spring rod 31. At the moment when the drone lands, the support foot pad 32 presses on the ground, the spring rod 31 and the sliding plate 26 move upward, driving the telescopic rod 34 and the support plate 35 to move upward. One end of the support plate 35 moves upward along the first inclined plate 33 and is pushed, so that the two support plates 35 can be moved closer to the middle until the gap 37 is completely blocked, thereby blocking the part of the radio wave ranging module 29 above the gap 37.

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0052] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A target positioning method based on multi-source information fusion, characterized in that, It includes the following steps: Step 1: Obtain the position information of the target based on the GPS positioning system of the target collected; Step 2: Control two groups of airborne radio wave ranging devices to be at fixed positions to monitor the distance to the target point; Step 3: Synchronously obtain the position information of each of the two groups of airborne radio wave ranging devices. An independent GPS positioning system is installed in each group of airborne radio wave ranging devices; Step 4: Control the operation of the distance information acquisition unit in each group of airborne radio wave ranging devices respectively, adjust the radio wave ranging module to point to the target area, and obtain the distance information between each airborne radio wave ranging device and the target point; Step 5: Calculate the actual data of the target point based on the distance data measured and collected by the airborne radio wave ranging devices; Step 6: Integrate the position data calculated for the target point obtained in Step 5 and the GPS positioning information of the target point in Step 1, and output the integrated target positioning data; Step 7: Control the first motor inside the airborne mounting frame, unfold the distance information acquisition unit, and then point the radio wave ranging modules in the two groups of airborne radio wave ranging devices at each other respectively, collect the distance information between the two groups of airborne radio wave ranging devices, and use this data to verify the target positioning data obtained in Step 6; In Step 2, control each group of airborne radio wave ranging devices to be at different positions at different distances relative to the target point, and synchronously control the radio wave ranging module at the bottom to rotate inside the bottom sandwich layer to adjust the pointing angle of the radio wave ranging module. The adjustment of the pointing angle of each radio wave ranging module includes horizontal angle adjustment and vertical angle adjustment. The horizontal angle adjustment is achieved by remotely controlling the horizontal rotation of the unmanned aerial vehicle; The vertical angle adjustment is achieved by starting the second motor and driving the radio wave ranging module at the bottom layer to rotate in cooperation with the second drive shaft.

2. The object positioning method based on multi-source information fusion according to claim 1, characterized in that: In Step 4, each airborne radio wave ranging device remains stationary during the process of collecting the position where the target point is located, and judges the motion state of the target point according to the change of the distance information obtained in real time.

3. The method for target positioning based on multi-source information fusion according to claim 2, wherein: In Step 6, the integrated information totals three groups of data, including the positioning information of the target point by the two groups of airborne radio wave ranging devices and the self-positioning information data of the target point.

4. A target positioning method based on multi-source information fusion according to claim 1, characterized in that: In Step 7, the positioning calibration process between the two airborne radio wave ranging devices is carried out before or after the target positioning process.

5. A target positioning method based on multi-source information fusion according to claim 4, characterized in that, Specifically, the verification of the target positioning data includes the following process: Control the airborne radio wave ranging device at a lower position to start the first motor. After the first motor rotates, move the counterweight assembly and the distance information acquisition unit out of the inside of the airborne mounting frame respectively, synchronously control the rotated radio wave ranging module, and conduct distance detection towards the other group of airborne radio wave ranging devices obliquely upward.

6. The object positioning method based on multi-source information fusion according to claim 5, characterized in that: The verification process includes the verification of the distance data between the two groups of airborne radio wave ranging devices to achieve the accuracy verification of the monitoring data of each radio wave ranging module; and the mutual verification of the distance data directly detected between the two airborne radio wave ranging devices and the distance data calculated from their own GPS positioning data.

7. A target positioning method based on multi-source information fusion according to claim 1, characterized in that: It also includes the landing process of each airborne radio wave ranging device, which specifically includes: controlling each radio wave ranging module to vertically detect the ground position at the bottom, obtaining the distance information between the drone and the ground, and sending the distance information to the control host in real time to assist the drone in the subsequent landing process.

8. The method for target positioning based on multi-source information fusion according to claim 7, wherein: At the moment when each group of airborne radio wave ranging devices lands, the impact force is used to control the contraction of the buffer protection component at the bottom, driving the pallet to move upward, and the bottom end of the radio wave ranging module is enclosed and blocked through the upward and translational movement of the pallet.

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