Sensing and guiding integrated equipment suitable for unmanned cluster

Abstract

The invention discloses sensing and guiding control integrated equipment suitable for an unmanned cluster, and belongs to the technical field of navigation positioning. The ARM core calculation unit comprises a top layer task planning SDK package, a sensor management and data processing SDK package, an environment perception SDK package, an autonomous positioning SDK package, a cooperative positioning SDK package, a satellite guide positioning SDK package, an adaptive positioning SDK package, a communication SDK package and an autonomous navigation planning control SDK package, and can be applied to various unmanned platforms. The software adopts a top-layer logic and each function SDK packet architecture, the top-layer logic can be modified according to actual use requirements, the function SDK packets can be modified or added, and the rapid secondary development capability is achieved; according to the method, the environment autonomous perception capability and the environment adaptive communication navigation positioning and autonomous navigation planning capability can be realized, and the method is not only suitable for a scene in which a communication positioning base station is arranged, but also suitable for a scene in which the base station is not arranged in advance.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation and positioning, and in particular refers to an integrated sensing, communication, guidance and control device suitable for unmanned clusters. Background Art

[0002] Using unmanned platforms to perform tasks is a future development trend. Unmanned vehicle delivery has begun to be used in campuses, hotels and other places, and drone delivery has also begun to be piloted in many cities in China. At present, the perception, communication, positioning, navigation and control equipment of small and medium-sized unmanned platforms are split-type combination designs, which have redundant designs and conflict with the limited load and endurance of unmanned platforms. In addition, the positioning and communication means are single and rely on the deployed base station facilities. It is impossible to obtain continuous and reliable location information in complex environments, and it is impossible to perform autonomous navigation planning without prior knowledge. In response to the above problems, an integrated device that can be used for comprehensive calculation and processing of perception, communication, positioning, and navigation planning is invented. It has a standard universal interface and can adapt to the control systems of multiple types of unmanned platforms, providing them with reliable communication, reliable location services and autonomous navigation planning services in complex scenarios. Summary of the invention

[0003] The purpose of the present invention is to provide an integrated sensing, communication, guidance and control device suitable for unmanned clusters. The present invention adopts standardized, universal and integrated design at the hardware level, has a standard universal interface, can be adapted to a variety of unmanned platforms, and solves the contradiction between the split combination equipment of the unmanned platform and the limited load; the present invention adopts a distributed parallel architecture design based on task-based top-level logic and various functional software SDK packages at the software level, which has scalability and secondary development.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] An integrated sensing, communication, guidance and control device suitable for unmanned clusters, comprising: an ARM core computing unit, a satellite navigation and positioning unit, an (inertial measurement unit) IMU, a ranging unit, an ad hoc network communication unit and a 4G / 5G communication unit;

[0006] Among them, the ARM core computing unit is used for sensor management, data reception and analysis processing, communication networking, positioning solution and mission planning management; it receives navigation information from the inertial measurement unit and sends initialization calibration information to the inertial measurement unit;

[0007] The satellite navigation positioning unit is connected to the ARM core computing unit and is used to receive multi-frequency satellite navigation signals of the entire system and achieve outdoor centimeter-level positioning accuracy through PPP-RTK technology;

[0008] The distance measurement unit is connected to the ARM core computing unit and is used for short-range distance measurement between unmanned clusters. The influence of clock difference and frequency difference between nodes on the distance measurement accuracy is eliminated through a two-way one-way polling distance measurement method to achieve centimeter-level distance measurement, establish a distance measurement matrix between nodes, and solve the relative positions between nodes through a multidimensional scaling method.

[0009] The self-organizing network communication unit is connected to the ARM core computing unit and is used for data exchange between unmanned clusters, which includes: a short-distance double-layer self-organizing network unit and a medium- and long-distance MESH self-organizing network unit; wherein the short-distance double-layer self-organizing network unit is point-to-point divided into a backbone network and a subnet, the backbone network is an Ad_hoc self-organizing network mode, the subnet is an AP-Manage mode, multiple manage nodes are mounted, and cross-segment transmission is performed between subnets through the backbone network;

[0010] The 4G / 5G communication unit is connected to the ARM core computing unit and can be connected to the public network for data exchange between unmanned clusters;

[0011] The flight control interface is connected to the ARM core computing unit and is used to connect to the UAV flight control unit and send posture information and control information to the flight control unit;

[0012] The binocular camera interface and the night vision camera interface are both connected to the ARM core computing unit, and image information is obtained through visual sensors including the binocular camera and the night vision camera to perform environmental feature extraction, image matching, target recognition, three-dimensional mapping and visual positioning;

[0013] The universal power supply port supports 12V and 5V external DC power supply;

[0014] The universal USB, serial port and network port support access to sensors with the same interface;

[0015] The universal video interface supports an external display screen for displaying the device system interface.

[0016] Furthermore, the ARM core computing unit software of the unmanned cluster integrated sensing, communication, guidance and control equipment adopts a distributed parallel computing architecture based on the top-level logic of tasks and various functional software SDK packages. The software includes: top-level task planning SDK package, sensor management SDK package, data processing SDK package, environmental perception SDK package, positioning situation prediction and evaluation SDK package, autonomous positioning SDK package, collaborative positioning SDK package, satellite guidance positioning SDK package, adaptive positioning SDK package, communication SDK package and autonomous navigation planning and control SDK package;

[0017] After power-on, initialize the satellite navigation positioning unit, inertial measurement unit, ranging unit, ad hoc network communication unit, 4G / 5G communication unit and visual sensor through the sensor management SDK software, collect visual sensor data at the same time, and classify, pre-process and distribute the collected data through the data processing SDK software;

[0018] The communication SDK package determines whether the application scenario has a communication base station based on the 4G / 5G communication unit. In the application scenario with a communication base station, 4G / 5G communication is used; if there is no communication base station, the self-organizing network communication unit is used for communication, which is mainly used for the interactive transmission of data such as images and locations between clusters.

[0019] The autonomous positioning SDK software, collaborative positioning SDK software and satellite positioning SDK software receive sensor data, perform position calculations, and send the position information and sensor status information to the adaptive positioning SDK software;

[0020] The acquired image measurement data is input into the environmental perception SDK software to extract point, line and surface features, and the interference source and obstacle environmental features are identified at the same time. The positioning situation prediction and evaluation SDK software is used to predict the positioning situation of the potential space by combining the spatial position information of each node and the environmental feature information, and a positioning situation map is formed and sent to the adaptive positioning SDK software;

[0021] The adaptive SDK software switches the positioning mode according to the missing positioning situation map, sensor status information and spatial position information, providing trusted location services for the autonomous navigation planning and control SDK software;

[0022] The top-level task logic SDK software performs task planning after receiving the task instruction and sends the task planning information to the autonomous navigation planning control SDK software;

[0023] The autonomous navigation planning and control SDK software performs trajectory planning based on the received control instructions, mission planning information and environmental information, and sends the control information to the flight control unit, and at the same time sends the planning and control information to the top-level mission logic SDK software;

[0024] The top-level mission logic SDK software sends node spatial status information, trajectory planning and control information to the ground monitoring node through a 4G / 5G communication unit or an ad hoc network communication unit.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention adopts a standardized, universal and integrated design and can be applied to various unmanned platforms;

[0027] (2) The software of the present invention adopts the top-level logic plus each function SDK package architecture, and the top-level logic can be modified according to actual use requirements, and the function SDK package can be modified or added, with rapid secondary development capabilities;

[0028] (3) The present invention can realize the autonomous perception capability of the environment and the communication navigation positioning and autonomous navigation planning capability of the environment self-adaptation, and is applicable not only to the scenario where the communication positioning base station is deployed, but also to the scenario where the base station is not deployed in advance. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a composition diagram of a sensing, communication, guidance and control integrated device suitable for unmanned clusters of the present invention;

[0030] Figure 2 This is a software architecture composition diagram of a sensing, communication, guidance and control integrated device suitable for unmanned clusters in the present invention;

[0031] Figure 3 It is a working flow chart of an integrated sensing, communication, guidance and control device suitable for unmanned clusters in an example of the present invention. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0033] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0034] A sensing, communication, guidance and control integrated device suitable for unmanned clusters, comprising: an ARM core computing unit, a satellite navigation and positioning unit, an (inertial measurement unit) IMU, a ranging unit, an ad hoc network communication unit, a 4G / 5G communication unit, a flight control interface, a binocular camera interface, a night vision camera interface, and universal power supply ports, USB, serial ports, network ports, video output ports and other interfaces.

[0035] The ARM core computing unit is mainly used for sensor management, data reception and analysis, communication networking, positioning and solving, and task planning and management. Its software architecture adopts a distributed parallel architecture based on task-based top-level logic and various functional software SDK packages, which has high compatibility, fast secondary development and scalability; including: top-level task planning SDK package, sensor management and data processing SDK package, environmental perception SDK package, positioning situation prediction and evaluation SDK package, autonomous positioning SDK package, collaborative positioning SDK package, satellite guidance positioning SDK package, adaptive positioning SDK package, communication SDK package, autonomous navigation planning and control SDK package;

[0036] The satellite navigation positioning unit is connected to the ARM core computing unit and is mainly used to receive multi-frequency satellite navigation signals of the entire system and achieve outdoor centimeter-level positioning accuracy through PPP-RTK technology;

[0037] The distance measurement unit is connected to the ARM core computing unit and is mainly used for short-range distance measurement between unmanned clusters. It eliminates the influence of clock difference and frequency difference between nodes on the distance measurement accuracy through a two-way one-way polling distance measurement method to achieve centimeter-level distance measurement, establishes a distance measurement matrix between nodes, and solves the relative positions between nodes through a multidimensional scaling method.

[0038] The self-organizing network communication unit is connected to the ARM core computing unit and is mainly used for data exchange between unmanned clusters, including: a short-range double-layer self-organizing network unit and a medium- and long-range MESH self-organizing network unit;

[0039] The short-distance double-layer self-organizing network unit is point-to-point divided into a backbone network and a subnet. The backbone network is in Ad_hoc self-organizing network mode, and the subnet is in AP-Manage mode. Multiple manage nodes can be mounted, and subnets can transmit across network segments through the backbone network.

[0040] The 4G / 5G communication unit is connected to the ARM core computing unit and can be connected to the public network for data exchange between unmanned clusters;

[0041] The flight control interface is connected to the ARM core computing unit and is mainly used to connect to the UAV flight control unit, and can send posture information and control information to the flight control unit;

[0042] The binocular camera interface and the night vision camera interface are connected to the ARM core computing unit, and mainly obtain image information through visual sensors such as binocular cameras and night vision cameras to perform environmental feature extraction, image matching, target recognition, three-dimensional mapping and visual positioning.

[0043] The universal power supply port can support 12V and 5V external DC power supply;

[0044] The universal USB, serial port, and network port can support access to sensors with the same interface;

[0045] The universal video interface can support an external display screen for displaying the device system interface.

[0046] The integrated sensing, communication, guidance and control equipment can be connected to the display device through the universal video output port, and can be used as a ground monitoring node after connecting to input devices such as mouse and keyboard through the universal USB interface;

[0047] After the integrated sensing, communication, guidance and control equipment is powered on, the satellite navigation and positioning unit, (inertial measurement unit) IMU, ranging unit, ad hoc network communication unit, 4G / 5G communication unit, binocular camera interface, night vision camera and other sensors are initialized through the sensor management SDK software, and the above sensor data is collected at the same time, and the collected data is classified, pre-processed and distributed through the data processing SDK software;

[0048] The communication SDK package determines whether the application scenario has a communication base station based on the 4G / 5G communication unit. In the application scenario with a communication base station, 4G / 5G communication is used; if there is no communication base station, the self-organizing network communication unit is used for communication, which is mainly used for the interactive transmission of data such as images and locations between clusters.

[0049] Autonomous positioning, collaborative positioning, and satellite positioning SDK software receive sensor data to perform position calculations and send position information and sensor status information to the adaptive positioning SDK software;

[0050] The acquired image measurement data is input into the environmental perception SDK software to extract point, line and surface features, and the interference source and obstacle environmental features are identified at the same time. The positioning situation prediction and evaluation SDK software is used to predict the positioning situation of the potential space by combining the spatial position information of each node and the environmental feature information, and a positioning situation map is formed and sent to the adaptive positioning SDK software;

[0051] The adaptive SDK software switches the positioning mode according to the missing positioning situation map, sensor status information and spatial position information, providing trusted location services for the autonomous navigation planning and control SDK software;

[0052] The top-level task logic SDK software performs task planning after receiving the task instruction and sends the task planning information to the autonomous navigation planning control SDK software;

[0053] The autonomous navigation planning and control SDK software performs trajectory planning based on the received control instructions, mission planning information and environmental information, and sends the control information to the flight control unit, and at the same time sends the planning and control information to the top-level mission logic SDK software;

[0054] The top-level mission logic SDK software sends node spatial status information, trajectory planning and control information to the ground monitoring node through a 4G / 5G communication unit or an ad hoc network communication unit.

[0055] In short, the present invention has the characteristics of universality, integration, scalability, and easy development. It has satellite navigation positioning, self-organizing network positioning, autonomous positioning, positioning situation prediction, and adaptive positioning capabilities. It can provide reliable location services and has autonomous navigation planning and control capabilities. It can be applied to a variety of unmanned platforms in urban building spaces, harsh terrain and other complex scenarios for reconnaissance and rescue, power inspection, unmanned delivery, etc.

Claims

1. An integrated sensing, communication, guidance and control device suitable for unmanned clusters, characterized in that: include: ARM core computing unit, satellite navigation and positioning unit, inertial measurement unit, ranging unit, ad hoc network communication unit and 4G / 5G communication unit; Among them, the ARM core computing unit is used for sensor management, data reception and analysis processing, communication networking, positioning solution and mission planning management; it receives navigation information from the inertial measurement unit and sends initialization calibration information to the inertial measurement unit; The satellite navigation positioning unit is connected to the ARM core computing unit and is used to receive multi-frequency satellite navigation signals of the entire system and achieve outdoor centimeter-level positioning accuracy through PPP-RTK technology; The distance measurement unit is connected to the ARM core computing unit and is used for short-range distance measurement between unmanned clusters. The influence of clock difference and frequency difference between nodes on the distance measurement accuracy is eliminated through a two-way one-way polling distance measurement method to achieve centimeter-level distance measurement, establish a distance measurement matrix between nodes, and solve the relative positions between nodes through a multidimensional scaling method. The self-organizing network communication unit is connected to the ARM core computing unit and is used for data exchange between unmanned clusters, which includes: a short-distance double-layer self-organizing network unit and a medium- and long-distance MESH self-organizing network unit; wherein the short-distance double-layer self-organizing network unit is point-to-point divided into a backbone network and a subnet, the backbone network is an Ad_hoc self-organizing network mode, the subnet is an AP-Manage mode, multiple manage nodes are mounted, and cross-segment transmission is performed between subnets through the backbone network; The 4G / 5G communication unit is connected to the ARM core computing unit for data exchange between unmanned clusters and can work under mobile, Unicom and telecommunications networks.

2. The integrated sensing, communication, guidance and control equipment suitable for unmanned cluster according to claim 1, characterized in that: It also includes flight control interface, binocular camera interface, night vision camera interface, universal power supply port, universal USB, serial port, network port and universal video interface; The flight control interface is connected to the ARM core computing unit and is used to connect to the UAV flight control unit and send posture information and control information to the flight control unit; The binocular camera interface and the night vision camera interface are both connected to the ARM core computing unit, and image information is obtained through visual sensors including the binocular camera and the night vision camera to perform environmental feature extraction, image matching, target recognition, three-dimensional mapping and visual positioning; The universal power supply port supports 12V and 5V external DC power supply; The universal USB, serial port and network port support access to sensors with the same interface; The universal video interface supports an external display screen for displaying the device system interface.

3. The integrated sensing, communication, guidance and control equipment suitable for unmanned cluster according to claim 1, characterized in that: The software architecture of the ARM core computing unit adopts a distributed parallel architecture based on task-based top-level logic and various functional software SDK packages, including: top-level task planning SDK package, sensor management SDK package, data processing SDK package, environmental perception SDK package, positioning situation prediction and evaluation SDK package, autonomous positioning SDK package, collaborative positioning SDK package, satellite guidance positioning SDK package, adaptive positioning SDK package, communication SDK package and autonomous navigation planning and control SDK package; After power-on, initialize the satellite navigation positioning unit, inertial measurement unit, ranging unit, ad hoc network communication unit, 4G / 5G communication unit and visual sensor through the sensor management SDK software, collect visual sensor data at the same time, and classify, pre-process and distribute the collected data through the data processing SDK software; The communication SDK package determines whether the application scenario has a communication base station based on the 4G / 5G communication unit. In the application scenario with a communication base station, 4G / 5G communication is used; if there is no communication base station, the self-organizing network communication unit is used for communication, which is used for the interactive transmission of data such as images and locations between clusters. The autonomous positioning SDK software, collaborative positioning SDK software and satellite positioning SDK software receive sensor data, perform position calculations, and send the position information and sensor status information to the adaptive positioning SDK software; The acquired image measurement data is input into the environmental perception SDK software to extract point, line and surface features, and the interference source and obstacle environmental features are identified at the same time. The positioning situation prediction and evaluation SDK software is used to predict the positioning situation of the potential space by combining the spatial position information of each node and the environmental feature information, and a positioning situation map is formed and sent to the adaptive positioning SDK software; The adaptive SDK software switches the positioning mode according to the missing positioning situation map, sensor status information and spatial position information, providing trusted location services for the autonomous navigation planning and control SDK software; The top-level task logic SDK software performs task planning after receiving the task instruction and sends the task planning information to the autonomous navigation planning control SDK software; The autonomous navigation planning and control SDK software performs trajectory planning based on the received control instructions, mission planning information and environmental information, and sends the control information to the flight control unit, and at the same time sends the planning and control information to the top-level mission logic SDK software; The top-level mission logic SDK software sends node spatial status information, trajectory planning and control information to the ground monitoring node through a 4G / 5G communication unit or an ad hoc network communication unit.

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