A high-precision positioning system for UAV based on multi-sensor fusion

Abstract

The present invention provides a high-precision positioning system for an unmanned aerial vehicle based on multi-sensor fusion, which relates to the field of electrical digital data processing, and comprises a sensor detection module, a data transmission module, a data fusion module and a positioning calculation module, wherein the sensor detection module is used to detect basic data of the unmanned aerial vehicle, the data transmission module is used to transmit the detected basic data to the same terminal, the data fusion module is used to fuse the basic data, and the positioning calculation module is used to calculate and obtain high-precision positioning information of the unmanned aerial vehicle; the system performs high-precision processing on the positioning information twice through fusion and correction, and obtains more accurate positioning information without improving the hardware detection capability.

Description

Technical Field

[0001] The present invention relates to the field of electronic digital data processing, and in particular to a high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion. Background Art

[0002] The positioning information of a drone plays a very important role in controlling the flight of the drone. There are various methods for positioning a drone, but each method has an upper limit on the accuracy of the hardware. In order to improve the control effect of the drone, a system is needed to improve the positioning accuracy without changing the hardware conditions.

[0003] The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion does not acknowledge or admit that any of the material referred to is part of the common general knowledge.

[0004] Many drone positioning systems have been developed. After a lot of searching and reference, it is found that the existing positioning systems are such as the system disclosed in the publication number CN116184320B. These system methods generally include: obtaining a first acoustic signal based on a first sensing array, determining a first position of the target drone based on the first acoustic signal, wherein the first sensing array includes a sensing device; obtaining a second acoustic signal based on a second sensing array, determining a second position of the target drone based on the second acoustic signal, wherein the second sensing array includes a sensing device adjacent to the first position. However, the system still uses one method for positioning and cannot break through the upper limit of accuracy brought by hardware. Summary of the invention

[0005] The purpose of the present invention is to propose a high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion in response to the existing deficiencies.

[0006] The present invention adopts the following technical solution:

[0007] A high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion, including a sensor detection module, a data transmission module, a data fusion module and a positioning calculation module;

[0008] The sensor detection module is used to detect the basic data of the UAV, the data transmission module is used to transmit the detected basic data to the same terminal, the data fusion module is used to fuse the basic data, and the positioning calculation module is used to calculate and obtain the high-precision positioning information of the UAV;

[0009] The sensing detection module includes a satellite sensing unit, a radar sensing unit and a motion sensing unit. The satellite sensing unit uses a satellite navigation system to detect the spatial information of the drone, the radar sensing unit uses a ground radar system to detect the spatial information of the drone, and the motion sensing unit is used to detect the basic speed information of the drone.

[0010] The data transmission module includes a circuit transmission unit and a data storage unit, wherein the circuit transmission unit is used to transmit received and detected data information, and the data storage unit is used to store spatial information and speed basic information;

[0011] The data fusion module includes a space fusion unit, a speed fusion unit, a fusion control unit and a trajectory storage unit. The space fusion unit is used to fuse two spatial information at the same time point. The speed fusion unit is used to fuse the speed basic information to obtain real-time speed information. The fusion control unit is used to control the fusion process. The trajectory storage unit is used to store the fused information as trajectory information.

[0012] The positioning calculation module includes a data transfer unit and a high-precision correction unit, wherein the data transfer unit is used to obtain trajectory information data, and the high-precision correction unit is used to perform high-precision positioning correction processing on the trajectory points;

[0013] Furthermore, the spatial fusion unit includes a fusion point calculation processor and a fusion radius calculation processor, the fusion point calculation processor is used to calculate the coordinate point after fusion, and the fusion radius calculation processor is used to calculate the accuracy after fusion;

[0014] The fusion point calculation processor calculates the coordinates (x3, y3, z3) of the fusion point P3 according to the following formula:

[0015]

[0016]

[0017]

[0018] Among them, (x1, y1, z1) is the coordinate of the first positioning point, (x2, y2, z2) is the coordinate of the second positioning point,

[0019] (x m ,y m , z m ) is the midpoint coordinate, d is the offset distance, and d0 is the distance between the first positioning point and the second positioning point;

[0020] The fusion radius calculation processor calculates the fusion accuracy r3 according to the following formula:

[0021]

[0022] Among them, r1 is the first precision, r2 is the second precision;

[0023] Further, the data transfer unit includes a correction control processor and a calculation cache processor, the correction control processor is used to obtain continuous trajectory points from the trajectory data register, and the calculation cache processor is used to store the trajectory points required for the high-precision correction unit to calculate;

[0024] Further, the high-precision correction unit includes an orientation change processor, a coordinate reset processor and an accuracy optimization processor, the orientation change processor is used to calculate two orientation change vectors, the coordinate reset processor is used to reset the coordinates of the fusion point to obtain the coordinates of the correction point, and the accuracy optimization processor is used to calculate the accuracy of the correction point;

[0025] Furthermore, the coordinate resetting processor calculates the coordinates of the nth correction point P4(n) according to the following formula:

[0026]

[0027] Among them, r3(n) is the fusion accuracy of the nth trajectory point, r3(1) is the fusion accuracy of the first trajectory point, ΔP is the change difference vector, P3(n) is the fusion point coordinate of the nth trajectory point, and n is the number of trajectory points obtained;

[0028] The precision optimization processor calculates the correction precision r4(n) of the nth correction point according to the following formula:

[0029]

[0030] Where λ is the unit interval coefficient.

[0031] The beneficial effects achieved by the present invention are:

[0032] The system detects positioning information in a variety of ways and fuses different positioning information to obtain a fusion point, thereby improving the positioning accuracy of the fusion point. The fusion point is analyzed and corrected through speed information and trajectory information to obtain a correction point, thereby further improving the accuracy of the correction point.

[0033] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structural framework of the present invention;

[0035] Figure 2 This is a schematic diagram of the data fusion module of the present invention;

[0036] Figure 3 This is a schematic diagram of the positioning calculation module of the present invention;

[0037] Figure 4 This is a schematic diagram of the composition of the fusion control unit of the present invention;

[0038] Figure 5 It is a schematic diagram of the high-precision correction unit of the present invention. DETAILED DESCRIPTION

[0039] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0040] Embodiment 1.

[0041] This embodiment provides a high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion. Figure 1 , including a sensing detection module, a data transmission module, a data fusion module and a positioning calculation module;

[0042] The sensor detection module is used to detect the basic data of the UAV, the data transmission module is used to transmit the detected basic data to the same terminal, the data fusion module is used to fuse the basic data, and the positioning calculation module is used to calculate and obtain the high-precision positioning information of the UAV;

[0043] The sensing detection module includes a satellite sensing unit, a radar sensing unit and a motion sensing unit. The satellite sensing unit uses a satellite navigation system to detect the spatial information of the drone, the radar sensing unit uses a ground radar system to detect the spatial information of the drone, and the motion sensing unit is used to detect the basic speed information of the drone.

[0044] The data transmission module includes a circuit transmission unit and a data storage unit, wherein the circuit transmission unit is used to transmit received and detected data information, and the data storage unit is used to store spatial information and speed basic information;

[0045] The data fusion module includes a space fusion unit, a speed fusion unit, a fusion control unit and a trajectory storage unit. The space fusion unit is used to fuse two spatial information at the same time point. The speed fusion unit is used to fuse the speed basic information to obtain real-time speed information. The fusion control unit is used to control the fusion process. The trajectory storage unit is used to store the fused information as trajectory information.

[0046] The positioning calculation module includes a data transfer unit and a high-precision correction unit, wherein the data transfer unit is used to obtain trajectory information data, and the high-precision correction unit is used to perform high-precision positioning correction processing on the trajectory points;

[0047] The spatial fusion unit includes a fusion point calculation processor and a fusion radius calculation processor, wherein the fusion point calculation processor is used to calculate the coordinate point after fusion, and the fusion radius calculation processor is used to calculate the accuracy after fusion;

[0048] The fusion point calculation processor calculates the coordinates (x3, y3, z3) of the fusion point P3 according to the following formula:

[0049]

[0050]

[0051]

[0052] Among them, (x1, y1, z1) is the coordinate of the first positioning point, (x2, y2, z2) is the coordinate of the second positioning point,

[0053] (x m ,y m , z m ) is the midpoint coordinate, d is the offset distance, and d0 is the distance between the first positioning point and the second positioning point;

[0054] The fusion radius calculation processor calculates the fusion accuracy r3 according to the following formula:

[0055]

[0056] Among them, r1 is the first precision, r2 is the second precision;

[0057] The data transfer unit includes a correction control processor and a calculation cache processor, wherein the correction control processor is used to obtain continuous trajectory points from the trajectory data register, and the calculation cache processor is used to store the trajectory points required for the high-precision correction unit to calculate;

[0058] The high-precision correction unit includes an orientation change processor, a coordinate reset processor and an accuracy optimization processor, wherein the orientation change processor is used to calculate two orientation change vectors, the coordinate reset processor is used to reset the coordinates of the fusion point to obtain the coordinates of the correction point, and the accuracy optimization processor is used to calculate the accuracy of the correction point;

[0059] The coordinate resetting processor calculates the nth correction point coordinate P4(n) according to the following formula:

[0060]

[0061] Among them, r3(n) is the fusion accuracy of the nth trajectory point, r3(1) is the fusion accuracy of the first trajectory point, ΔP is the change difference vector, P3(n) is the fusion point coordinate of the nth trajectory point, and n is the number of trajectory points obtained;

[0062] The precision optimization processor calculates the correction precision r4(n) of the nth correction point according to the following formula:

[0063]

[0064] Where λ is the unit interval coefficient.

[0065] Embodiment 2.

[0066] This embodiment includes all the contents of the first embodiment, and provides a high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion, including a sensor detection module, a data transmission module, a data fusion module and a positioning calculation module;

[0067] The sensor detection module is used to detect the basic data of the UAV, the data transmission module is used to transmit the detected basic data to the same terminal, the data fusion module is used to fuse the basic data, and the positioning calculation module is used to calculate and obtain the high-precision positioning information of the UAV;

[0068] The sensing detection module includes a satellite sensing unit, a radar sensing unit and a motion sensing unit. The satellite sensing unit uses a satellite navigation system to detect the spatial information of the drone, the radar sensing unit uses a ground radar system to detect the spatial information of the drone, and the motion sensing unit is used to detect the basic speed information of the drone.

[0069] The data transmission module includes a circuit transmission unit and a data storage unit, wherein the circuit transmission unit is used to transmit received and detected data information, and the data storage unit is used to store spatial information and speed basic information;

[0070] Combination Figure 2The data fusion module includes a space fusion unit, a speed fusion unit, a fusion control unit and a trajectory storage unit. The space fusion unit is used to fuse two spatial information at the same time point. The speed fusion unit is used to fuse the speed basic information to obtain real-time speed information. The fusion control unit is used to control the fusion process. The trajectory storage unit is used to store the fused information as trajectory information.

[0071] Combination Figure 3 The positioning calculation module includes a data transfer unit and a high-precision correction unit, wherein the data transfer unit is used to obtain trajectory information data, and the high-precision correction unit is used to perform high-precision positioning correction processing on the trajectory points;

[0072] The satellite sensing unit includes a satellite signal receiving processor and a satellite signal processor, wherein the satellite signal receiving processor is used to receive positioning information sent by multiple satellites, and the satellite signal processor calculates and processes the received satellite positioning information to obtain the spatial information of the UAV;

[0073] The radar sensing unit includes a radar signal receiving processor and a radar signal processor, wherein the radar signal receiving processor is used to directly receive the position information detected and transmitted by the radar, and the radar signal processor calculates and processes the received position information to obtain the spatial information of the UAV;

[0074] The motion sensing unit includes an accelerometer processor and a gyroscope processor, wherein the accelerometer processor is used to detect acceleration information of the drone, and the gyroscope processor is used to detect angular velocity information of the drone;

[0075] The spatial information processed by the satellite sensing unit is a spatial coordinate point P1 and a precision radius r1, where the precision radius is a fixed value and is directly sent by the satellite;

[0076] The position information received by the radar sensor unit is the relative coordinates and the base station coordinates. The relative coordinates and the base station coordinates are added to obtain a spatial coordinate point P2. The relative coordinates are processed to obtain the precision radius r2.

[0077] The radar signal processor calculates the accuracy radius r2 according to the following formula:

[0078] r2=k·L;

[0079] Among them, k is the accuracy coefficient, and L is the relative distance value of the relative coordinate;

[0080] The data storage unit includes an information alignment processor and a basic information register, wherein the information alignment processor is used to align the data information according to the time point, and the basic information register stores the basic data according to the alignment result;

[0081] For the convenience of description, P1 is called the first positioning point, P2 is called the second positioning point, r1 is called the first precision, and r2 is called the second precision;

[0082] The spatial fusion unit includes a fusion point calculation processor and a fusion radius calculation processor, wherein the fusion point calculation processor is used to calculate the coordinate point after fusion, and the fusion radius calculation processor is used to calculate the accuracy after fusion;

[0083] The process of obtaining the fusion point coordinates by the fusion point calculation processor comprises the following steps:

[0084] S1, calculate the midpoint coordinates (x m ,y m , z m ):

[0085] S2. Calculate the offset distance d:

[0086]

[0087] Wherein, d0 is the distance between the first positioning point and the second positioning point;

[0088] S3. Calculate the coordinates of the fusion point P3 (x3, y3, z3):

[0089]

[0090]

[0091]

[0092] The fusion radius calculation processor calculates the fusion accuracy r3 according to the following formula:

[0093]

[0094] The speed fusion unit includes a direction calculation processor and a speed calculation processor, wherein the direction calculation processor is used to monitor the change of the angular velocity to obtain the real-time direction of the UAV, and the speed calculation processor calculates the real-time speed of the UAV based on the real-time direction and acceleration information;

[0095] Combination Figure 4 , the fusion control unit includes a data acquisition control processor and a timing processor, the data acquisition control processor is used to obtain the aligned data information from the data storage unit, and the timing processor is used to perform timing and send pulse instructions to the data acquisition control processor;

[0096] The data acquisition control processor sends the acquired data to the space fusion unit and the speed fusion unit, and sends the results processed by the space fusion unit and the speed fusion unit to the trajectory storage unit;

[0097] The trajectory storage unit includes a data buffer processor and a trajectory data register, wherein the data buffer processor is used to temporarily store the received data, and the trajectory data register arranges and stores the trajectory data in chronological order;

[0098] The trajectory data consists of continuous trajectory points, each of which includes fusion point, fusion accuracy, real-time speed and time point;

[0099] The data transfer unit includes a correction control processor and a calculation cache processor, wherein the correction control processor is used to obtain continuous trajectory points from the trajectory data register, and the calculation cache processor is used to store the trajectory points required for the high-precision correction unit to calculate;

[0100] Combination Figure 5 The high-precision correction unit includes an orientation change processor, a coordinate reset processor and an accuracy optimization processor. The orientation change processor is used to calculate two orientation change vectors. The coordinate reset processor is used to reset the coordinates of the fusion point to obtain the coordinates of the correction point. The accuracy optimization processor is used to calculate the accuracy of the correction point.

[0101] The orientation change processor calculates the first change vector ΔC1 according to the following formula:

[0102]

[0103] Where n is the number of trajectory points obtained, is the real-time speed of the ith trajectory point, Δt is the trajectory interval time;

[0104] The orientation change processor calculates the second change vector ΔC2 according to the following formula:

[0105] ΔC2=P3(n)-P3(1);

[0106] Among them, P3(n) is the fusion point coordinate of the nth trajectory point, and P3(1) is the fusion point coordinate of the 1st trajectory point;

[0107] The coordinate resetting processor calculates the change difference vector ΔP according to the following formula:

[0108] ΔP = ΔC1 - ΔC2;

[0109] The coordinate resetting processor calculates the nth correction point coordinate P4(n) according to the following formula:

[0110]

[0111] Among them, r3(n) is the fusion accuracy of the nth trajectory point, and r3(1) is the fusion accuracy of the first trajectory point;

[0112] The precision optimization processor calculates the correction precision r4(n) of the nth correction point according to the following formula:

[0113]

[0114] Where λ is the unit interval coefficient;

[0115] The unit interval coefficient is set by the staff according to the actual situation;

[0116] When the high-precision correction unit has processed a correction point, the correction control processor only needs to obtain the next trajectory point from the trajectory data register and save it to the calculation cache processor, and the calculation cache processor deletes the earliest trajectory point after receiving a new trajectory point;

[0117] The i appearing in the above text is an ordinal number used to indicate a sequence number.

[0118] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion, characterized in that: It includes a sensing detection module, a data transmission module, a data fusion module and a positioning calculation module; The sensor detection module is used to detect the basic data of the UAV, the data transmission module is used to transmit the detected basic data to the same terminal, the data fusion module is used to fuse the basic data, and the positioning calculation module is used to calculate and obtain the high-precision positioning information of the UAV; The sensing detection module includes a satellite sensing unit, a radar sensing unit and a motion sensing unit. The satellite sensing unit uses a satellite navigation system to detect the spatial information of the drone, the radar sensing unit uses a ground radar system to detect the spatial information of the drone, and the motion sensing unit is used to detect the basic speed information of the drone. The data transmission module includes a circuit transmission unit and a data storage unit, wherein the circuit transmission unit is used to transmit received and detected data information, and the data storage unit is used to store spatial information and speed basic information; The data fusion module includes a space fusion unit, a speed fusion unit, a fusion control unit and a trajectory storage unit. The space fusion unit is used to fuse two spatial information at the same time point. The speed fusion unit is used to fuse the speed basic information to obtain real-time speed information. The fusion control unit is used to control the fusion process. The trajectory storage unit is used to store the fused information as trajectory information. The positioning calculation module includes a data transfer unit and a high-precision correction unit, wherein the data transfer unit is used to obtain trajectory information data, and the high-precision correction unit is used to perform high-precision positioning correction processing on the trajectory points; The spatial fusion unit includes a fusion point calculation processor and a fusion radius calculation processor, wherein the fusion point calculation processor is used to calculate the coordinate point after fusion, and the fusion radius calculation processor is used to calculate the accuracy after fusion; The process of obtaining the fusion point coordinates by the fusion point calculation processor comprises the following steps: S1, calculate the midpoint coordinates (x m ,y m , z m ): S2. Calculate the offset distance d: ； Wherein, d0 is the distance between the first positioning point and the second positioning point; S3, calculate the coordinates of the fusion point P3 : ； ； ； The fusion radius calculation processor calculates the fusion accuracy r3 according to the following formula: ； The spatial information processed by the satellite sensing unit is a spatial coordinate point P1 and a first precision r1, the precision is a fixed value and is directly sent by the satellite; The position information received by the radar sensor unit is the relative coordinates and the base station coordinates. The relative coordinates and the base station coordinates are added to obtain a spatial coordinate point P2, and r2 is obtained after the relative coordinates are processed. P1 is called the first positioning point, P2 is called the second positioning point, r1 is called the first accuracy, and r2 is called the second accuracy. is the coordinate of the first positioning point, is the coordinate of the second positioning point, is the midpoint coordinate, d is the offset distance, and d0 is the distance between the first positioning point and the second positioning point; The radar signal processor calculates the second accuracy r2 according to the following formula: ； Among them, k is the accuracy coefficient and L is the relative distance value of the relative coordinate.

2. A high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion as claimed in claim 1, characterized in that: The data transfer unit includes a correction control processor and a calculation cache processor. The correction control processor is used to obtain continuous trajectory points from the trajectory storage unit, and the calculation cache processor is used to store trajectory points required for calculation by the high-precision correction unit.

3. A high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion as claimed in claim 2, characterized in that: The high-precision correction unit includes an orientation change processor, a coordinate reset processor and an accuracy optimization processor. The orientation change processor is used to calculate two orientation change vectors, the coordinate reset processor is used to reset the coordinates of the fusion point to obtain the coordinates of the correction point, and the accuracy optimization processor is used to calculate the accuracy of the correction point.

4. A high-precision positioning system for unmanned aerial vehicles based on multi-sensor fusion as claimed in claim 3, characterized in that: The orientation change processor calculates the first change vector according to the following formula: : ； Where n is the number of trajectory points obtained, is the real-time velocity of the ith trajectory point, is the trajectory interval time; The orientation change processor calculates the second change vector according to the following formula: : ； in, is the fusion point coordinate of the nth trajectory point, is the fusion point coordinate of the first trajectory point; The coordinate resetting processor calculates the change difference vector according to the following formula: : ； The coordinate resetting processor calculates the nth correction point coordinate P4(n) according to the following formula: ； Among them, r3(n) is the fusion accuracy of the nth trajectory point, r3(1) is the fusion accuracy of the first trajectory point, is the change difference vector, is the fusion point coordinate of the nth trajectory point, n is the number of trajectory points obtained; The precision optimization processor calculates the correction precision r4(n) of the nth correction point according to the following formula: ； in, is the unit interval coefficient.

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