High-precision unmanned aerial vehicle flight path conformity measuring system and measuring method

Abstract

The invention relates to the technical field of unmanned aerial vehicle test control, in particular to a high-precision unmanned aerial vehicle track conformity measuring system which comprises an airborne precise positioning terminal and a ground differential service station. The airborne precise positioning terminal is composed of a first Beidou satellite RTK positioning module, a first calculation control unit, an unmanned aerial vehicle GNSS antenna, a GNSS signal degradation device, an unmanned aerial vehicle GNSS receiver, a first vehicle-ground communication module and an unmanned aerial vehicle power supply system. The ground differential service station is composed of a second Beidou satellite RTK positioning module, a second machine-ground communication module, a second calculation control unit, a 5G / 4G communication module and a ground differential service station power supply system. According to the high-precision unmanned aerial vehicle flight path conformity measuring system and measuring method, the navigation deviation of the unmanned aerial vehicle is accurately adjusted in real time, the contribution degree of the navigation error to the flight path deviation and the flight path deviation degree of the unmanned aerial vehicle under different navigation signal quality conditions are evaluated, real-time evaluation of the flight path conformity of the unmanned aerial vehicle in actual flight is achieved, and the flight path conformity of the unmanned aerial vehicle is accurately measured. And the data is more real and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) test control, and in particular to a high-precision UAV track compliance measurement system and a measurement method. Background Art

[0002] The conformity between the flight track of a UAV and the planned route is an important factor in the air traffic control of UAVs and mixed flights. This conformity is related to the navigation error, flight control capability, and aerodynamic design of the UAV. It is a comprehensive indicator. There are currently relatively few methods for evaluating and measuring this comprehensive indicator, and the accuracy is not ideal.

[0003] There are currently two solutions: evaluation through a fully digital simulation model of the drone and flight control, and evaluation directly using the actual flight trajectory of the drone. The former has large deviations in the evaluation results, and the limited amount of information in the static data used will affect the evaluation of the track deviation, and it is impossible to directly form a real entity data support; the latter cannot test the deviation caused by different GNSS signal qualities in real time, and the test accuracy is low.

[0004] In order to solve the above problems, we made improvements and proposed a high-precision UAV track compliance measurement system and measurement method. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] The present invention provides a high-precision unmanned aerial vehicle track conformity measurement system, comprising an airborne precise positioning terminal and a ground differential service station, wherein the airborne precise positioning terminal is composed of a first Beidou satellite RTK positioning module, a first calculation control unit, an unmanned aerial vehicle GNSS antenna, a GNSS signal degrader, an unmanned aerial vehicle GNSS receiver, a first machine-to-ground communication module and an unmanned aerial vehicle power supply system, and the airborne precise positioning terminal is fixedly mounted on the unmanned aerial vehicle; the ground differential service station is composed of a second Beidou satellite RTK positioning module, a second machine-to-ground communication module, a second calculation control unit, a 5G / 4G communication module, and a ground differential service station power supply system, and the airborne precise positioning terminal and the ground differential service station are connected in data communication via the first machine-to-ground communication module and the second machine-to-ground communication module.

[0007] As a preferred technical solution of the present invention, the first Beidou satellite RTK positioning module is fixedly installed with an airborne precise positioning terminal GNSS antenna, the first Beidou satellite RTK positioning module is electrically connected to the first computing control unit, the first computing control unit is electrically connected to the first machine-to-ground communication module, and the first machine-to-ground communication module is fixedly installed with a first machine-to-ground communication antenna.

[0008] As a preferred technical solution of the present invention, the GNSS signal degrader is electrically connected to the airborne precise positioning terminal through a digital bus, and the GNSS signal degrader is electrically connected in series between the feeder of the UAV GNSS receiver and the UAV GNSS antenna.

[0009] As a preferred technical solution of the present invention, the second Beidou satellite RTK positioning module is fixedly equipped with a ground differential service station GNSS antenna, the second computing control unit is electrically connected to the second Beidou satellite RTK positioning module, and the 5G / 4G communication module and the second machine-to-ground communication module are both electrically connected to the second computing control unit.

[0010] As a preferred technical solution of the present invention, the second machine-to-ground communication module is fixedly equipped with a second machine-to-ground communication antenna, the 5G / 4G communication module is fixedly equipped with a 5G / 4G communication antenna, and the second machine-to-ground communication module is connected to the first machine-to-ground communication module for data communication via the second machine-to-ground communication antenna and the first machine-to-ground communication antenna.

[0011] A high-precision UAV track compliance measurement method comprises the following steps:

[0012] S1. The ground differential service station obtains differential positioning correction data provided to the airborne precise positioning terminal by calculating the second calculation control unit;

[0013] S2. The second machine-to-ground communication module on the ground differential service station and the first machine-to-ground communication module on the airborne precise positioning terminal establish a communication connection, and the differential positioning correction data of the ground differential service station is transmitted to the airborne precise positioning terminal;

[0014] S3. The link connection between the 5G / 4G communication module of the ground differential service station and the remote system server is completed, and the real-time status of the ground differential service station and the airborne precise positioning terminal can be sent to the remote system server, and instructions and configuration tasks can also be accepted from the remote system server;

[0015] S4. After receiving the differential correction data from the ground differential service station, the airborne precise positioning terminal accurately locates the real-time high-precision coordinates of the UAV, and realizes the accurate recording and description of the UAV flight trajectory by continuously outputting the positioning coordinate data at a rate greater than 20Hz;

[0016] S5. The airborne precise positioning terminal receives the UAV GNSS degradation instruction and degradation digital value from the remote system server or the ground differential service station through the UAV GNSS antenna, and degrades the UAV's own GNSS navigation signal;

[0017] S6. After the GNSS signal of the drone degrades, its navigation error increases, and the drone's track deviates from the planned route. The airborne precise positioning terminal can accurately record the actual precise flight trajectory of the aircraft;

[0018] S7. After the flight experiment, the UAV’s track conformity is objectively evaluated based on the three trajectory data: the UAV’s planned route, the UAV’s own GNSS flight trajectory description, and the aircraft’s real-time precise flight trajectory recorded by the onboard precise positioning terminal.

[0019] The beneficial effects of the present invention are as follows: the high-precision UAV track compliance measurement system and method, through the RTK precise real-time positioning technology of the BDS Beidou navigation system, combined with wireless communication technology and radio frequency technology, combined with UAV flight control technology, accurately controls the degradation of the UAV's own GNSS signal, accurately adjusts the navigation deviation of the UAV in real time, and then evaluates the contribution of navigation error to track deviation and the UAV track deviation under different navigation signal quality conditions in real time, thereby realizing real-time evaluation of the track compliance of the UAV in actual flight. Compared with the traditional full-digital simulation model for evaluating the track compliance of the UAV, this equipment obtains data records for evaluation in actual operations, and the data is more real and reliable, and the feasibility and objectivity are higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is an overview diagram of positioning data communication of a high-precision UAV track compliance measurement system of the present invention;

[0022] Figure 2 This is a system diagram of an airborne precise positioning terminal of a high-precision UAV track compliance measurement system of the present invention;

[0023] Figure 3 This is a system diagram of a ground differential service station of a high-precision UAV track compliance measurement system of the present invention; DETAILED DESCRIPTION

[0024] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0025] Example: Figure 1-Figure 3As shown, a high-precision UAV track conformity measurement system includes an airborne precise positioning terminal and a ground differential service station, characterized in that the airborne precise positioning terminal is composed of a first Beidou satellite RTK positioning module, a first calculation control unit, a UAV GNSS antenna, a GNSS signal degrader, a UAV GNSS receiver, a first aircraft-ground communication module and a UAV power system, and the airborne precise positioning terminal is fixedly installed on the UAV; the ground differential service station is composed of a second Beidou satellite RTK positioning module, a second aircraft-ground communication module, a second calculation control unit, a 5G / 4G communication module, and a ground differential service station power system. The airborne precise positioning terminal is connected to the ground differential service station through data communication between the first aircraft-ground communication module and the second aircraft-ground communication module, and receives RTK correction data from the ground differential service station through the first aircraft-ground communication module and the second aircraft-ground communication module, so as to provide a precise positioning coordinate description for the actual flight real-time position of the UAV.

[0026] The first Beidou satellite RTK positioning module is fixedly installed with an airborne precise positioning terminal GNSS antenna. The first Beidou satellite RTK positioning module is electrically connected to the first calculation control unit. The first calculation control unit is electrically connected to the first machine-to-ground communication module. The first machine-to-ground communication module is fixedly installed with a first machine-to-ground communication antenna.

[0027] The GNSS signal degrader is electrically connected to the airborne precise positioning terminal through a digital bus, and the program degradation value of the GNSS signal degrader is step-controlled. The GNSS signal degrader is electrically connected in series between the UAV GNSS receiver and the feeder of the UAV GNSS antenna, and the signal is degraded according to the instructions specified by the airborne precise positioning terminal.

[0028] The second Beidou satellite RTK positioning module is fixedly equipped with a ground differential service station GNSS antenna, the second computing control unit is electrically connected to the second Beidou satellite RTK positioning module, and the 5G / 4G communication module and the second machine-to-ground communication module are both electrically connected to the second computing control unit.

[0029] The second machine-to-ground communication module is fixedly equipped with a second machine-to-ground communication antenna, and the 5G / 4G communication module is fixedly equipped with a 5G / 4G communication antenna. The second machine-to-ground communication module is connected to the first machine-to-ground communication module through data communication with the second machine-to-ground communication antenna and the first machine-to-ground communication antenna, which ensures the stable transmission of correction data and realizes the transmission of real-time positioning data of the airborne equipment to the ground equipment, as well as the command control of the UAV and the collection of real-time status by the ground equipment.

[0030] A high-precision UAV track compliance measurement method comprises the following steps:

[0031] S1. The ground differential service station obtains differential positioning correction data provided to the airborne precise positioning terminal by calculating through the second calculation control unit;

[0032] S2. The second machine-to-ground communication module on the ground differential service station establishes a communication connection with the first machine-to-ground communication module of the airborne precise positioning terminal, and the differential positioning correction data of the ground differential service station is transmitted to the airborne precise positioning terminal;

[0033] S3. The link connection between the 5G / 4G communication module of the ground differential service station and the remote system server is completed. The real-time status of the ground differential service station and the airborne precise positioning terminal can be sent to the remote system server, and the instructions and configuration tasks from the remote system server can also be received;

[0034] S4. After receiving the differential correction data from the ground differential service station, the airborne precise positioning terminal accurately locates the real-time high-precision coordinates of the UAV, and realizes the accurate recording and description of the UAV flight trajectory by continuously outputting the positioning coordinate data at a rate greater than 20 Hz;

[0035] S5. The airborne precise positioning terminal receives the drone GNSS degradation instruction and degradation digital value from the remote system server or the ground differential service station through the drone GNSS antenna, and degrades the drone's own GNSS navigation signal;

[0036] S6. When the GNSS signal of the drone degrades, its navigation error increases, and the drone's track deviates from the planned route. The airborne precise positioning terminal can accurately record the actual precise flight trajectory of the aircraft;

[0037] S7. After the flight experiment, the UAV’s track conformity is objectively evaluated based on the three trajectory data: the UAV’s planned route, the UAV’s own GNSS flight trajectory description, and the aircraft’s real-time precise flight trajectory recorded by the onboard precise positioning terminal.

[0038] For the airborne precise positioning terminal, its first Beidou satellite RTK positioning module is used to accurately locate the position of the UAV in real time and form a high-precision flight trajectory. The UAV GNSS antenna is used to receive navigation signals from navigation satellites in orbit. When working, it receives differential correction data from the ground differential service station, and obtains a high-precision coordinate description after differential correction calculation; the GNSS signal degrader is used to degrade the GNSS signal of the UAV to meet the precise control of the navigation error input source in the test. The degradation value adopts digital step control, which can achieve precise control of the degradation value; the first calculation control unit is responsible for the management and digital configuration control of the GNSS signal degrader, the processing of positioning data, and the protocol processing and calculation of equipment communication. It is the core processing and management unit of the equipment. The first machine-to-ground communication module realizes wireless communication between the airborne precise positioning terminal and the ground differential service station. It is mainly used to receive differential correction data, equipment configuration and management instructions from the ground, and send precise positioning coordinate data and equipment status and warning information; the UAV power supply system is used to provide power to the airborne precise positioning terminal equipment.

[0039] For the ground differential service station, the second Beidou satellite RTK positioning module and the ground differential service station GNSS antenna are used to accurately locate their own position coordinates, and at the same time obtain differential correction data through calculation; the second aircraft-ground communication module is used to send differential correction data to the airborne precise positioning terminal, and at the same time receive equipment status and warning information from the airborne precise positioning terminal, as well as send control and configuration instructions from the ground.

[0040] The coordinated work of the airborne precise positioning terminal and the ground differential service station can achieve true measurement and evaluation of the UAV’s track compliance.

[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision UAV track compliance measurement system, including an airborne precise positioning terminal and a ground differential service station, characterized in that: The airborne precise positioning terminal is composed of a first Beidou satellite RTK positioning module, a first calculation and control unit, a UAV GNSS antenna, a GNSS signal degrader, a UAV GNSS receiver, a first aircraft-to-ground communication module and a UAV power supply system, and the airborne precise positioning terminal is fixedly installed on the UAV; the ground differential service station is composed of a second Beidou satellite RTK positioning module, a second aircraft-to-ground communication module, a second calculation and control unit, a 5G / 4G communication module, and a ground differential service station power supply system, and the airborne precise positioning terminal and the ground differential service station are connected through data communication between the first aircraft-to-ground communication module and the second aircraft-to-ground communication module.

2. A high-precision UAV track conformity measurement system according to claim 1, characterized in that: The first Beidou satellite RTK positioning module is fixedly installed with an airborne precise positioning terminal GNSS antenna, the first Beidou satellite RTK positioning module is electrically connected to the first calculation control unit, the first calculation control unit is electrically connected to the first machine-to-ground communication module, and the first machine-to-ground communication module is fixedly installed with a first machine-to-ground communication antenna.

3. A high-precision UAV track conformity measurement system according to claim 1, characterized in that: The GNSS signal degrader is electrically connected to the airborne precise positioning terminal via a digital bus, and the GNSS signal degrader is electrically connected in series between the UAV GNSS receiver and the feeder of the UAV GNSS antenna.

4. A high-precision UAV track conformity measurement system according to claim 1, characterized in that: The second Beidou satellite RTK positioning module is fixedly equipped with a ground differential service station GNSS antenna, the second calculation and control unit is electrically connected to the second Beidou satellite RTK positioning module, and the 5G / 4G communication module and the second machine-to-ground communication module are both electrically connected to the second calculation and control unit.

5. A high-precision UAV track conformity measurement system according to claim 2, characterized in that: The second machine-to-ground communication module is fixedly equipped with a second machine-to-ground communication antenna, and the 5G / 4G communication module is fixedly equipped with a 5G / 4G communication antenna. The second machine-to-ground communication module is connected to the first machine-to-ground communication module for data communication via the second machine-to-ground communication antenna and the first machine-to-ground communication antenna.

6. A high-precision UAV track compliance measurement method, comprising a high-precision UAV track compliance measurement system according to claims 1-5, characterized in that: The following steps are involved: S1. The ground differential service station obtains differential positioning correction data provided to the airborne precise positioning terminal by calculating the second calculation control unit; S2. The second machine-to-ground communication module on the ground differential service station and the first machine-to-ground communication module on the airborne precise positioning terminal establish a communication connection, and the differential positioning correction data of the ground differential service station is transmitted to the airborne precise positioning terminal; S3. The link connection between the 5G / 4G communication module of the ground differential service station and the remote system server is completed, and the real-time status of the ground differential service station and the airborne precise positioning terminal can be sent to the remote system server, and instructions and configuration tasks can also be accepted from the remote system server; S4. After receiving the differential correction data from the ground differential service station, the airborne precise positioning terminal accurately locates the real-time high-precision coordinates of the UAV, and realizes the accurate recording and description of the UAV flight trajectory by continuously outputting the positioning coordinate data at a rate greater than 20Hz; S5. The airborne precise positioning terminal receives the UAV GNSS degradation instruction and degradation digital value from the remote system server or the ground differential service station through the UAV GNSS antenna, and degrades the UAV's own GNSS navigation signal; S6. After the GNSS signal of the drone degrades, its navigation error increases, and the drone's track deviates from the planned route. The airborne precise positioning terminal can accurately record the actual precise flight trajectory of the aircraft; S7. After the flight experiment, the UAV’s track conformity is objectively evaluated based on the three trajectory data: the UAV’s planned route, the UAV’s own GNSS flight trajectory description, and the aircraft’s real-time precise flight trajectory recorded by the onboard precise positioning terminal.

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