Multi-rotor unmanned aerial vehicle target positioning method

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle target positioning method. The method comprises the following steps: when the multi-rotor unmanned aerial vehicle travels to a first position of a target area at a target moment and finds a target object, obtaining position information of the first position, first distance information between the first position and the target object, the altitude of the multi-rotor unmanned aerial vehicle and a yaw angle of the multi-rotor unmanned aerial vehicle; when the multi-rotor unmanned aerial vehicle keeps the yaw angle unchanged and vertically flies upwards to a second position based on the first position, position information of the second position and second distance information between the second position and the target object are obtained, and when the multi-rotor unmanned aerial vehicle flies to the second position, the position of the target object keeps unchanged. The technical problem that the price of obtaining the specific position of the target object by adopting a single-point angle measurement and distance measurement positioning method is high since the unmanned aerial vehicle needs to carry a high-precision gyroscope and a pod platform when the specific position of the target object is obtained by adopting the single-point angle measurement and distance measurement positioning method in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) target positioning, and in particular to a method for positioning a target of a multi-rotor UAV. Background Art

[0002] UAV target positioning technology plays an important role in some environments. The use of UAV target positioning can effectively obtain the precise coordinates of the target object, which is of great significance for the aircraft to carry out beyond-visual-range attacks. At present, the main method for UAV target positioning is to use the single-point angle measurement and ranging positioning method, that is, target positioning based on attitude measurement-laser ranging. First, the instantaneous position coordinates and attitude information of the UAV are determined, and at the same time, the laser measures the distance information between the target and the UAV at that moment to calculate the coordinates of the target object point. The target positioning accuracy of this method depends on the measurement errors of the three-axis attitude angle of the UAV, the pitch angle and azimuth angle of the pod platform. Low-precision gyroscopes and pod platforms cannot meet the requirements of target positioning attacks, and high-precision is expensive. Summary of the invention

[0003] The embodiment of the present invention provides a multi-rotor UAV target positioning method, which at least solves the technical problem that the specific position of the target object is obtained by using a single-point angle measurement and ranging positioning method in the prior art, and the UAV needs to carry a high-precision gyroscope and a pod platform, resulting in the high price of using the single-point angle measurement and ranging positioning method to obtain the specific position of the target object.

[0004] According to one aspect of an embodiment of the present invention, a multi-rotor unmanned aerial vehicle target positioning method is provided. The method may include: when the multi-rotor unmanned aerial vehicle travels to the first position of the target area at the target time and finds the target object, obtain the position information of the first position, the first distance information between the first position and the target object, the altitude of the multi-rotor unmanned aerial vehicle, and the yaw angle of the multi-rotor unmanned aerial vehicle; when the multi-rotor unmanned aerial vehicle keeps the yaw angle unchanged and flies vertically upward to the second position based on the first position, obtain the position information of the second position and the second distance information between the second position and the target object, wherein when the multi-rotor unmanned aerial vehicle flies to the second position, the position of the target object remains unchanged; based on the first distance information and the second distance information, obtain the pitch angle between the multi-rotor unmanned aerial vehicle and the target object at the second position; based on the pitch angle between the multi-rotor unmanned aerial vehicle and the target object at the second position, the yaw angle of the multi-rotor unmanned aerial vehicle, the position information of the second position and the second distance information, obtain the position information of the target object; send the position information of the target object to the ground station.

[0005] Optionally, the expression for obtaining the pitch angle between the multi-rotor drone and the target object at the second position based on the second distance information and the first distance information is:

[0006] in, is the pitch angle between the multi-rotor drone and the target object at the second position, is the first distance information, is the second distance information, is the height difference between the position information of the first position and the position information of the second position.

[0007] Optionally, the height difference between the position information of the first position and the position information of the second position is expressed as:

[0008] in, is the height difference between the position information of the first position and the position information of the second position.

[0009] Optionally, the position information expression of the target object is obtained based on the pitch angle between the multi-rotor drone and the target object at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information:

[0010] in, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, is the pitch angle between the multi-rotor drone and the target object at the second position, is the yaw angle of the rotorcraft, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the second distance information.

[0011] Beneficial effects of the present invention: (1) The multi-rotor UAV target positioning method of the present invention is applicable to any terrain conditions, and the algorithm is simple, easy to implement, and low cost; (2) There are few sources of error, including only the multi-rotor UAV position error, yaw angle error and laser ranging error. It can obtain higher positioning accuracy when the measurement error between the UAV attitude angle and the pod platform pitch angle is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a flow chart of a multi-rotor UAV target positioning method according to an embodiment of the present invention; Figure 2 is a schematic top view of the relative relationship between a multi-rotor drone and a target object M according to an embodiment of the present invention; Figure 3 is the target object M and the position of the rotary-wing UAV according to the embodiment of the present invention. and Schematic diagram of the relative relationship between the three; Figure 4 is a schematic diagram of a multi-rotor UAV target positioning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0015] Example 1 According to an embodiment of the present invention, a multi-rotor UAV target positioning method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0016] Figure 1 FIG. 1 is a flow chart of a multi-rotor UAV target positioning method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps: Step S101, when the multi-rotor drone drives to the first position of the target area at the target time and finds the target object, obtain the position information of the first position, the first distance information between the first position and the target object, the altitude of the multi-rotor drone, and the yaw angle of the multi-rotor drone.

[0017] In this embodiment, Figure 2 is a schematic top view of the relative relationship between a multi-rotor drone and a target object M according to an embodiment of the present invention, Figure 2 middle Point is the first position of the multi-rotor drone, The location information of the point is , is the location information of the first location Axis coordinates, is the location information of the first location Axis coordinates, is the location information of the first location Axis coordinates, yaw angle of multi-rotor drone , the first distance information between the first position and the target object is , the location information of the target object is , the location information of the target object is unknown, where , , , .

[0018] Step S102, when the multi-rotor drone keeps the yaw angle unchanged and flies vertically upward from the first position to the second position, obtain the position information of the second position and the second distance information between the second position and the target object, wherein when the multi-rotor drone flies to the second position, the position of the target object remains unchanged.

[0019] In this embodiment, Figure 3 is the target object M and the position of the rotary-wing UAV according to the embodiment of the present invention. and The relative relationship diagram of the three is as follows: Figure 3 As shown, the multi-rotor drone maintains the yaw angle Unchanged, and vertically upward flight distance To location , perform laser ranging on the target again to obtain the straight-line distance between the target and the drone , the pitch angle between the multi-rotor drone and the target object at the second position ,in, 0, , .

[0020] Step S103: obtaining a pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position based on the first distance information and the second distance information.

[0021] In this embodiment, the first distance information and the second distance information are calculated to obtain the pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position. , substituting the above data into the pitch angle between the multi-rotor drone and the target object at the second position, we get .

[0022] Step S104, obtaining the position information of the target object based on the pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information.

[0023] In this embodiment, the pitch angle between the multi-rotor drone and the target object at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information are calculated to obtain the position information of the target object. , where the location information of the second location is , the second distance information is , get the location information of the target object .

[0024] Step S105: sending the location information of the target object to the ground station.

[0025] In this embodiment, the multi-rotor UAV sends the target position coordinate information calculated onboard to the ground station via a data link.

[0026] The above method of this embodiment is further introduced below.

[0027] As an optional embodiment, in step S103, the expression for obtaining the pitch angle between the multi-rotor drone and the target object at the second position based on the second distance information and the first distance information is:

[0028] in, is the pitch angle between the multi-rotor drone and the target object at the second position, is the first distance information, is the second distance information, is the height difference between the position information of the first position and the position information of the second position.

[0029] In this embodiment, the pitch angle between the multi-rotor drone and the target object at the second position is obtained by calculating based on the second distance information and the first distance information. .

[0030] As an optional implementation manner, the expression for the height difference between the position information of the first position and the position information of the second position is:

[0031] in, is the height difference between the position information of the first position and the position information of the second position.

[0032] In this embodiment, the quotient between the first distance information and 20 is determined as the height difference between the position information of the first position and the position information of the second position.

[0033] As an optional embodiment, in step S104, based on the pitch angle between the multi-rotor drone and the target object at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information, the position information expression of the target object is obtained as follows:

[0034] in, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, is the pitch angle between the multi-rotor drone and the target object at the second position, is the yaw angle of the rotorcraft, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the second distance information.

[0035] In this embodiment, the pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information are calculated to obtain the position information of the target object.

[0036] In an embodiment of the present invention, when the multi-rotor drone drives to a first position in a target area at a target time and finds a target object, the position information of the first position, the first distance information between the first position and the target object, the altitude of the multi-rotor drone, and the yaw angle of the multi-rotor drone are obtained; when the multi-rotor drone keeps the yaw angle unchanged and flies vertically upward to a second position based on the first position, the position information of the second position and the second distance information between the second position and the target object are obtained, wherein when the multi-rotor drone flies to the second position, the position of the target object remains unchanged; based on the first distance information and the second distance information, the pitch angle between the multi-rotor drone and the target object at the second position is obtained; based on the distance information between the multi-rotor drone and the target object at the second position, the pitch angle The pitch angle, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information are used to obtain the position information of the target object; the position information of the target object is sent to the ground station, which solves the technical problem that the single-point angle measurement and ranging positioning method used in the prior art to obtain the specific position of the target object requires the drone to carry a high-precision gyroscope and a pod platform, resulting in the high price of the single-point angle measurement and ranging positioning method to obtain the specific position of the target object. The drone coordinates and the ranging distance when the drone first finds the target are recorded, and according to the first ranging distance, the drone flies vertically upward for a certain distance, and the drone coordinates and the ranging distance are recorded again, and a spatial plane triangle is constructed by the two-point coordinates and the two ranging distances, so as to achieve the technical effect of solving the target position with low cost and high precision.

[0037] Example 2 According to an embodiment of the present invention, a multi-rotor UAV target positioning system is also provided. It should be noted that the multi-rotor UAV target positioning system can be used to execute the multi-rotor UAV target positioning method in Example 1.

[0038] Figure 4 Schematic diagram of a multi-rotor UAV target positioning system according to an embodiment of the present invention. Figure 4 As shown, a multi-rotor UAV target positioning system may include: a first acquisition unit, a second acquisition unit, a first obtaining unit, a second obtaining unit and a sending unit.

[0039] The first acquisition unit is used to acquire position information of the first position, first distance information between the first position and the target object, the altitude of the multi-rotor drone, and the yaw angle of the multi-rotor drone when the multi-rotor drone travels to the first position of the target area at the target time and finds the target object.

[0040] The second acquisition unit is used to acquire position information of the second position and second distance information between the second position and the target object when the multi-rotor drone keeps the yaw angle unchanged and flies vertically upward to the second position based on the first position, wherein the position of the target object remains unchanged when the multi-rotor drone flies to the second position.

[0041] The first obtaining unit is used to obtain a pitch angle between the multi-rotor UAV and the target object when the multi-rotor UAV is at a second position based on the second distance information and the first distance information.

[0042] The second obtaining unit is used to obtain the position information of the target object based on the pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information.

[0043] The sending unit is used to send the location information of the target object to the ground station.

[0044] In this embodiment, a first acquisition unit is used to acquire position information of the first position, first distance information between the first position and the target object, the altitude of the multirotor drone, and the yaw angle of the multirotor drone when the multirotor drone travels to the first position of the target area at the target time and finds the target object; a second acquisition unit is used to acquire position information of the second position and second distance information between the second position and the target object when the multirotor drone keeps the yaw angle unchanged and flies vertically upward to the second position based on the first position, wherein the position of the target object remains unchanged when the multirotor drone flies to the second position; the first acquisition unit is used to acquire the pitch angle between the multirotor drone and the target object at the second position based on the second distance information and the first distance information; the second acquisition unit is used to acquire the pitch angle between the multirotor drone and the target object at the second position based on the multirotor drone The position information of the target object is obtained by using the pitch angle between the multi-rotor UAV and the target object at the second position, the yaw angle of the multi-rotor UAV, the position information of the second position and the second distance information; a sending unit is used to send the position information of the target object to the ground station, which solves the technical problem that the single-point angle measurement and ranging positioning method is used to obtain the specific position of the target object in the prior art, and the UAV needs to carry a high-precision gyroscope and a pod platform, which leads to the high price of using the single-point angle measurement and ranging positioning method to obtain the specific position of the target object. The UAV coordinates and the ranging distance when the UAV first finds the target are recorded, and according to the first ranging distance, the UAV flies vertically upward for a certain distance, and the UAV coordinates and the ranging distance are recorded again, and a spatial plane triangle is constructed by the two-point coordinates and the two ranging distances, so as to achieve the technical effect of solving the target position with low cost and high precision.

[0045] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0046] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0047] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0049] In addition, each functional unit in each embodiment of the present invention may be integrated into a first processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0050] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-rotor UAV target positioning method, characterized in that: include: When the multi-rotor drone drives to a first position in the target area at a target time and finds a target object, obtaining position information of the first position, first distance information between the first position and the target object, the altitude of the multi-rotor drone, and the yaw angle of the multi-rotor drone; When the multi-rotor drone keeps the yaw angle unchanged and flies vertically upward from the first position to the second position, obtaining position information of the second position and second distance information between the second position and the target object, wherein the position of the target object remains unchanged when the multi-rotor drone flies to the second position; Based on the first distance information and the second distance information, obtaining a pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at a second position; Obtaining position information of the target object based on a pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position, a yaw angle of the multi-rotor drone, position information of the second position, and second distance information; The location information of the target object is sent to the ground station.

2. The method according to claim 1, characterized in that The expression for obtaining the pitch angle between the multi-rotor drone and the target object at the second position based on the second distance information and the first distance information is: in, is the pitch angle between the multi-rotor drone and the target object at the second position, is the first distance information, is the second distance information, is the height difference between the position information of the first position and the position information of the second position.

3. The method according to claim 2, characterized in that The expression of the height difference between the position information of the first position and the position information of the second position is: in, is the height difference between the position information of the first position and the position information of the second position.

4. The method according to claim 1, characterized in that: The position information expression of the target object is obtained based on the pitch angle between the multi-rotor drone and the target object at the second position, the yaw angle of the multi-rotor drone, the position information of the second position and the second distance information: in, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, The location information of the target object Axis coordinates, is the pitch angle between the multi-rotor drone and the target object at the second position, is the yaw angle of the rotorcraft, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the location information of the second location Axis coordinates, is the second distance information.

5. A multi-rotor UAV target positioning system, characterized in that: include: A first acquisition unit is used to acquire position information of the first position, first distance information between the first position and the target object, the altitude of the multi-rotor drone, and the yaw angle of the multi-rotor drone when the multi-rotor drone drives to a first position in the target area at a target time and finds the target object; A second acquisition unit is used to acquire position information of the second position and second distance information between the second position and the target object when the multi-rotor drone keeps the yaw angle unchanged and flies vertically upward from the first position to the second position, wherein the position of the target object remains unchanged when the multi-rotor drone flies to the second position; A first obtaining unit is used to obtain a pitch angle between the multi-rotor drone and the target object at a second position based on the second distance information and the first distance information; A second obtaining unit is used to obtain the position information of the target object based on the pitch angle between the multi-rotor drone and the target object when the multi-rotor drone is at the second position, the yaw angle of the multi-rotor drone, the position information of the second position, and the second distance information; The sending unit is used to send the location information of the target object to the ground station.

6. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

7. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

8. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when being executed.

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