Airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicle

Abstract

The invention discloses an airport runway calibration method based on autonomous take-off and landing of an unmanned aerial vehicle, and the method comprises the steps: dividing feature points on an airport runway used for autonomous take-off and landing of the unmanned aerial vehicle in advance, and then carrying out the calibration of the divided feature points through differential calibration equipment; the method comprises the following steps: firstly, calibrating the positions of two runway original points according to a reference original point and a reference coordinate original point determined by differential calibration equipment, calculating a runway course, and comparing the runway course with an airport runway course; then other feature points on the runway are calibrated in sequence, after calibration is completed, obtained runway feature point data are processed, feature point data are obtained, and therefore airport runway calibration work is completed. By adopting the calibration method, through the calibrated feature points of the airport runway and in combination with the take-off and landing performance of the unmanned aerial vehicle, the flight route planning accuracy and the take-off and landing autonomous controllability of the unmanned aerial vehicle can be improved, so that wider prospects are provided for expanding the application scene and intelligent development of the unmanned aerial vehicle, and the method is suitable for popularization and application.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) spatial positioning, and in particular to an airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicles. Background Art

[0002] The Global Positioning System (GPS) is a global, all-weather and full-time navigation technology that uses a group of satellite pseudoranges, ephemeris, satellite time and user clock errors. With the rapid development of unmanned systems, various types of drones with complete functions and unique features have emerged. The taxiing, take-off and landing stages of drones require high-precision positioning information. In particular, large and medium-sized fixed-wing drones mainly use differential satellite take-off and landing guidance base stations during taxiing, take-off and landing to provide differential message information for the satellite positioning and navigation equipment of drones to correct the longitude, latitude and altitude data of positioning. With the development and application of my country's Beidou navigation technology, the combination of differential satellite positioning technology and Beidou navigation has gradually realized the localization of drone satellite navigation and positioning.

[0003] As drone technology matures, drones are increasingly used in various fields such as aerial surveying and mapping, agricultural and forestry plant protection, emergency rescue, and military security. There is no essential difference between drones and manned aircraft in the take-off and landing stages, and there are strict requirements for airport runway hardware facilities. Due to the limitations of the pilot's first-person perspective and intuitive feelings, the take-off and landing stages of drones cannot obtain important elements such as accurate attitude, position, and speed relative to the airport runway in a short time. Therefore, the calibration of airport runways has an important safety impact on drones, especially the take-off and landing of medium and large drones. Before performing taxiing flight missions, drones need to obtain the airport's runway feature points to plan the mission route and provide accurate position references for pilots during the mission. Accurate calibration of airport runway feature points ensures that pilots can control the drone's position in real time during take-off and landing, ensuring the safety of the entire flight process. It is urgent to solve the problem of feature point calibration of airport runways used for take-off and landing of medium and large drones. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the problems existing in the background technology, thereby proposing a calibration method that is easy to operate. By using this calibration method, the take-off and landing of the UAV are organically combined with the airport runway, and a coordinate system with the origin at the end of the airport runway is established during the take-off and landing stages, thereby providing an accurate position reference for the flight of the UAV. Specifically, it is an airport runway calibration method based on autonomous take-off and landing of the UAV.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicles, the calibration method comprising the following steps: S1. Divide multiple feature points in advance on the airport runway used for autonomous takeoff and landing of the UAV, and then calibrate the divided feature points using a differential calibration device to obtain the position and heading data of the airport runway feature points; S2. According to the reference origin and reference coordinate origin determined by the differential calibration equipment, first complete the position calibration of the two runway origins, calculate the runway heading and compare it with the airport runway heading; when the runway heading is consistent with the airport runway heading and confirmed to be correct, then calibrate the launch point, landing point and runway center point of the autonomous take-off and landing of the UAV on the runway in turn. After the calibration is completed, process the acquired runway feature point data to obtain the latitude, longitude, altitude and runway heading data of the feature points, thereby completing the airport runway calibration work.

[0006] Furthermore, an airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicles described in the present invention is adopted, and the feature points are divided into seven according to the length of the airport runway, namely, the forward origin, the reverse origin, the forward launch point, the reverse launch point, the forward landing point, the reverse landing point and the runway center point, and the seven feature points are arranged in the following order according to the positive heading direction of the airport runway: the forward origin, the forward launch point, the forward landing point, the runway center point, the reverse landing point, the reverse launch point and the reverse origin, wherein the forward origin and the reverse origin are symmetrically calibrated at both ends of the airport runway along the runway center point; the differential calibration device calibrates the seven divided feature points respectively, thereby obtaining the position and heading data of the airport runway feature points.

[0007] Furthermore, the airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicles described in the present invention is adopted, and the differential calibration equipment includes a reference differential antenna, a reference receiver, a transmitting station, a transmitting antenna and a differential mobile calibration equipment, and the differential mobile calibration equipment can be movably set at the characteristic points divided on the airport runway, and the reference differential antenna, reference receiver, transmitting station and transmitting antenna are respectively set on the outside of the airport runway, the reference differential antenna and the reference receiver are communicatively connected, and the transmitting antenna and the transmitting station are communicatively connected, the transmitting station and the reference receiver are bidirectionally communicated, and the differential mobile calibration equipment is communicatively connected to the transmitting antenna; the specific method of the differential calibration equipment to calibrate the seven divided characteristic points is: the reference differential antenna is installed at a position as It is the reference origin for the airport runway calibration. After the differential calibration equipment is powered on, it will first perform self-calibration. After the self-calibration is completed, it will serve as the reference coordinate origin of the differential mobile calibration equipment. The differential mobile equipment will first complete the position calibration of the forward origin and the reverse origin on the two runways used for autonomous take-off and landing, so as to calculate the runway heading, and then compare it with the airport runway heading to determine the positive heading. After confirmation, the forward launch point and the reverse launch point, the forward landing point and the reverse landing point, and the runway center point of the autonomous take-off and landing of the UAV on the runway are calibrated in turn. After the calibration is completed, the acquired runway feature point data is finally processed to obtain the latitude, longitude, altitude and runway heading data of the feature points, thereby completing the airport runway calibration work, so as to provide data support for subsequent UAV route planning and autonomous take-off and landing.

[0008] Compared with the prior art, the method for calibrating an airport runway based on autonomous take-off and landing of a drone described in the present invention has the following beneficial effects: since differential calibration equipment is configured at the two airports where the drone takes off and lands autonomously, the data of the main characteristic points of the airport runway can be obtained through the differential equipment with precise calibration before the drone route planning, thereby eliminating the measurement and data processing work of unnecessary positions. At the same time, through the determined characteristic point positions, accurate reference positions are provided for the autonomous take-off and landing of the drone, thereby improving the reliability of flight safety. It can be seen that the calibration method described in the present invention can improve the accuracy of drone route planning and the autonomous controllability of take-off and landing by calibrating the number of characteristic points of the airport runway and combining the take-off and landing performance of the drone, thereby expanding the application scenarios of drones and providing broader prospects for intelligent development, and is suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0010] Figure 1 A logic diagram for the airport runway calibration of the present invention; Figure 2 It is a structural schematic diagram of the airport runway calibration of the present invention.

[0011] As shown in the figure: 1-reference differential antenna, 2-reference receiver, 3-transmitting station, 4-transmitting antenna, 5-differential mobile calibration equipment. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] The airport runway calibration method based on autonomous take-off and landing of unmanned aerial vehicles provided by the present invention is adopted, and the precise positioning function of the differential calibration equipment is used to obtain the position and heading data of the main feature points of the airport runway for calibration. Figure 2 As shown, the differential calibration device uses precise differential GPS-RTK positioning and calibration equipment, including a reference differential antenna 1, a reference receiver 2, a transmitting station 3, a transmitting antenna 4 and a differential mobile calibration device 5. The differential mobile calibration device 5 can be movably arranged at a characteristic point divided on the airport runway, and the reference differential antenna 1, the reference receiver 2, the transmitting station 3 and the transmitting antenna 4 are respectively arranged on the outside of the airport runway, the reference differential antenna 1 is communicatively connected to the reference receiver 2, and the transmitting antenna 4 is communicatively connected to the transmitting station 3, the transmitting station 3 and the reference receiver 2 are bidirectionally communicated, and the differential mobile calibration device 5 is communicatively connected to the transmitting antenna 4.

[0014] like Figure 1 As shown, a method for calibrating an airport runway based on autonomous take-off and landing of a drone provided by the present invention is adopted, and the calibration method comprises the following steps: S1. Divide multiple feature points in advance on the airport runway used for autonomous takeoff and landing of the UAV, and then calibrate the divided feature points using a differential calibration device to obtain the position and heading data of the airport runway feature points; S2. According to the reference origin P0 and the reference coordinate origin determined by the differential calibration equipment, first complete the position calibration of the two runway origins, calculate the runway heading and compare it with the airport runway heading; when the runway heading is consistent with the airport runway heading and confirmed to be correct, then calibrate the launch point, landing point and runway center point of the autonomous take-off and landing of the UAV on the runway in turn. After the calibration is completed, process the acquired runway feature point data to obtain the latitude, longitude, altitude and runway heading data of the feature points, thereby completing the airport runway calibration work.

[0015] In the specific calibration process, the calibration method of the present invention is adopted, and the feature points are divided into seven according to the length of the airport runway, namely, the forward origin P1, the reverse origin P2, the forward release point P3, the reverse release point P4, the forward landing point P5, the reverse landing point P6 and the runway center point P7. The seven feature points are arranged in the following order according to the positive heading direction of the airport runway: the forward origin P1, the forward release point P3, the forward landing point P5, the runway center point P7, the reverse landing point P6, the reverse release point P4 and the reverse origin P2, wherein the forward origin P1 and the reverse origin P2 are symmetrically calibrated at both ends of the airport runway along the runway center point P7; the differential calibration device calibrates the seven divided feature points respectively, thereby obtaining the position and heading data of the airport runway feature points.

[0016] In the specific implementation process, the calibration method described in the present invention is adopted, and the latitude, longitude, altitude and heading data of seven main feature points are obtained using accurate differential GPS-RTK positioning calibration equipment. The specific method is as follows: the installation position of the reference differential antenna 1 is used as the reference origin P0 for the airport runway calibration. After the differential calibration device is powered on, it first performs self-calibration. After the self-calibration is completed, it serves as the reference coordinate origin of the differential mobile calibration device 5. The differential mobile device is used on the two runways for autonomous take-off and landing. First, the position calibration of the forward origin P1 and the reverse origin P2 is completed respectively, so as to calculate the runway heading, and then compared with the airport runway heading to determine the positive heading α. After confirmation, the forward launch point P3 and the reverse launch point P4, the forward landing point P5 and the reverse landing point P6, and the runway center point P7 of the autonomous take-off and landing of the UAV on the runway are calibrated in turn. When the calibration is completed, the acquired runway feature point data is finally processed to obtain the latitude, longitude, altitude and runway heading data of the feature points, thereby completing the airport runway calibration work, so as to provide data support for subsequent UAV route planning and autonomous take-off and landing.

[0017] It can be seen that by adopting the calibration method described in the present invention, since differential calibration equipment is configured at the two airports where the UAV takes off and lands autonomously, the main feature point data of the airport runway can be obtained through the differential equipment with precise calibration before the UAV route planning, thereby eliminating the measurement and data processing work of non-essential positions. At the same time, through the determined feature point positions, accurate reference positions are also provided for the autonomous take-off and landing of the UAV, thereby improving the reliability of flight safety.

[0018] In summary, by adopting the calibration method described in the present invention, through the calibrated number of characteristic points of the airport runway, combined with the take-off and landing performance of the UAV, the accuracy of the UAV route planning and the autonomous controllability of take-off and landing can be improved, thereby expanding the application scenarios of UAVs and providing a broader prospect for the intelligent development, which is suitable for popularization and use.

[0019] Other details of the present invention are conventional technologies known to those skilled in the art and are therefore not described in detail.

[0020] The protection scope of the present invention is not limited to the technical solutions disclosed in the specific implementation methods. The above description is only a preferred implementation method of the present invention and does not limit the present invention. Any minor modifications, equivalent substitutions and improvements made according to the technical solutions of the present invention should be included in the protection scope of the technical solutions of the present invention.

Claims

1. A method for calibrating an airport runway based on autonomous take-off and landing of an unmanned aerial vehicle, characterized in that: The calibration method comprises the following steps: S1. Divide multiple feature points in advance on the airport runway used for autonomous take-off and landing of the UAV, and then calibrate the divided feature points using a differential calibration device to obtain the position and heading data of the airport runway feature points; S2. According to the reference origin and reference coordinate origin determined by the differential calibration equipment, first complete the position calibration of the two runway origins, calculate the runway heading and compare it with the airport runway heading; when the runway heading is consistent with the airport runway heading and confirmed to be correct, calibrate the launch point, landing point and runway center point of the autonomous take-off and landing of the UAV on the runway in turn. After the calibration is completed, process the acquired runway feature point data to obtain the latitude, longitude, altitude and runway heading data of the feature points, thereby completing the airport runway calibration work.

2. The method for calibrating an airport runway based on autonomous take-off and landing of a drone according to claim 1, characterized in that: The feature points are divided into seven according to the length of the airport runway, namely, the forward origin, the reverse origin, the forward take-off point, the reverse take-off point, the forward landing touchdown point, the reverse landing touchdown point and the runway center point. The seven feature points are arranged in the following order according to the positive heading direction of the airport runway: the forward origin, the forward take-off point, the forward landing touchdown point, the runway center point, the reverse landing touchdown point, the reverse take-off point and the reverse origin. The forward origin and the reverse origin are symmetrically calibrated at both ends of the airport runway along the runway center point. The differential calibration device calibrates the seven divided feature points respectively, so as to obtain the position and heading data of the airport runway feature points.

3. The method for calibrating an airport runway based on autonomous take-off and landing of a drone according to claim 2, characterized in that: The differential calibration device includes a reference differential antenna, a reference receiver, a transmitting station, a transmitting antenna and a differential mobile calibration device. The differential mobile calibration device can be movably arranged at a characteristic point divided on the airport runway, and the reference differential antenna, the reference receiver, the transmitting station and the transmitting antenna are respectively arranged outside the airport runway. The reference differential antenna is communicatively connected to the reference receiver, and the transmitting antenna is communicatively connected to the transmitting station. The transmitting station and the reference receiver are bidirectionally connected, and the differential mobile calibration device is communicatively connected to the transmitting antenna. The specific method of the differential calibration device to calibrate the seven characteristic points divided is as follows: the installation position of the reference differential antenna is used as the airport runway. The benchmark origin of runway calibration. After the differential calibration equipment is powered on, it first performs self-calibration. After the self-calibration is completed, it serves as the reference coordinate origin of the differential mobile calibration equipment. The differential mobile equipment is used for autonomous take-off and landing on two runways. First, the position calibration of the forward origin and the reverse origin is completed respectively, so as to calculate the runway heading, and then compared with the airport runway heading to determine the positive heading. After confirmation, the forward launch point and the reverse launch point, the forward landing point and the reverse landing point, and the runway center point of the autonomous take-off and landing of the UAV on the runway are calibrated in turn. After the calibration is completed, the acquired runway feature point data is finally processed to obtain the latitude, longitude, altitude and runway heading of the feature points, thereby completing the airport runway calibration work.

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