Unmanned aerial vehicle take-off and landing control system

Abstract

The invention provides an unmanned aerial vehicle take-off and landing control system based on UWB base station positioning, comprising: take-off and landing base stations arranged on a take-off and landing plane, the take-off and landing base stations including a first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station arranged at four corners of the take-off and landing plane, the first UWB base station being set as a reference base station, the second UWB base station the GPS latitude and longitude information of the first UWB base station is synchronized to the first UWB base station, and two-dimensional positioning of the second UWB base station, the third UWB base station and the fourth UWB base station is carried out according to the GPS latitude and longitude information of the first UWB base station; the first relay beacon, the second relay beacon and the third relay beacon are arranged in the take-off and landing direction of the unmanned aerial vehicle, the first relay beacon, the second relay beacon and the third relay beacon are arranged in the take-off and landing direction in the direction away from the first plane, and the heights of the first relay beacon, the second relay beacon and the third relay beacon are gradually increased. And when the unmanned aerial vehicle is far away from the third relay beacon and within a preset distance, the unmanned aerial vehicle navigates according to the position information of the third relay beacon and the GPS information of the unmanned aerial vehicle with a preset first weight.

Description

Technical Field

[0001] The invention relates to a take-off and landing control system for an unmanned aerial vehicle. Background Art

[0002] Most existing drones use GPS for positioning. The GPS data refresh rate is generally low (less than 20HZ), and the flight speed of drones is relatively fast. Even during takeoff or parking, the position changes greatly. Therefore, a positioning method with high data refresh rate is needed to assist fixed-wing drones in taking off or parking. Especially for the takeoff or parking of fixed-wing drones with high speed, the ground requirements are high to improve safety. Summary of the invention

[0003] The present invention provides a UAV take-off and landing control system based on UWB base station positioning, which can effectively solve the above problems.

[0004] The present invention is achieved in that: The present invention provides a UAV take-off and landing control system based on UWB base station positioning, comprising: A take-off and landing base station arranged on a take-off and landing plane, wherein the take-off and landing base station comprises a first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station arranged at the four corners of the take-off and landing plane, wherein the first UWB base station is set as a reference base station, and synchronizes the GPS longitude and latitude information of the first UWB base station to the first UWB base station, and performs two-dimensional positioning of the second UWB base station, the third UWB base station and the fourth UWB base station according to the GPS longitude and latitude information of the first UWB base station; It also includes a first relay beacon, a second relay beacon and a third relay beacon arranged in the take-off and landing direction of the UAV, and the first relay beacon, the second relay beacon and the third relay beacon are arranged in the take-off and landing direction away from the first plane, and the heights are increased; When the UAV takes off, it communicates with the take-off and landing base station, the first relay beacon, the second relay beacon and the third relay beacon in sequence, and navigates according to the position signals communicated by the take-off and landing base station, the first relay beacon, the second relay beacon and the third relay beacon in sequence. When the UAV is far away from the third relay beacon and within a preset distance, the UAV navigates according to the position information of the third relay beacon and the GPS information of the UAV itself with a preset first weight.

[0005] As a further improvement, when the UAV is landing, and when the UAV is close to the third relay beacon and at a preset distance, the UAV navigates according to the location information of the third relay beacon and the GPS information of the UAV itself with a preset first weight; then the UAV communicates with the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station in sequence, and navigates according to the location signals of the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station in sequence.

[0006] As a further improvement, when the drone is far away from the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, specifically including: The first weight is a fixed value, and the drone increases the position weight of the GPS navigation to w1, and reduces the position weight of the third relay coordinates by 1-w1, and the longitude Lat after the drone flight control processing is w1*GPS lat +(1-w1)UWB lat , latitude Long=w1*GPS long +(1-w1)UWB long , height H = w1*GPS h +(1-w1)UWB h Among them, GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are respectively the latitude, longitude and elevation data of UWB.

[0007] As a further improvement, when the drone is far away from the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, specifically including: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the UAV increases the position weight of the GPS navigation by w GPS , and reduce the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWB is the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); EUW B is the UWB positioning error (meters); α is the signal strength weight coefficient (0<α<1); β is the error weight coefficient (0<β<1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the UAV after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h .

[0008] As a further improvement, when the drone is close to the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, including: The first weight is a fixed value, and the drone reduces the position weight of the GPS navigation to w2, and increases the position weight of the third relay coordinates by 1-w2, and the longitude Lat after the drone flight control processing is Lat=w2*GPS lat +(1-w2)UWB lat , latitude Long=w2*GPS long +(1-w2)UWB long , height H = w2*GPS h +(1-w2)UWB h .

[0009] As a further improvement, when the drone is close to the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, including: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the UAV reduces the position weight of the GPS navigation to w GPS , and increase the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWBis the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); E UWB is the UWB positioning error (meters); α is the signal strength weight coefficient (0<α<1); β is the error weight coefficient (0<β<1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the UAV after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h .

[0010] As a further improvement, the preset distance is a straight-line distance from the drone to the third relay beacon, and is 10 to 50 meters.

[0011] As a further improvement, the straight-line distance between the first relay beacon, the second relay beacon and the third relay beacon is 20 to 40 meters.

[0012] As a further improvement, the take-off and landing plane is a square with a side length of 20 to 40 meters.

[0013] The beneficial effects of the present invention are: The present invention provides a UAV take-off and landing control system based on UWB base station positioning. By setting up a take-off and landing base station and a relay beacon, the UAV can be guided to take off and land accurately, thereby preventing the fixed-wing UAV from being in danger due to excessive speed and untimely GPS refresh. Furthermore, the system of the present invention can also dynamically adjust the weight coefficient according to the flight state and environmental conditions, thereby greatly improving the accuracy of the UAV take-off and landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1It is an architecture diagram of a UAV take-off and landing control system based on UWB base station positioning provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0018] Reference Figure 1 As shown, an embodiment of the present invention provides a take-off and landing control system for a drone 17 based on UWB base station positioning, comprising: A take-off and landing base station arranged on a take-off and landing plane, the take-off and landing base station includes a first UWB base station 10, a second UWB base station 11, a third UWB base station 12 and a fourth UWB base station 13 arranged at the four corners of the take-off and landing plane, the first UWB base station 10 is set as a reference base station, and synchronizes the GPS longitude and latitude information of the first UWB base station 10 to the first UWB base station 10, and performs two-dimensional positioning of the second UWB base station 11, the third UWB base station 12 and the fourth UWB base station 13 according to the GPS longitude and latitude information of the first UWB base station 10; It also includes a first relay beacon 14, a second relay beacon 15 and a third relay beacon 16 arranged in the take-off and landing direction of the UAV 17, and the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16 are arranged in the take-off and landing direction away from the first plane, and the heights are increased; When taking off, the drone 17 sequentially communicates with the take-off and landing base station, the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16, and sequentially navigates according to the position signals communicated by the take-off and landing base station, the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16. When the drone 17 is far away from the third relay beacon 16 and within a preset distance, the drone 17 navigates according to the position information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight. The present invention provides a take-off and landing control system for drones 17 based on UWB base station positioning. By setting up a take-off and landing base station and a relay beacon, the drone 17 can be guided to take off and land accurately, especially a fixed-wing drone, so as to prevent the fixed-wing drone 17 from being in danger due to excessive speed and untimely GPS refresh. The position signals of the drone 17 at the take-off and landing base station, the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16 can be obtained by distance judgment, that is, when the drone 17 is between the second relay beacon 15 and the third relay beacon 16, the position of the closest second relay beacon 15 is used as the position information of the drone.

[0019] As a further improvement, in other embodiments, when the drone 17 is landing, and when the drone 17 is close to the third relay beacon 16 and at a preset distance, the drone 17 navigates according to the location information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight; then the drone 17 communicates with the third relay beacon 16, the second relay beacon 15, the first relay beacon 14, and the take-off and landing base station in sequence, and navigates according to the location signals of the third relay beacon 16, the second relay beacon 15, the first relay beacon 14, and the take-off and landing base station in sequence.

[0020] As a further improvement, in other embodiments, when the drone 17 is away from (takes off from) the third relay beacon 16 and within a preset distance, the drone 17 navigates according to the location information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight, specifically including: The first weight is a fixed value, and the drone 17 increases the position weight of the GPS navigation from 0 to w1, and reduces the position weight of the third relay coordinate from 1 to 1-w1, and the longitude Lat after the flight control processing of the drone 17 is Lat=w1*GPS lat +(1-w1)*UWB lat , latitude Long=w1*GPS long +(1-w1)*UWB long , height H = w1*GPS h+(1-w1)*UWB h Among them, GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are the latitude, longitude and elevation data of UWB respectively.

[0021] As a further improvement, in other embodiments, when the drone 17 is far away from the third relay beacon 16 and within a preset distance, the drone 17 navigates according to the location information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight, specifically including: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the drone 17 increases the position weight of the GPS navigation to w GPS , and reduce the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWB is the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); E UWB is the UWB positioning error (meters); α is the signal strength weight coefficient (0<α<1); β is the error weight coefficient (0<β<1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the drone 17 after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h .

[0022] Specifically: The measurement system parameters are as follows: S GPS =−110 dBm; S UWB =−80dBm; E GPS=10 m; E UWB =0.2 m; α=0.5; β=0.5.

[0023] The calculation is as follows: ; And finally obtain the positioning information as follows: ; As a further improvement, in other embodiments, when the drone 17 approaches (lands) the third relay beacon 16 and is within a preset distance, the drone 17 navigates according to the location information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight, including: The first weight is a fixed value, and the drone 17 reduces the position weight of the GPS navigation from 1 to w2, and increases the position weight of the third relay coordinate from 0 to 1-w2, and the longitude Lat after the flight control processing of the drone 17 is Lat=w2*GPS lat +(1-w2)*UWB lat , latitude Long=w2*GPS long +(1-w2)*UWB long , height H = w2*GPS h +(1-w2)*UWB h .

[0024] As a further improvement, in other embodiments, when the drone 17 is close to the third relay beacon 16 and within a preset distance, the drone 17 navigates according to the location information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight, including: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the drone 17 reduces the position weight of the GPS navigation to w GPS , and increase the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWB is the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); E UWB is the UWB positioning error (meters); α is the signal strength weight coefficient (0<α<1); β is the error weight coefficient (0<β<1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the drone 17 after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h The location information of the drone 17 can be calculated in the same way as the above-mentioned ascent, which will not be described in detail here.

[0025] As a further improvement, in other embodiments, the preset distance is the straight-line distance from the drone 17 to the third relay beacon 16, and is 10 to 50 meters. In one embodiment, the preset distance is the straight-line distance from the drone 17 to the third relay beacon 16, which is about 20 meters.

[0026] As a further improvement, in other embodiments, the straight-line distance between the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16 is 20 to 40 meters. In one embodiment, the straight-line distance between the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16 is about 30 meters. Preferably, the straight line formed by the interconnection of the first relay beacon 14, the second relay beacon 15 and the third relay beacon 16 tends to the take-off and landing straight line of the fixed-wing UAV 17. The take-off and landing straight line of the UAV 17 can be obtained by obtaining multiple take-off and landing straight lines of the same type of fixed-wing UAV 17, and then fitting the multiple straight lines. How to obtain the coordinates of multiple take-off and landing straight lines, and then average each point, and finally perform straight line fitting on each point.

[0027] As a further improvement, in other embodiments, the take-off and landing plane is a square with a side length of 20 to 40 meters. In one embodiment, the take-off and landing plane is a square with a side length of 30 meters to improve the safety of the fixed-wing UAV 17.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. 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 UAV take-off and landing control system based on UWB base station positioning, characterized in that: include: A take-off and landing base station arranged on a take-off and landing plane, wherein the take-off and landing base station comprises a first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station arranged at the four corners of the take-off and landing plane, wherein the first UWB base station is set as a reference base station, and synchronizes the GPS longitude and latitude information of the first UWB base station to the first UWB base station, and performs two-dimensional positioning of the second UWB base station, the third UWB base station and the fourth UWB base station according to the GPS longitude and latitude information of the first UWB base station; It also includes a first relay beacon, a second relay beacon and a third relay beacon arranged in the take-off and landing direction of the UAV, and the first relay beacon, the second relay beacon and the third relay beacon are arranged in the take-off and landing direction away from the first plane, and the heights are increased; When the UAV takes off, it communicates with the take-off and landing base station, the first relay beacon, the second relay beacon and the third relay beacon in sequence, and navigates according to the position signals communicated by the take-off and landing base station, the first relay beacon, the second relay beacon and the third relay beacon in sequence. When the UAV is far away from the third relay beacon and within a preset distance, the UAV navigates according to the position information of the third relay beacon and the GPS information of the UAV itself with a preset first weight.

2. The UAV take-off and landing control system based on UWB base station positioning according to claim 1, characterized in that: When the UAV is landing, and when the UAV is close to the third relay beacon and at a preset distance, the UAV navigates according to the location information of the third relay beacon and the GPS information of the UAV itself with a preset first weight; then the UAV communicates with the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station in sequence, and navigates according to the location signals of the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station in sequence.

3. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: When the drone is far away from the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, specifically including: The first weight is a fixed value, and the drone increases the position weight of the GPS navigation to w1, and reduces the position weight of the third relay coordinates by 1-w1, and the longitude Lat after the drone flight control processing is w1*GPS lat +(1-w1)*UWB lat , latitude Long=w1*GPS long +(1-w1)*UWB long , height H = w1*GPS h +(1-w1)*UWB h , where GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are the latitude, longitude and elevation data of UWB respectively.

4. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: When the drone is far away from the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight. include: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the UAV increases the position weight of the GPS navigation by w GPS , and reduce the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWB is the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); E UWB is the UWB positioning error (meters); α is the signal strength weight coefficient (0 < α < 1); β is the error weight coefficient (0 < β < 1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the UAV after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h , where GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are the latitude, longitude and elevation data of UWB respectively.

5. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: When the drone is close to the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight, including: The first weight is a fixed value, and the drone reduces the position weight of the GPS navigation to w2, and increases the position weight of the third relay coordinates by 1-w2, and the longitude Lat after the drone flight control processing is Lat=w2*GPS lat +(1-w2)*UWB lat , latitude Long=w2*GPS long +(1-w2)*UWB long , height H = w2*GPS h +(1-w2)*UWB h , where GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are the latitude, longitude and elevation data of UWB respectively.

6. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: When the drone is close to the third relay beacon and within a preset distance, the drone navigates according to the location information of the third relay beacon and the GPS information of the drone itself with a preset first weight. include: The first weight is a variable value dynamically adjusted according to the flight state and environmental conditions, and the UAV reduces the position weight of the GPS navigation to w GPS , and increase the position weight w of the third relay coordinate UWB , and they satisfy: ; Among them, S GPS is the GPS signal strength (dBm); S UWB is the UWB signal strength (dBm); E GPS is the GPS positioning error (meters); E UWB is the UWB positioning error (meters); α is the signal strength weight coefficient (0 < α < 1); β is the error weight coefficient (0 < β < 1); w GPS +w UWB =1,0≤w GPS , w UWB ≤1; The longitude of the UAV after flight control processing is Lat=w GPS *GPS lat +w UWB *UWB lat , latitude is Long=w GPS *GPS long +w UWB *UWB long , the elevation is H = w GPS *GPS h +w UWB *UWB h , where GPS lat , GPS long , GPS h They are the latitude, longitude and elevation data of GPS navigation; UWB lat 、UWB long and UWB h They are the latitude, longitude and elevation data of UWB respectively.

7. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: The preset distance is the straight-line distance from the drone to the third relay beacon, and is 10 to 50 meters.

8. The UAV take-off and landing control system based on UWB base station positioning as claimed in claim 2, characterized in that: The straight-line distance between the first relay beacon, the second relay beacon and the third relay beacon is 20 to 40 meters.

9. The UAV take-off and landing control system based on UWB base station positioning according to claim 1, characterized in that: The take-off and landing plane is a square with a side length of 20 to 40 meters.

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