Unmanned aerial vehicle takeoff and landing control system

Abstract

The application 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, the take-off and landing base station comprising 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 arranged as a reference base station, and the GPS longitude and latitude information of the first UWB base station being synchronized to the first UWB base station, and the second UWB base station, the third UWB base station and the fourth UWB base station being positioned in two dimensions according to the GPS longitude and latitude information of the first UWB base station; a first relay beacon, a second relay beacon and a third relay beacon arranged in a take-off and landing direction of the UAV, the first relay beacon, the second relay beacon and the third relay beacon being arranged in the take-off and landing direction away from the first plane and having increasing heights; and when the UAV is away from the third relay beacon and within a preset distance, the UAV is navigated according to the position information of the third relay beacon and the GPS information of the UAV itself with a preset first weight.

Description

Technical Field

[0001] This invention relates to a take-off and landing control system for unmanned aerial vehicles (UAVs). Background Technology

[0002] Most existing drones use GPS for positioning. GPS data refresh rates are generally low (below 20Hz), while drones fly at high speeds, and their positions change significantly even during takeoff or landing. Therefore, a positioning method with high data refresh rates is needed to assist fixed-wing drones in takeoff and landing. This is especially important for the takeoff and landing of fast-moving fixed-wing drones, which require precise ground positioning to improve safety. Summary of the Invention

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

[0004] This invention is implemented as follows:

[0005] This invention provides a UAV take-off and landing control system based on UWB base station positioning, comprising:

[0006] The take-off and landing base station is deployed on the take-off and landing plane. The take-off and landing base station includes a first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station set at the four corners of the take-off and landing plane. The first UWB base station is set as a reference base station, and the GPS latitude and longitude information of the first UWB base station is synchronized to the first UWB base station. The second UWB base station, the third UWB base station and the fourth UWB base station are located in two dimensions based on the GPS latitude and longitude information of the first UWB base station.

[0007] It also includes a first relay beacon, a second relay beacon, and a third relay beacon set in the direction of takeoff and landing of the UAV, and the first relay beacon, the second relay beacon, and the third relay beacon are set in the direction of takeoff and landing away from the first plane, and their heights increase progressively;

[0008] When the UAV takes off, it communicates sequentially with the take-off and landing base station, the first relay beacon, the second relay beacon, and the third relay beacon, and navigates sequentially based on 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. When the UAV moves away from the third relay beacon but is within a preset distance, the UAV navigates according to the position information of the third relay beacon and the UAV's own GPS information with a preset first weight.

[0009] As a further improvement, when the UAV is landing, and when the UAV approaches the third relay beacon and is within a preset distance, the UAV navigates according to the position information of the third relay beacon and the UAV's own GPS information 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 in sequence according to the position signals communicated by the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station.

[0010] As a further improvement, when the drone is far from the third relay beacon but within a preset distance, the drone navigates according to the location information of the third relay beacon and the drone's own GPS information with a preset first weight, specifically including:

[0011] The first weight is a fixed value, and the UAV increases the position weight of the GPS navigation by w1 and decreases the position weight of the third relay coordinate by 1-w1, and the longitude Lat after the UAV flight control processing is w1*GPS. lat +(1-w1)UWB lat Latitude Long = w1 * GPS long +(1-w1)UWB long Elevation H = w1 * GPS h +(1-w1)UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

[0012] As a further improvement, when the drone is far from the third relay beacon but within a preset distance, the drone navigates according to the location information of the third relay beacon and the drone's own GPS information with a preset first weight, specifically including:

[0013] Wherein, the first weight is a dynamically adjusted value based on flight status 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 respectively satisfy:

[0014] Among them, S GPS GPS signal strength (dBm); S UWBUWB signal strength (dBm); E GPS GPS positioning error (meters); E UW B is the UWB positioning error (meters); α is the signal strength weighting coefficient (0 < α < 1); β is the error weighting coefficient (0 < β < 1); w GPS +w UWB =1, 0≤w GPS w UWB ≤1;

[0015] The longitude of the UAV after flight control processing is Lat=w GPS GPS lat +w UWB *UWB lat The latitude is Long=w GPS GPS long +w UWB *UWB long The elevation is H = w GPS GPS h +w UWB *UWB h .

[0016] As a further improvement, when the drone approaches the third relay beacon and is within a preset distance, the drone navigates according to the location information of the third relay beacon and the drone's own GPS information with a preset first weight, including:

[0017] The first weight is a fixed value, and the UAV reduces the position weight of the GPS navigation by w2 and increases the position weight of the third relay coordinate by 1-w2, and the longitude Lat after the UAV flight control processing is w2*GPS. lat +(1-w2)UWB lat Latitude Long = w2 * GPS long +(1-w2)UWB long Elevation H = w2 * GPS h +(1-w2)UWB h .

[0018] As a further improvement, when the drone approaches the third relay beacon and is within a preset distance, the drone navigates according to the location information of the third relay beacon and the drone's own GPS information with a preset first weight, including:

[0019] Wherein, the first weight is a dynamically adjusted value based on flight status and environmental conditions, and the UAV reduces the position weight of the GPS navigation by w. GPS And increase the position weight w of the third relay coordinate. UWBAnd respectively satisfy:

[0020] Among them, S GPS GPS signal strength (dBm); S UWB UWB signal strength (dBm); E GPS GPS positioning error (meters); E UWB UWB positioning error (meters); α is the signal strength weighting coefficient (0 < α < 1); β is the error weighting coefficient (0 < β < 1); w GPS +w UWB =1, 0≤w GPS w UWB ≤1;

[0021] The longitude of the UAV after flight control processing is Lat=w GPS GPS lat +w UWB *UWB lat The latitude is Long=w GPS GPS long +w UWB *UWB long The elevation is H = w GPS GPS h +w UWB *UWB h .

[0022] As a further improvement, the preset distance is the straight-line distance from the UAV to the third relay beacon, and is 10 to 50 meters.

[0023] 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.

[0024] As a further improvement, the take-off and landing plane is a square with a side length of 20 to 40 meters.

[0025] The beneficial effects of this invention are:

[0026] This invention provides a UAV take-off and landing control system based on UWB base station positioning. By setting up take-off and landing base stations and relay beacons, the system can guide UAVs to take off and land precisely, thereby preventing dangers caused by fixed-wing UAVs traveling too fast and having slow GPS updates. Furthermore, the system can dynamically adjust weighting coefficients according to flight status and environmental conditions, thus greatly improving the accuracy of UAV take-off and landing. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This 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 Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] Reference Figure 1 As shown, this embodiment of the invention provides a UAV 17 takeoff and landing control system based on UWB base station positioning, including:

[0032] The take-off and landing base station is deployed on the 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 set 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 the GPS latitude and longitude information of the location of the first UWB base station 10 is synchronized to the first UWB base station 10. The second UWB base station 11, the third UWB base station 12 and the fourth UWB base station 13 are positioned in two dimensions based on the GPS latitude and longitude information of the location of the first UWB base station 10.

[0033] It also includes a first relay beacon 14, a second relay beacon 15, and a third relay beacon 16 set 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 set in the take-off and landing direction away from the first plane, and their heights increase progressively.

[0034] When the UAV 17 takes off, it 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 navigates sequentially based on the position signals communicated by these three relays. When the UAV 17 moves away from the third relay beacon 16 but is within a preset distance, it navigates according to the position information of the third relay beacon 16 and its own GPS information with a preset first weight. This invention provides a UAV 17 take-off and landing control system based on UWB base station positioning. By setting up take-off and landing base stations and relay beacons, the UAV 17 can be guided to perform precise take-off and landing, especially for fixed-wing UAVs, thereby preventing dangers caused by the fixed-wing UAV 17's excessive speed and untimely GPS updates. The position signal of the UAV 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 determination. That is, when the UAV 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 UAV.

[0035] As a further improvement, in other embodiments, when the UAV 17 is landing, and when the UAV 17 approaches the third relay beacon 16 and is within a preset distance, the UAV 17 navigates according to the position information of the third relay beacon 16 and the GPS information of the UAV 17 itself with a preset first weight; then the UAV 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 in sequence according to the position signals communicated by the third relay beacon 16, the second relay beacon 15, the first relay beacon 14, and the take-off and landing base station.

[0036] As a further improvement, in other embodiments, when the drone 17 moves away from (takes off from) the third relay beacon 16 and is 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, specifically including:

[0037] The first weight is a fixed value, and the UAV 17 increases the position weight of the GPS navigation from 0 to w1, and decreases the position weight of the third relay coordinates from 1 to 1-w1, and the longitude Lat after flight control processing by the UAV 17 is equal to w1*GPS. lat +(1-w1)*UWB lat Latitude Long = w1 * GPS long +(1-w1)*UWB long Elevation H = w1 * GPS h +(1-w1)*UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

[0038] As a further improvement, in other embodiments, when the drone 17 is far from the third relay beacon 16 but 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, specifically including:

[0039] Wherein, the first weight is a dynamically adjusted value based on flight status and environmental conditions, and the UAV 17 increases the position weight of the GPS navigation by w. GPS And reduce the position weight w of the third relay coordinate. UWB And respectively satisfy:

[0040] Among them, S GPS GPS signal strength (dBm); S UWB UWB signal strength (dBm); E GPS GPS positioning error (meters); E UWB UWB positioning error (meters); α is the signal strength weighting coefficient (0 < α < 1); β is the error weighting coefficient (0 < β < 1); w GPS +w UWB =1, 0≤w GPS w UWB ≤1;

[0041] The longitude of the UAV 17 after flight control processing is Lat=w GPS GPS lat +w UWB *UWB lat The latitude is Long=wGPS GPS long +w UWB *UWB long The elevation is H = w GPS GPS h +w UWB *UWB h .

[0042] Specifically:

[0043] The system parameters for measurement are as follows: S GPS =−110 dBm; S UWB =−80dBm; E GPS =10 meters; E UWB =0.2 meters; α=0.5; β=0.5.

[0044] The calculation is as follows:

[0045] ;

[0046] The final location information obtained is as follows:

[0047] ;

[0048] 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 position information of the third relay beacon 16 and the GPS information of the drone 17 itself with a preset first weight, including:

[0049] The first weight is a fixed value, and the UAV 17 reduces the position weight of the GPS navigation from 1 to w2, and increases the position weight of the third relay coordinates from 0 to 1-w2, and the longitude Lat after flight control processing of the UAV 17 is equal to w2*GPS. lat +(1-w2)*UWB lat Latitude Long = w2 * GPS long +(1-w2)*UWB long Elevation H = w2 * GPS h +(1-w2)*UWB h .

[0050] As a further improvement, in other embodiments, when the drone 17 approaches the third relay beacon 16 and is 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, including:

[0051] Wherein, the first weight is a dynamically adjusted value based on flight status and environmental conditions, and the UAV 17 reduces the position weight of the GPS navigation by w. GPS And increase the position weight w of the third relay coordinate. UWB And respectively satisfy:

[0052] Among them, S GPS GPS signal strength (dBm); S UWB UWB signal strength (dBm); E GPS GPS positioning error (meters); E UWB UWB positioning error (meters); α is the signal strength weighting coefficient (0 < α < 1); β is the error weighting coefficient (0 < β < 1); w GPS +w UWB =1, 0≤w GPS w UWB ≤1;

[0053] The longitude of the UAV 17 after flight control processing is Lat=w GPS GPS lat +w UWB *UWB lat The 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 aforementioned drone 17 can be calculated using the same method as the ascent method, and will not be detailed here.

[0054] As a further improvement, in other embodiments, the preset distance is the straight-line distance from the UAV 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 UAV 17 to the third relay beacon 16, which is approximately 20 meters.

[0055] 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 20-40 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 approximately 30 meters. Preferably, the straight line formed by connecting 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 acquiring multiple take-off and landing straight lines of the same type of fixed-wing UAV 17, and then fitting these multiple straight lines. This can be achieved by acquiring the coordinates of multiple take-off and landing straight lines, averaging the values ​​of each point, and finally fitting a straight line to each point.

[0056] 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.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A UAV take-off and landing control system based on UWB base station positioning, characterized in that, The UAV take-off and landing control system is used for the take-off and landing of fixed-wing UAVs, and the UAV take-off and landing control system includes: The take-off and landing base station is deployed on the take-off and landing plane. The take-off and landing base station includes a first UWB base station, a second UWB base station, a third UWB base station, and a fourth UWB base station located at the four corners of the take-off and landing plane. The first UWB base station is set as a reference base station, and the GPS latitude and longitude information of the first UWB base station is synchronized to the first UWB base station. The second UWB base station, the third UWB base station, and the fourth UWB base station are positioned in two dimensions based on the GPS latitude and longitude information of the first UWB base station. The take-off and landing plane is a square with a side length of 20 to 40 meters. It also includes a first relay beacon, a second relay beacon, and a third relay beacon positioned along the take-off and landing direction of the UAV. These three beacons are positioned away from the first plane along the take-off and landing direction, with their heights increasing progressively. The straight line formed by connecting these three beacons tends to the take-off and landing straight line of the fixed-wing UAV. This take-off and landing straight line is obtained by acquiring multiple take-off and landing straight lines of the same type of fixed-wing UAV, obtaining the coordinates of these lines, averaging the values ​​at each point, and finally fitting a straight line to each point. The straight-line distance between the first, second, and third relay beacons is 20-40 meters. When the UAV takes off, it communicates sequentially with the take-off and landing base station, the first relay beacon, the second relay beacon, and the third relay beacon, and navigates sequentially based on 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. When the UAV moves away from the third relay beacon but is within a preset distance, the UAV navigates according to the position information of the third relay beacon and the UAV's own GPS information with a preset first weight. When the UAV is landing, and when the UAV approaches the third relay beacon and is within a preset distance, the UAV navigates according to the position information of the third relay beacon and its own GPS information 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 position signals communicated by the third relay beacon, the second relay beacon, the first relay beacon, and the take-off and landing base station in sequence.

2. The UAV take-off and landing control system based on UWB base station positioning as described in claim 1, characterized in that, When the drone is far from the third relay beacon but within a preset distance, the drone navigates using the location information of the third relay beacon and its own GPS information with a preset first weight, specifically including: The first weight is a fixed value, and the UAV increases the GPS navigation position weight by w1 and decreases the third relay coordinate position weight by 1-w1, and the longitude Lat after UAV flight control processing is w1 × GPS. lat +(1-w1)×UWB lat Latitude Long = w1 × GPS long +(1-w1)×UWB long Elevation H = w1 × GPS h +(1-w1)×UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

3. The UAV take-off and landing control system based on UWB base station positioning as described in claim 2, characterized in that, When the drone moves away from the third relay beacon but is within a preset distance, the drone navigates using the location information of the third relay beacon and its own GPS information with a preset first weight. include: Wherein, the first weight is a dynamically adjusted value based on flight status and environmental conditions, and the position weight of the UAV for improving GPS navigation is w. GPS And reduce the position weight w of the third relay coordinate. UWB And respectively satisfy: Among them, S GPS GPS signal strength, in dBm; S UWB UWB signal strength, in dBm; E GPS This refers to GPS positioning error, measured in meters (E). UWB Let be the UWB positioning error in meters; α be the signal strength weighting coefficient, where 0 < α < 1; β be the error weighting coefficient, where 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 The latitude is Long=w GPS GPS long +w UWB ×UWB long The elevation is H = w GPS GPS h +w UWB ×UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

4. The UAV take-off and landing control system based on UWB base station positioning as described in claim 2, characterized in that, When the drone approaches the third relay beacon and is within a preset distance, the drone navigates using the location information of the third relay beacon and its own GPS information with a preset first weight, including: The first weight is a fixed value, and the UAV reduces the GPS navigation position weight by w2 and increases the position weight of the third relay coordinate by 1-w2, and the longitude Lat after the UAV flight control processing is w2×GPS. lat +(1-w2)×UWB lat Latitude Long = w2 × GPS long +(1-w2)×UWB long Elevation H = w2 × GPS h +(1-w2)×UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

5. The UAV take-off and landing control system based on UWB base station positioning as described in claim 2, characterized in that, When the drone approaches the third relay beacon and is within a preset distance, the drone navigates using the location information of the third relay beacon and its own GPS information with a preset first weight. include: Wherein, the first weight is a dynamically adjusted value based on flight status and environmental conditions, and the UAV reduces the GPS navigation position weight by w. GPS And increase the position weight w of the third relay coordinate. UWB And respectively satisfy: Among them, S GPS GPS signal strength, in dBm; S UWB (UWB signal strength, unit: dBm); E GPS This refers to GPS positioning error, measured in meters (E). UWB UWB positioning error, in meters; α is the signal strength weighting coefficient, where 0 < α < 1; β is the error weighting coefficient, where 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 The latitude is Long=w GPS GPS long +w UWB ×UWB long The elevation is H = w GPS GPS h +w UWB ×UWB h Among them, GPS lat GPS long GPS h These are the latitude, longitude, and elevation data for GPS navigation; UWB lat UWB long and UWB h These are the latitude, longitude, and elevation data for UWB, respectively.

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

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