Unmanned aerial vehicle test control system

Abstract

The invention provides an unmanned aerial vehicle test control system which comprises a first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station which are arranged on a first plane of the ground, the first UWB base station is set as a reference base station, and GPS latitude and longitude information of the first UWB base station is synchronized to the first UWB base station; two-dimensional positioning of the second, third and fourth UWB base stations is carried out according to GPS latitude and longitude information of the first UWB base station; a relay plane parallel to the first plane is arranged in a three-dimensional space defined by the first plane; the relay plane is provided with two relay aircrafts, each relay aircraft is provided with a relay beacon, each relay aircraft performs a TDOA algorithm with the first UWB base station, the second UWB base station, the third UWB base station and the fourth UWB base station through the relay beacon to obtain an absolute position relative to the first UWB base station, and then longitude and latitude information of each relay aircraft is obtained; and the height data of each relay aircraft is obtained through barometer parameters on the relay aircraft.

Description

Technical Field

[0001] The invention belongs to the field of electronic information, and in particular relates to a drone test control system. Background Art

[0002] Before a drone is commercialized, many parameters need to be tested. Some test items require very precise location information of the drone. Traditional drone testing uses GPS positioning, but GPS positioning has site limitations. If the GPS signal is poor in some sites, accurate positioning cannot be performed. In addition, the GPS positioning error is at the meter level, and the accuracy is too low. Based on the above problems, the present invention introduces UWB base station positioning technology to achieve 10 cm precision positioning of drones. Summary of the invention

[0003] The present invention provides a UAV test 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 test control system based on UWB base station positioning, comprising: A first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station are arranged on a first plane on the ground, 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; A relay plane parallel to the first plane is set in the three-dimensional space formed by the enclosed first plane; two relay aircraft are set on the relay plane, and each relay aircraft is respectively provided with a relay beacon, and each relay aircraft respectively uses the relay beacon to perform TDOA algorithm with the first UWB base station, the second UWB base station, the third UWB base station and the fourth UWB base station to obtain the absolute position relative to the first UWB base station, and then obtain the longitude and latitude information of each relay aircraft; and the altitude data of each relay aircraft is obtained through the barometer parameters on it; and the longitude and latitude information and altitude data of each relay aircraft are sent to the reference base station.

[0005] As a further improvement, the height from the relay plane to the first plane is defined as H, and the horizontal distance between two adjacent relay aircraft is defined as L, wherein H is 10 to 50 meters, and L is 5 to 30 meters.

[0006] As a further improvement, the UAV test control system based on UWB base station positioning also includes multiple obstacles, which are arranged in the space enclosed by the first plane to simulate different obstructions.

[0007] As a further improvement, one of the relay aircraft is set as the main relay aircraft and the other as the auxiliary relay aircraft, and the main relay aircraft serves as a channel for the auxiliary relay aircraft to interact with the reference base station; there are no obstacles between the main relay aircraft and the reference base station, and there are no obstacles between the main relay aircraft and each auxiliary relay aircraft.

[0008] As a further improvement, when the aircraft to be tested is located in the space where the first plane and the relay plane are located, the aircraft to be tested directly performs TDOA algorithm with the first UWB base station, the second UWB base station, the third UWB base station and the fourth UWB base station to obtain the absolute position relative to the first UWB base station, and then obtains the longitude and latitude information of the aircraft to be tested; and the altitude data of each aircraft to be tested is obtained through the barometer parameters thereon, thereby finally obtaining the position information of the aircraft to be tested.

[0009] As a further improvement, when the aircraft to be tested is located in the space above the relay plane, the aircraft to be tested directly interacts with the two relay aircraft to obtain their longitude and latitude information; and the altitude data of each aircraft to be tested is obtained through the barometer parameters thereon, thereby finally obtaining the position information of the aircraft to be tested.

[0010] As a further improvement, the aircraft to be tested interacts directly with two relay aircraft to obtain its longitude and latitude information, specifically including: obtaining the distance between the aircraft to be tested and the two relay aircraft, and according to the height of the aircraft to be tested to the relay plane and the GPS information of the aircraft to be tested, obtaining the projection position of the aircraft to be tested on the relay plane, that is, its longitude and latitude information, and then finally obtaining the position information of the aircraft to be tested.

[0011] As a further improvement, the aircraft to be tested also includes an anemometer for recording wind speed, and the UAV test control system is further used to record first data of the aircraft to be tested flying from a first position to a second position, and simultaneously record second data from the first position to the second position and wind speed data obtained from the test on the aircraft to be tested; the UAV test control system further obtains the wind resistance level of the aircraft to be tested based on the first data, the second data and the wind speed data.

[0012] The beneficial effects of the present invention are as follows: the UAV test control system based on UWB base station positioning of the present invention can solve the technical problems of large GPS positioning error and low precision during the positioning test of the UAV, and can realize accurate positioning test of the UAV. Furthermore, the UAV test control system based on UWB base station positioning of the present invention can also solve the technical problem of site limitation of GPS. In addition, the UAV test control system based on UWB base station positioning of the present invention can also greatly expand the test range of the UAV test control system through the setting of relay stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 It is an architecture diagram of a UAV test control system based on UWB base station positioning provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0015] 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, not 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 belong to 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 belong to the scope of protection of the present invention.

[0016] 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.

[0017] Reference Figure 1As shown, an embodiment of the present invention provides a UAV test control system based on UWB base station positioning, including: 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 are arranged on a first plane 100 on the ground, wherein the first UWB base station 10 is set as a reference base station, and the GPS longitude and latitude information of the first UWB base station 10 is synchronized to the first UWB base station 10, and the second UWB base station 11, the third UWB base station 12 and the fourth UWB base station 13 are two-dimensionally positioned according to the GPS longitude and latitude information of the first UWB base station 10.

[0018] A relay plane 200 parallel to the first plane 100 is set in the three-dimensional space formed by the first plane 100; two relay aircraft 14 / 15 are set on the relay plane 200, and a relay beacon is respectively set on each relay aircraft 14 / 15, and each relay aircraft 14 / 15 performs TDOA algorithm with 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 through its relay beacon to obtain the absolute position relative to the first UWB base station 10, and then obtains the longitude and latitude information of each relay aircraft 14 / 15; and the altitude data of each relay aircraft 14 / 15 is obtained through the barometer parameters thereon; and the longitude and latitude information and altitude data of each relay aircraft 14 / 15 are sent to the reference base station.

[0019] As a further improvement, in other embodiments, the height from the relay plane 200 to the first plane 100 is defined as H, and the horizontal distance between two adjacent relay aircraft 14 / 15 is defined as L, wherein H is 10-50 meters, and L is 5-30 meters. In one embodiment, H is 30 meters, and L is 20 meters.

[0020] As a further improvement, in other embodiments, the UWB base station positioning-based drone test control system further includes a plurality of obstacles (not shown in the figure), which are arranged in the space enclosed by the first plane 100 to simulate different obstructions.

[0021] As a further improvement, in other embodiments, one of the relay aircraft 14 / 15 is set as the main relay aircraft, and the other is the auxiliary relay aircraft, and the main relay aircraft serves as a channel for the auxiliary relay aircraft to interact with the reference base station; there are no obstacles between the main relay aircraft and the reference base station, and there are no obstacles between the main relay aircraft and the auxiliary relay aircraft.

[0022] As a further improvement, in other embodiments, when the aircraft to be tested is located in the space where the first plane 100 and the relay plane 200 are located, the aircraft to be tested 16 directly performs TDOA algorithm with 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 to obtain the absolute position relative to the first UWB base station 10, and then obtains the longitude and latitude information of the aircraft to be tested 16; and the altitude data of each aircraft to be tested 16 is obtained through the barometer parameters thereon, so as to finally obtain the position information of the aircraft to be tested 16.

[0023] As a further improvement, in other embodiments, when the aircraft 16 to be tested is located in the space above the relay plane 200, the aircraft 16 to be tested directly interacts with the two relay aircraft 14 / 15 to obtain their latitude and longitude information; and the altitude data of each aircraft 16 to be tested is obtained through the barometer parameters thereon, thereby finally obtaining the position information of the aircraft 16 to be tested.

[0024] As a further improvement, in other embodiments, the aircraft 16 to be tested directly interacts with the two relay aircrafts 14 / 15 to obtain their longitude and latitude information, specifically including: obtaining the distance between the aircraft 16 to be tested and the two relay aircrafts 14 / 15, and according to the height of the aircraft 16 to be tested to the relay plane 200 and the GPS information of the aircraft 16 to be tested, obtaining the projection position of the aircraft 16 to be tested on the relay plane 200, that is, its longitude and latitude information, and then finally obtaining the position information of the aircraft 16 to be tested. The specific calculation example is as follows: Please refer to Figure 1As shown, the distances L1 and L2 between the aircraft 16 to be tested and the two relay aircrafts 14 / 15 can be directly obtained through the interaction between the aircraft 16 to be tested and the two relay aircrafts 14 / 15. The height H1 of the aircraft 16 to be tested to the relay plane 200 can be obtained by subtracting the height of the relay plane 200 from the height data obtained by the barometer parameters thereon. Therefore, the projection positions D and D' of the aircraft 16 to be tested on the relay plane 200 can be directly calculated. Then, according to the GPS information of the aircraft 16 to be tested, the pseudo-projection position D' is removed to obtain the real projection position D. Finally, according to the distances L3 and L4 between the real projection position D and the two relay aircrafts 14 / 15, the longitude and latitude information of the aircraft 16 to be tested can be finally obtained, and then the height data obtained by the barometer parameters thereon are incorporated to finally obtain the position information of the aircraft 16 to be tested. The above calculation method can greatly reduce the amount of calculation and improve efficiency by projecting the aircraft 16 to be tested onto the relay plane 200 .

[0025] As a further improvement, in other embodiments, the aircraft 16 to be tested also includes an anemometer for recording wind speed, and the UAV test control system is further used to record first data of the aircraft 16 to be tested flying from a first position C to a second position E, and simultaneously record second data from the first position C to the second position E and wind speed data obtained from the test on the aircraft 16 to be tested; the UAV test control system further obtains the wind resistance level of the aircraft 16 to be tested based on the first data, the second data and the wind speed data.

[0026] 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 test control system based on UWB base station positioning, characterized in that: include: A first UWB base station, a second UWB base station, a third UWB base station and a fourth UWB base station are arranged on a first plane on the ground, 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; A relay plane parallel to the first plane is set in the three-dimensional space formed by the enclosed first plane; two relay aircraft are set on the relay plane, and each relay aircraft is respectively provided with a relay beacon, and each relay aircraft respectively uses the relay beacon to perform TDOA algorithm with the first UWB base station, the second UWB base station, the third UWB base station and the fourth UWB base station to obtain the absolute position relative to the first UWB base station, and then obtain the longitude and latitude information of each relay aircraft; and the altitude data of each relay aircraft is obtained through the barometer parameters on it; and the longitude and latitude information and altitude data of each relay aircraft are sent to the reference base station.

2. The UAV test control system based on UWB base station positioning according to claim 1, characterized in that: The height from the relay plane to the first plane is defined as H, and the horizontal distance between two adjacent relay aircraft is defined as L, wherein H is 10 to 50 meters, and L is 5 to 30 meters.

3. The UAV test control system based on UWB base station positioning as claimed in claim 2, characterized in that: It also includes a plurality of obstacles, which are arranged in the space enclosed by the first plane to simulate different obstructions.

4. The UAV test control system based on UWB base station positioning as claimed in claim 3, characterized in that: One of the relay aircraft is set as the main relay aircraft, and the others are auxiliary relay aircraft, and the main relay aircraft serves as a channel for the auxiliary relay aircraft to interact with the reference base station; there are no obstacles between the main relay aircraft and the reference base station, and there are no obstacles between the main relay aircraft and each auxiliary relay aircraft.

5. The UAV test control system based on UWB base station positioning as claimed in claim 4, characterized in that: When the aircraft to be tested is located in the space where the first plane and the relay plane are located, the aircraft to be tested directly performs TDOA algorithm with the first UWB base station, the second UWB base station, the third UWB base station and the fourth UWB base station to obtain the absolute position relative to the first UWB base station, and then obtains the longitude and latitude information of the aircraft to be tested; and the altitude data of each aircraft to be tested is obtained through the barometer parameters thereon, thereby finally obtaining the position information of the aircraft to be tested.

6. The UAV test control system based on UWB base station positioning as claimed in claim 4, characterized in that: When the aircraft to be tested is located in the space above the relay plane, the aircraft to be tested directly interacts with the two relay aircraft to obtain their latitude and longitude information; and the altitude data of each aircraft to be tested is obtained through the barometer parameters thereon, thereby finally obtaining the position information of the aircraft to be tested.

7. The UAV test control system based on UWB base station positioning as claimed in claim 6, characterized in that: The aircraft to be tested interacts directly with two relay aircraft to obtain its longitude and latitude information, specifically including: obtaining the distance between the aircraft to be tested and the two relay aircraft, and according to the height of the aircraft to be tested to the relay plane and the GPS information of the aircraft to be tested, obtaining the projection position of the aircraft to be tested on the relay plane, that is, its longitude and latitude information, and then finally obtaining the position information of the aircraft to be tested.

8. The UAV test control system based on UWB base station positioning as claimed in claim 7, characterized in that: The aircraft to be tested also includes an anemometer for recording wind speed, and the UAV test control system is further used to record first data of the aircraft to be tested flying from a first position to a second position, and simultaneously record second data from the first position to the second position and wind speed data obtained from the test on the aircraft to be tested; the UAV test control system further obtains the wind resistance level of the aircraft to be tested based on the first data, the second data and the wind speed data.

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