System and method for assisting precise landing of unmanned aerial vehicle based on RFID and UWB communication, and computer equipment

Abstract

The invention relates to the technical field of unmanned aerial vehicle positioning, and discloses a system and method for assisting an unmanned aerial vehicle to accurately drop and stop based on RFID and UWB communication, and computer equipment. A dual-frequency RFID module, a card reader and a main control module are arranged on the unmanned aerial vehicle, and a single-frequency RFID module and a low-frequency excitation module are arranged on an apron stop point; the single-frequency RFID module and the double-frequency RFID module can realize three-dimensional positioning of the unmanned aerial vehicle, the low-frequency excitation module can determine the position and direction of the single-frequency RFID module and / or the double-frequency RFID module, so that the direction and distance of the unmanned aerial vehicle can be accurately identified, the unmanned aerial vehicle can also reversely and accurately identify the position of a parking point of an airport apron, bidirectional positioning can be realized, and the positioning accuracy of the unmanned aerial vehicle is improved. Compared with the establishment of an RTK base station, the cost can be greatly reduced, the local positioning of the unmanned aerial vehicle is realized on the basis of not greatly increasing the cost, and the positioning requirements of low cost and high precision can be met.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicle positioning, and particularly to a system, a method, and a computer device for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication. Background Art

[0002] When a cargo unmanned helicopter lands, it relies on the GPS system or the BDS system to achieve positioning. However, the positioning accuracy of the civilian-level GPS system or BDS system is usually in the range of about ten meters, far from meeting the positioning requirements for the landing of cargo unmanned aerial vehicles. In the prior art, by establishing an RTK base station, the positioning requirements for the landing of unmanned aerial vehicles can be met. However, the cost of establishing an RTK base station is relatively high, and once the position of the base station is determined, it is difficult to quickly adjust according to actual needs. Its effective operation is generally within 15 kilometers. When the distance between the rover and the base station increases, the spatial correlation of various errors decreases, resulting in an increase in the observation time, and it is also easy to cause inaccurate measurement results due to problems with the base station. After the base station is established, it needs to be maintained regularly, which also increases the maintenance cost and workload. Summary of the Invention

[0003] This application provides a system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication, aiming to solve the technical problem of the too high cost of accurately landing and parking an unmanned aerial vehicle in the prior art.

[0004] This application provides a system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication, including: An apron parking point, which is provided with a single-frequency RFID module and a low-frequency excitation module; An unmanned aerial vehicle, which is provided with a dual-frequency RFID module, a card reader, and a main control module; The single-frequency RFID module at the apron parking point is used to transmit a frequency signal to the card reader of the unmanned aerial vehicle, and the card reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning of the unmanned aerial vehicle by the apron parking point; The low-frequency excitation module at the apron parking point is used to send a continuous low-frequency excitation signal to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If received, it is determined that the unmanned aerial vehicle is within the preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to achieve precise positioning of the unmanned aerial vehicle; The low-frequency excitation module is used to send the excitation ID information to the card reader; The card reader communicates with the main control module according to the excitation ID information, and the main control module starts to descend and stop according to the excitation ID information.

[0005] Preferably, it further includes: A mobile device and a flight control system, where the mobile device is used to send order information to the flight control system; The flight control system is used to find a target unmanned aerial vehicle according to the flight order, and control the target unmanned aerial vehicle to fly from the original position to the corresponding apron parking point according to the order information; After the target unmanned aerial vehicle flies to the corresponding airport parking point, it starts to descend. After descending to a preset distance, the target unmanned aerial vehicle activates the card reader to receive the frequency signal sent by the airport parking point; Preferably, when the target unmanned aerial vehicle turns on the return mode, the card reader communicates with the main control module according to the excitation ID information, and the main control module starts to take off according to the excitation ID information; During the takeoff process, the dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If not, it is determined that the unmanned aerial vehicle is not within the preset range of the apron parking point; The dual-frequency RFID module sends a return along the original route instruction to the main control module, and the main control module returns to the original position of the target unmanned aerial vehicle according to the return along the original route instruction.

[0006] Preferably, it further includes a scheduling system. There are multiple apron parking points and unmanned aerial vehicles. The scheduling system is used to communicate with the flight control system. The flight control system is used to find the corresponding multiple unmanned aerial vehicles according to the order information, and send the device information and the expected stay duration corresponding to the multiple unmanned aerial vehicles to the scheduling system; The scheduling system is used to match the multiple unmanned aerial vehicles with the multiple apron parking points according to the device information and the expected stay duration, and send the matching result to the flight control system; The flight control system is used to generate the landing point and takeoff time corresponding to each unmanned aerial vehicle according to the matching result; The unmanned aerial vehicle flies to the corresponding apron parking point according to the landing point and takeoff time.

[0007] Preferably, the main control module in the unmanned aerial vehicle acquires multiple first three-dimensional coordinate information of the apron parking point and multiple second three-dimensional coordinate information of itself within a first preset time period, and matches the multiple second three-dimensional coordinate information with the multiple first three-dimensional coordinate information to obtain multiple relative distance change values; The main control module obtains the maximum change value according to multiple relative distance change values, and determines whether the maximum change value meets a preset condition. If it meets the condition, a landing instruction is enabled. If it does not meet the condition, the main control module is used to control the unmanned aerial vehicle to adjust its own position, and obtain multiple adjusted first three-dimensional coordinate information and multiple second three-dimensional coordinate information within a second preset time period, and return to the step of matching the multiple second three-dimensional coordinate information with the multiple first three-dimensional coordinate information.

[0008] Preferably, the main control module is used to obtain three-dimensional error information according to multiple relative distance change values, obtain a horizontal offset distance, a longitudinal offset distance, and a vertical offset distance according to the three-dimensional error information, and calculate an adjustment coordinate value according to the horizontal offset distance, the longitudinal offset distance, and the vertical offset distance; The main control module is used to obtain a wind force value and a bump frequency, and obtain a corresponding position compensation amount according to the wind force value and the bump frequency; The main control module is further used to correct the adjustment coordinate value according to the position compensation amount to obtain a position correction coordinate, and adjust its own position according to the position correction coordinate.

[0009] Preferably, the single-frequency RFID module is a 2.4GHZ single-frequency tag, the frequency of the reader is 2.4GHZ, and the dual-frequency RFID module includes a low-frequency exciter and a 2.4GHZ tag to achieve long-distance communication and positioning; the continuous low-frequency excitation signal is a 125khz signal excitation, and is transmitted by a circular antenna to ensure that an adjustable low-frequency excitation area can be formed at the apron parking point.

[0010] The present application further provides a method for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication, which is applied to a system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication. The system includes an apron parking point and an unmanned aerial vehicle. The apron parking point is provided with a single-frequency RFID module and a low-frequency excitation module, and the unmanned aerial vehicle is provided with a dual-frequency RFID module, a reader, and a main control module, and is characterized by including: The single-frequency RFID module at the apron parking point transmits a frequency signal to the reader of the unmanned aerial vehicle; The reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning of the unmanned aerial vehicle by the apron parking point; The low-frequency excitation module at the apron parking point sends a continuous low-frequency excitation signal to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module detects in real time whether a continuous low-frequency excitation signal is received. If it is received, it is determined that the unmanned aerial vehicle is within a preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to achieve precise positioning of the unmanned aerial vehicle; The low-frequency excitation module sends the excitation ID information to the card reader; The card reader communicates with the main control module according to the excitation ID information, and the main control module starts to descend and stop according to the excitation ID information.

[0011] This application also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above system are implemented.

[0012] This application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above system are implemented.

[0013] The beneficial effects of this application are as follows: The single-frequency RFID module at the apron parking point is used to transmit a frequency signal to the card reader of the unmanned aerial vehicle. The card reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning (about 15 meters) of the apron parking point for the unmanned aerial vehicle; After roughly positioning the unmanned aerial vehicle, start to switch the positioning mode. At this time, the low-frequency excitation module sends a continuous low-frequency excitation signal to activate the dual-frequency tag on the unmanned aerial vehicle close to the apron, achieving precise positioning of the unmanned aerial vehicle. After the dual-frequency tag is activated, it sends a 2.4GHZ data packet with excitation ID information to the card reader based on UWB technology. After the card reader on the unmanned aerial vehicle receives the 2.4GHZ data packet with excitation ID information, it determines that the unmanned aerial vehicle is within 3 meters of the apron parking point, and the main control module starts to land until it stops at the apron parking point. Compared with establishing an RTK base station, the cost can be greatly reduced. On the basis of not significantly increasing the cost, local positioning of the unmanned aerial vehicle is achieved, which can meet the positioning requirements of low cost and high precision. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the system structure according to an embodiment of this application.

[0015] Figure 2 It is a schematic diagram of the method flow according to an embodiment of this application.

[0016] Figure 3 It is a schematic diagram of the internal structure of a computer device according to an embodiment of this application.

[0017] The realization, functional characteristics, and advantages of the purpose of this application will be further described with reference to the embodiments and the drawings. Detailed Embodiments

[0018] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] As Figures 1 - 3 shown, the present application provides a system for accurately landing an unmanned aerial vehicle based on RFID and UWB communication assistance, including: An apron parking point, which is provided with a single-frequency RFID module and a low-frequency excitation module; An unmanned aerial vehicle, which is provided with a dual-frequency RFID module, a card reader and a main control module; The single-frequency RFID module of the apron parking point is used to transmit a frequency signal to the card reader of the unmanned aerial vehicle, and the card reader is used to receive the frequency signal to realize long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning of the unmanned aerial vehicle by the apron parking point; The low-frequency excitation module of the apron parking point is used to send a continuous low-frequency excitation signal to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If so, it is determined that the unmanned aerial vehicle is within a preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to realize accurate positioning of the unmanned aerial vehicle; The low-frequency excitation module is used to send the excitation ID information to the card reader; The card reader communicates with the main control module according to the excitation ID information, and the main control module starts landing according to the excitation ID information.

[0020] As described above, the prior art solutions related to local positioning include Bluetooth Angle of Arrival (BLE AoA) technology, Ultra-Wideband (UWB) technology, and RFID technology. However, BLE AoA technology and UWB technology can only achieve planar positioning and cannot achieve three-dimensional positioning, while RFID technology has a limited recognition distance and cannot accurately identify direction and distance. Therefore, on the basis of not significantly increasing costs, this application proposes a system for precise landing and parking of unmanned aerial vehicles assisted by RFID and UWB communication. The system includes an apron parking point and an unmanned aerial vehicle. Among them, a single-frequency RFID module and a low-frequency excitation module are provided inside the apron parking point, and a dual-frequency RFID module, a card reader, and a main control module are provided inside the unmanned aerial vehicle. In this way, based on the dual-frequency active identification technology, it is possible to achieve range identification within about 15 meters and precise positioning within 3 meters, thereby being able to compensate for the positioning errors and differences in accurate positioning of GPS / BDS. Specifically, the single-frequency RFID module of the apron parking point is used to transmit a frequency signal to the card reader of the unmanned aerial vehicle, and the card reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and the fuzzy positioning (about 15 meters) of the apron parking point for the unmanned aerial vehicle; after achieving a rough positioning of the unmanned aerial vehicle, the positioning mode is switched. At this time, the low-frequency excitation module sends a continuous low-frequency excitation signal to activate the dual-frequency tag on the unmanned aerial vehicle close to the apron to achieve precise positioning of the unmanned aerial vehicle. At the same time, the card reader on the unmanned aerial vehicle searches for and receives the 2.4GHz single-frequency tag data packet carried by the single-frequency RFID module of the apron parking point to achieve precise positioning of the apron parking point; after the dual-frequency tag is activated, it sends a 2.4GHZ data packet with excitation ID information to the card reader based on UWB technology. After the card reader on the unmanned aerial vehicle receives the 2.4GHZ data packet with excitation ID information, it determines that the unmanned aerial vehicle is within the 3-meter range of the apron parking point, and the main control module starts to land until it stops at the apron parking point.In addition, the main control unit of the apron parking point further includes a 4G CAT1 module (including a SIM card) for communicating with the cloud (unmanned aerial vehicle), and a GPS / BDS module (optional) for realizing long-distance positioning of the unmanned aerial vehicle (about 200 meters). The apron parking point also includes a power management unit, which is powered by a DC + 12V power adapter or a rechargeable battery. In this application, by setting a dual-frequency RFID module, a card reader, and a main control module on the unmanned aerial vehicle, and a single-frequency RFID module and a low-frequency excitation module on the apron parking point, the single-frequency RFID module and the dual-frequency RFID module can achieve three-dimensional positioning of the unmanned aerial vehicle. The low-frequency excitation module transmits digital pulse signals, which can be received and responded to by the single-frequency RFID module and / or the dual-frequency RFID module. By analyzing the return information of these signals, the low-frequency excitation module can determine the position and direction of the single-frequency RFID module and / or the dual-frequency RFID module, so as to accurately identify the direction and distance of the unmanned aerial vehicle. The unmanned aerial vehicle can also accurately identify the position of the apron parking point in reverse. Therefore, two-way positioning (unmanned aerial vehicle to apron parking point, apron parking point to unmanned aerial vehicle) can be realized. Compared with establishing an RTK base station, the cost can be greatly reduced. On the basis of not significantly increasing the cost, local positioning of the unmanned aerial vehicle is realized, which can meet the positioning requirements of low cost and high precision.

[0021] In one embodiment, it further includes: A mobile device and a flight control system, where the mobile device is used to send order information to the flight control system; The flight control system is used to find a target unmanned aerial vehicle according to the flight order, and control the target unmanned aerial vehicle to fly from the original position to the corresponding apron parking point according to the order information; After the target unmanned aerial vehicle flies to the corresponding airport parking point, it starts to descend. After descending to a preset distance, the target unmanned aerial vehicle activates the card reader to receive the frequency signal sent by the airport parking point; After the target unmanned aerial vehicle lands at the airport parking point, it turns on the return mode.

[0022] As mentioned above, the precise positioning of unmanned aerial vehicles can be applied to the field of cargo transportation, such as food delivery services and errand services. Users can use their mobile phones to generate order information, and the flight control system selects a suitable target unmanned aerial vehicle to fly to the location according to the needs and location in the order. There is an apron parking point at the location. During the long-distance flight, the target unmanned aerial vehicle flies based on GPS / BDS technology. When it flies to the approximate location, the target unmanned aerial vehicle begins to descend. After descending to about 200 meters, the target unmanned aerial vehicle begins to switch to the landing mode. The single-frequency RFID module and low-frequency excitation module on the apron parking point and the dual-frequency RFID module, card reader and main control module on the target unmanned aerial vehicle start to work to achieve precise landing. During the landing process, since the unmanned aerial vehicle and the apron parking point can accurately locate the positions of both parties, there is no need for manual assistance in landing. After picking up the goods, the unmanned aerial vehicle turns on the return mode. This can realize the automation of cargo transportation and reduce the dependence and control of manual operation.

[0023] In one embodiment, when the target unmanned aerial vehicle turns on the return mode, the card reader communicates with the main control module according to the excitation ID information, and the main control module starts to take off according to the excitation ID information; During takeoff, the dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If it cannot be received, it is determined that the UAV is not within the preset range of the apron parking point; The dual-frequency RFID module sends a return-to-original-route instruction to the main control module, and the main control module returns to the original position of the target unmanned aerial vehicle according to the return-to-original-route instruction.

[0024] As mentioned above, when the unmanned aerial vehicle returns, in order to avoid collision with other unmanned aerial vehicles, it needs to take off to a certain height and then return along the same route. Therefore, in this application, the return is carried out in the same way as landing, but the steps are reversed. During the return process, it is first accurately positioned and then fuzzily positioned. When its height reaches a certain range, it starts to return along the same route and fly back to its original position.

[0025] In one embodiment, a dispatching system is further included, wherein the apron parking points and unmanned aerial vehicles are both multiple, and the dispatching system is used to communicate with the flight control system, and the flight control system is used to search for the corresponding multiple unmanned aerial vehicles according to the order information, and send the corresponding equipment information and estimated duration of stay of the multiple unmanned aerial vehicles to the dispatching system; The dispatching system is used to match multiple unmanned aerial vehicles with multiple apron parking points according to the equipment information and the expected duration of the stay, and send the matching results to the flight control system; The flight control system is used to generate a landing point and a take-off time corresponding to each unmanned aerial vehicle according to the matching result; The unmanned aerial vehicle flies towards the corresponding apron parking point according to the landing point and the take-off time.

[0026] As described above, when the order volume is large, usually multiple unmanned aerial vehicles are dispatched to complete the task. The unmanned aerial vehicles are movable, but the airport parking points are fixed and the area is also fixed. Therefore, the airport area where the airport parking points are located may not be able to meet the demand for simultaneously parking N unmanned aerial vehicles. Based on this, the present application is provided with a scheduling system, which is used to schedule the order of the unmanned aerial vehicles parked at the airport parking points. Specifically, the scheduling system is communicatively connected to the flight control system. First, the flight control system searches for the corresponding unmanned aerial vehicles according to the number of order information received. When searching, it will make a nearby arrangement according to the location in the order information and the location of the unmanned aerial vehicle. At the same time, it is necessary to determine that the power of the unmanned aerial vehicle can support it to fly to the destination and return, and it is also necessary to confirm the equipment model of the unmanned aerial vehicle, so as to find the unmanned aerial vehicle that meets its requirements according to the order information. After the search is completed, the landing time and flight time of the unmanned aerial vehicle will be obtained according to the equipment information, historical flight records and destination information in the order information, and the estimated stay duration will be calculated, and the flight information, flight duration, estimated stay duration, etc. of each unmanned aerial vehicle will be sent to the scheduling system. The scheduling system is communicatively connected to multiple apron parking points to obtain the current operating status of multiple apron parking points. The scheduling system configures the corresponding unmanned aerial vehicle for each apron parking point at different time periods according to the flight information, flight duration, estimated stay duration of the unmanned aerial vehicle and the current operating status of multiple apron parking points, and generates a matching result. The flight control system configures the corresponding unmanned aerial vehicle for different apron parking points according to the matching result, so as to realize the scheduling between multiple unmanned aerial vehicles and multiple apron parking points; In addition, the unmanned aerial vehicle establishes a communication connection with the flight control system during flight, so that the flight control system can grasp the status of the unmanned aerial vehicle in real time and adjust the flight route and flight destination according to the status. In addition, the mobile device also establishes a communication connection with the flight control system, and the user can obtain the real-time operating status information of the unmanned aerial vehicle through the mobile device.

[0027] In one embodiment, the main control module in the unmanned aerial vehicle acquires a plurality of first three-dimensional coordinate information of the apron parking point and a plurality of second three-dimensional coordinate information of itself within a first preset time period, and matches the plurality of second three-dimensional coordinate information with the plurality of first three-dimensional coordinate information to obtain a plurality of relative distance change values; The main control module obtains the maximum change value according to multiple relative distance change values, and determines whether the maximum change value meets a preset condition. If it meets the condition, a landing instruction is issued. If it does not meet the condition, the main control module is used to control the unmanned aerial vehicle to adjust its own position, and obtain multiple adjusted first three-dimensional coordinate information and multiple second three-dimensional coordinate information within a second preset time period, and return to the step of matching the multiple second three-dimensional coordinate information with the multiple first three-dimensional coordinate information.

[0028] As described above, during the flight of the unmanned aerial vehicle, although the apron parking point can obtain the three-dimensional coordinates of the unmanned aerial vehicle through the single-frequency RFID module, affected by the wind force and the shaking of the unmanned aerial vehicle itself, its position may swing uncertainly. After its own position changes, the relative distance from the apron parking point will also change. When the unmanned aerial vehicle lands, it needs to find an optimal hovering point, and then slowly land towards the target position based on the optimal hovering point, so as to achieve precise landing. Therefore, if the relative distance is not corrected, the optimal hovering point cannot be found; based on this, the main control module will calculate the relative distance change information according to multiple first three-dimensional coordinate information and multiple second three-dimensional coordinate information. If the maximum relative distance change value does not meet the preset condition, it means that the current hovering condition is not met, and the position of the unmanned aerial vehicle can be adjusted. When the maximum distance change value meets the preset condition, it means that the hovering condition is met, and the adjusted current position is the optimal hovering point. By finding the optimal hovering point, the unmanned aerial vehicle can accurately locate the apron parking point and land smoothly on the apron parking point.

[0029] In one embodiment, the main control module is used to obtain three-dimensional error information according to multiple relative distance change values, obtain a horizontal offset distance, a longitudinal offset distance, and a vertical offset distance according to the three-dimensional error west information, and calculate an adjustment coordinate value according to the horizontal offset distance, the longitudinal offset distance, and the vertical offset distance; The main control module is used to obtain a wind force value and a bump frequency, and obtain a corresponding position compensation amount according to the wind force value and the bump frequency; The main control module is further used to correct the adjustment coordinate value according to the position compensation amount to obtain a position correction coordinate, and adjust its own position according to the position correction coordinate.

[0030] As described above, the horizontal offset distance, the longitudinal offset distance, and the vertical offset distance can be obtained through the three-dimensional error information, which respectively correspond to the X-axis, Y-axis, and Z-axis in the three-dimensional coordinate system. Then, the position compensation amount is obtained according to the wind force value and the bump frequency. Finally, the position correction coordinate is obtained based on the position compensation amount, so that the unmanned aerial vehicle can quickly adjust its own position according to the position correction coordinate.

[0031] In one embodiment, the single-frequency RFID module is a 2.4 GHz single-frequency tag, the frequency of the reader is 2.4 GHz, and the dual-frequency RFID module includes a low-frequency exciter and a 2.4 GHz tag to achieve long-distance communication and positioning; the continuous low-frequency excitation signal is a 125 kHz signal excitation, and is transmitted by a circular antenna with a diameter of 1 meter to ensure that an adjustable low-frequency excitation area can be formed at the apron parking point. Compared with passive identification, the ultra-high frequency active identification technology has strong anti-interference ability, long communication distance, low-frequency trigger technology, clear boundary and strong penetration ability, which can meet the positioning requirements of low cost and high precision. In addition, the reader is 2.4 GHz, receives 2.4 GHz data sent by the apron parking point, and realizes the switching between wide-area / local positioning; the 2.4 GHz reader communicates with the main control module of the unmanned aerial vehicle through an RJ45 / TTL uart interface.

[0032] This application also provides a method for accurately landing an unmanned aerial vehicle assisted by RFID and UWB communication, which is applied to a system for accurately landing an unmanned aerial vehicle assisted by RFID and UWB communication. The system includes an apron parking point and an unmanned aerial vehicle. The apron parking point is provided with a single-frequency RFID module and a low-frequency excitation module, and the unmanned aerial vehicle is provided with a dual-frequency RFID module, a reader and a main control module, including: The single-frequency RFID module at the apron parking point transmits a frequency signal to the reader of the unmanned aerial vehicle; The reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning of the apron parking point to the unmanned aerial vehicle; The low-frequency excitation module at the apron parking point sends a continuous low-frequency excitation signal to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module detects in real time whether a continuous low-frequency excitation signal is received. If received, it is determined that the unmanned aerial vehicle is within the preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to achieve accurate positioning of the unmanned aerial vehicle; The low-frequency excitation module sends the excitation ID information to the reader; The reader communicates with the main control module according to the excitation ID information, and the main control module starts to land according to the excitation ID information.

[0033] It should be noted that the steps in the method for accurately landing an unmanned aerial vehicle assisted by RFID and UWB communication are set in one-to-one correspondence with the modules in the system for accurately landing an unmanned aerial vehicle assisted by RFID and UWB communication.

[0034] Such as Figure 3As shown in the figure, the present application also provides a computer device, which can be a server, and its internal structure can be as shown in Figure 3 As shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer design is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all the data required for the process of the system for assisting the accurate landing and parking of an unmanned aerial vehicle based on RFID and UWB communication. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements the system for assisting the accurate landing and parking of an unmanned aerial vehicle based on RFID and UWB communication.

[0035] Those skilled in the art can understand that Figure 3 the structure shown in is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.

[0036] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the above-mentioned system for assisting the accurate landing and parking of an unmanned aerial vehicle based on RFID and UWB communication.

[0037] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium provided in this application and used in the embodiments can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0038] It should be noted that in this article, the terms "including", "comprising", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, apparatus, article, or method including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, apparatus, article, or method including the element.

[0039] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication, characterized in that include: An apron parking point, wherein the apron parking point is provided with a single-frequency RFID module and a low-frequency excitation module; An unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a dual-frequency RFID module, a card reader and a main control module; The single-frequency RFID module at the apron parking point is used to transmit a frequency signal to the card reader of the unmanned aerial vehicle, and the card reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and fuzzy positioning of the unmanned aerial vehicle by the apron parking point; The low-frequency excitation module at the apron parking point is used to send continuous low-frequency excitation signals to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If received, it is determined that the UAV is within a preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to achieve accurate positioning of the unmanned aerial vehicle; The low-frequency excitation module is used to send the excitation ID information to the card reader; The card reader communicates with the main control module according to the excitation ID information, and the main control module starts to stop according to the excitation ID information.

2. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 1, wherein Also includes: A mobile device and a flight control system, wherein the mobile device is used to send order information to the flight control system; The flight control system is used to search for a target unmanned aerial vehicle according to the flight order, and control the target unmanned aerial vehicle to fly from an original position to a corresponding apron parking point according to the order information; The target unmanned aerial vehicle flies to the corresponding airport parking point and starts to descend. After descending to a preset distance, the target unmanned aerial vehicle activates the card reader to receive the frequency signal sent by the airport parking point; After the target unmanned aerial vehicle lands at the airport parking point, the return mode is activated.

3. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 2, wherein When the target unmanned aerial vehicle turns on the return mode, the card reader communicates with the main control module according to the excitation ID information, and the main control module starts to take off according to the excitation ID information; During takeoff, the dual-frequency RFID module is used to detect in real time whether a continuous low-frequency excitation signal is received. If it cannot be received, it is determined that the UAV is not within the preset range of the apron parking point; The dual-frequency RFID module sends a return-to-original-route instruction to the main control module, and the main control module returns to the original position of the target unmanned aerial vehicle according to the return-to-original-route instruction.

4. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 2, characterized in that, It also includes a dispatching system, wherein the apron parking points and unmanned aerial vehicles are multiple, and the dispatching system is used to communicate with the flight control system, and the flight control system is used to search for the corresponding multiple unmanned aerial vehicles according to the order information, and send the corresponding equipment information and estimated duration of stay of the multiple unmanned aerial vehicles to the dispatching system; The dispatching system is used to match multiple unmanned aerial vehicles with multiple apron parking points according to the equipment information and the expected duration of the stay, and send the matching results to the flight control system; The flight control system is used to generate a landing point and take-off time corresponding to each unmanned aerial vehicle according to the matching results; The unmanned aerial vehicle flies to the corresponding apron parking point according to the landing point and take-off time.

5. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 1, wherein The main control module in the unmanned aerial vehicle obtains multiple first three-dimensional coordinate information of the apron parking point and multiple second three-dimensional coordinate information of itself within a first preset time period, and matches the multiple second three-dimensional coordinate information with the multiple first three-dimensional coordinate information to obtain multiple relative distance change values; The main control module obtains the maximum change value according to the multiple relative distance change values, and judges whether the maximum change value meets the preset conditions. If it meets, the landing instruction is enabled. If it does not meet, the main control module is used to control the unmanned aerial vehicle to adjust its own position, and obtains the adjusted multiple first three-dimensional coordinate information and multiple second three-dimensional coordinate information within a second preset time period, and returns to the step of matching the multiple second three-dimensional coordinate information with the multiple first three-dimensional coordinate information.

6. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 5, wherein The main control module is used to obtain three-dimensional error information according to the multiple relative distance change values, obtain the horizontal offset distance, the longitudinal offset distance and the vertical offset distance according to the three-dimensional error information, and calculate the adjustment coordinate value according to the horizontal offset distance, the longitudinal offset distance and the vertical offset distance; The main control module is used to obtain the wind force value and the jitter frequency, and obtain the corresponding position compensation amount according to the wind force value and the jitter frequency; The main control module is also used to correct the adjustment coordinate value according to the position compensation amount to obtain the position correction coordinate, and adjust its own position according to the position correction coordinate.

7. The system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication according to claim 1, characterized in that, The single-frequency RFID module is a 2.4GHZ single-frequency tag, the frequency of the reader is 2.4GHZ, and the dual-frequency RFID module includes a low-frequency exciter and a 2.4GHZ tag to achieve long-distance communication and positioning; the continuous low-frequency excitation signal is a signal excitation of 125khz and is transmitted by a circular antenna to ensure that an adjustable low-frequency excitation area can be formed at the apron parking point.

8. A method for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication, which is applied to a system for accurately landing and parking an unmanned aerial vehicle assisted by RFID and UWB communication. The system includes an apron parking point and an unmanned aerial vehicle. The apron parking point is provided with a single-frequency RFID module and a low-frequency excitation module. The unmanned aerial vehicle is provided with a dual-frequency RFID module, a card reader and a main control module, and is characterized in that, Including: The single-frequency RFID module at the apron parking point transmits a frequency signal to the reader of the unmanned aerial vehicle; The reader is used to receive the frequency signal to achieve long-distance communication between the apron parking point and the unmanned aerial vehicle and the fuzzy positioning of the unmanned aerial vehicle by the apron parking point; The low-frequency excitation module at the apron parking point sends a continuous low-frequency excitation signal to the dual-frequency RFID module of the unmanned aerial vehicle; The dual-frequency RFID module detects in real time whether it receives the continuous low-frequency excitation signal. If it receives it, it determines that the unmanned aerial vehicle is within the preset range of the apron parking point; The low-frequency excitation module activates the dual-frequency tag corresponding to the dual-frequency RFID module and generates excitation ID information to achieve precise positioning of the unmanned aerial vehicle; The low-frequency excitation module sends the excitation ID information to the reader; The reader communicates with the main control module according to the excitation ID information, and the main control module starts to land and stop according to the excitation ID information.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the system according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the system according to any one of claims 1 to 7.

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