Air-ground child-mother platform collaborative navigation system and collaborative navigation method

Abstract

The invention relates to an open-space child-mother platform collaborative navigation system which comprises an open-space child-mother unmanned cluster, the open-space child-mother unmanned cluster comprises large-scale visual angle environment sensing unmanned aerial vehicles and a ground mother platform, the ground mother platform is an unmanned vehicle, the number of the large-scale visual angle environment sensing unmanned aerial vehicles is one or more, and the number of the unmanned vehicles is three or more. Each unmanned vehicle is provided with a small-scale visual angle environment sensing unmanned aerial vehicle, each unmanned vehicle and the small-scale visual angle environment sensing unmanned aerial vehicle sense the surrounding environment, and the large-scale visual angle environment sensing unmanned aerial vehicle is combined to sense the surrounding environment to form a navigation map. Aiming at the problem that an air-ground child-mother unmanned cluster is difficult to obtain high-precision navigation information, navigation sensors are reasonably configured on a large-scale visual angle environment sensing unmanned aerial vehicle, a small-scale visual angle environment sensing unmanned aerial vehicle and a ground mother platform respectively, and task allocation is performed, so that respective sensing advantages can be fully exerted, and the high-precision navigation information of the air-ground child-mother unmanned cluster is obtained. And advantage complementation and function expansion are realized, and the task execution efficiency of multiple agents in cooperation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cooperative navigation of air-ground mother-child platforms, and particularly relates to an air-ground mother-child platform cooperative navigation system and a cooperative navigation method. Background Art

[0002] Unmanned platforms have the advantages of strong physical environment adaptability, non-contact, low cost, no casualties, multi-function, and formation ability, and have become important nodes and components in complex operation scenarios. When the air-ground mother-child unmanned cluster enters an unknown complex area for operation, mutual observation conditions are required between the aerial unmanned aircraft and the ground mother platform, such as mutual ranging based on a data link or mutual visibility based on vision, so as to quickly and accurately perceive the surrounding environment and obtain map information for navigation.

[0003] The self-limitation problems of the aerial unmanned aircraft and the ground mother platform cannot perceive the surrounding scene information in all directions. Among them, the aerial unmanned aircraft perceives the environment from an aerial perspective, which can make up for the deficiency of the ground mother platform's line of sight. However, due to the limited payload and endurance of the aerial unmanned aircraft, the granularity of the aerial unmanned aircraft's perception of the environment is not as fine as that of the ground mother platform, and accurate navigation map information cannot be obtained, and the course and navigation speed cannot be planned, resulting in the inability to reach the destination and complete the operation task at the fastest speed and safely.

[0004] In view of the above technical problems, the present invention proposes an air-ground mother-child platform cooperative navigation system and a cooperative navigation method. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide an air-ground mother-child platform cooperative navigation system and a cooperative navigation method, which can give full play to their respective perception advantages, achieve complementary advantages and function expansion, and improve the task execution efficiency of multi-agent in cooperation.

[0006] The present invention solves its technical problems through the following technical solutions:

[0007] An air-ground mother-child platform cooperative navigation system includes an air-ground mother-child unmanned cluster. The air-ground mother-child unmanned cluster includes a large-scale perspective environment perception unmanned aircraft and a ground mother platform. The ground mother platform is an unmanned vehicle. The number of the large-scale perspective environment perception unmanned aircraft is one or more, and the number of the unmanned vehicles is three or more. Each unmanned vehicle is equipped with a small-scale perspective environment perception unmanned aircraft. Each unmanned vehicle and the small-scale perspective environment perception unmanned aircraft perceive the surrounding environment, and combine with the large-scale perspective environment perception unmanned aircraft to perceive the surrounding environment to form a navigation map.

[0008] Moreover, a mounting frame one is arranged on the roof of the unmanned vehicle, and a lidar one, a vision one, and an infrared are arranged on the mounting frame one.

[0009] Moreover, an installation frame II is arranged at the upper end of the front of the driverless vehicle, and a data link I, a magnetometer I, an inertial navigation I and an anti-interference satellite navigation receiver are arranged on the installation frame II.

[0010] Moreover, a millimeter-wave radar is arranged at the front end of the front of the driverless vehicle.

[0011] Moreover, the large-scale perspective environment perception unmanned aerial vehicle and the small-scale perspective environment perception unmanned aerial vehicle are both equipped with a lidar II, a vision II, a data link II, a magnetometer II, an inertial navigation II and a non-anti-interference satellite navigation receiver.

[0012] Furthermore, a cooperative navigation method based on an air-ground mother-child platform cooperative navigation system includes the following steps:

[0013] Step 1, the driverless vehicle perceives the surrounding environment to obtain environment perception information;

[0014] Step 2, the small-scale perspective environment perception unmanned aerial vehicle perceives the surrounding environment to obtain environment perception information;

[0015] Step 3, combining the environment perception information obtained in Step 1 and Step 2 to establish an environment scene;

[0016] Step 4, the large-scale perspective environment perception unmanned aerial vehicle perceives the surrounding environment to obtain environment perception information;

[0017] Step 5, combining the environment scene established in Step 3 and the environment perception information obtained in Step 4 to perform environment scene reconstruction and establish an environment model;

[0018] Step 6, establish an air-ground mother-child platform cooperative navigation system error model according to the Kalman filter equation, and evaluate and correct the environment model established in Step 5;

[0019] Step 7, the driverless vehicle forms a navigation map according to the evaluated and corrected environment model in Step 6 to complete the cooperative navigation of the air-ground mother-child platform cooperative navigation system.

[0020] The advantages and positive effects of the present invention are:

[0021] 1. Aiming at the problem that it is difficult for an air-ground mother-child unmanned cluster to obtain high-precision navigation information, the present invention proposes an air-ground mother-child platform cooperative navigation system, reasonably configures navigation sensors in the large-scale perspective environment perception unmanned aerial vehicle, the small-scale perspective environment perception unmanned aerial vehicle and the ground mother platform respectively, and performs task allocation, which can give full play to their respective perception advantages under interference, realize complementary advantages and function expansion, improve the task execution efficiency of multi-agent in cooperation, and provide a high-precision and highly reliable navigation system for the cooperative operation of the large-scale perspective environment perception unmanned aerial vehicle, the small-scale perspective environment perception unmanned aerial vehicle and the ground mother platform.

[0022] 2. The collaborative navigation system for the air-ground mother-child platform of the present invention, through one or more large-scale perspective environmental perception unmanned aerial vehicles and three or more unmanned vehicles, and a multi-platform collaboration method in which each unmanned vehicle is equipped with a small-scale perspective environmental perception unmanned aerial vehicle, fully utilizes the multi-scale information sensed by each platform at different positions, in different regions, and from different perspectives in the shortest possible time, constructs a navigation map that can reflect the overall environment, plans the flight paths of the unmanned platforms accordingly, and then reaches the destination and completes the operation tasks fastest and safest. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the collaborative navigation system for the air-ground mother-child platform of the present invention;

[0024] Figure 2 is a schematic diagram of the unmanned vehicle of the collaborative navigation system for the air-ground mother-child platform of the present invention;

[0025] Figure 3 is a schematic diagram of the large-scale perspective environmental perception unmanned aerial vehicle and the small-scale perspective environmental perception unmanned aerial vehicle of the collaborative navigation system for the air-ground mother-child platform of the present invention;

[0026] In the figure:

[0027] 1 - unmanned vehicle, 2 - lidar one, 3 - mounting bracket one, 4 - vision one, 5 - infrared, 6 - mounting bracket two, 7 - data link one, 8 - magnetometer one, 9 - inertial navigation one, 10 - anti-jamming satellite navigation receiver, 11 - millimeter-wave radar, 12 - inertial navigation two, 13 - magnetometer two, 14 - lidar two, 15 - non-anti-jamming satellite navigation receiver, 16 - data link two, 17 - vision two, 18 - large-scale perspective environmental perception unmanned aerial vehicle, 19 - small-scale perspective environmental perception unmanned aerial vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present invention will be further described in detail below through specific embodiments. The following embodiments are only descriptive and not restrictive, and the protection scope of the present invention cannot be limited thereby.

[0029] Such as Figures 1 to 3As shown in the figure, a cooperative navigation system for an air-ground mother-child platform includes an air-ground mother-child unmanned cluster. An air-ground mother-child unmanned cluster includes large-scale perspective environmental perception drones 18 and a ground mother platform. The ground mother platform is an unmanned vehicle 1. On the roof of the unmanned vehicle 1, there is a mounting rack 1-3. On the mounting rack 1-3, a lidar 1-2, a vision sensor 1-4, and an infrared sensor 5 are configured. At the upper end of the front of the unmanned vehicle 1, there is a mounting rack 2-6. On the mounting rack 2-6, a data link 1-7, a magnetometer 1-8, an inertial navigation system 1-9, and an anti-jamming satellite navigation receiver 10 are configured. At the front end of the front of the unmanned vehicle 1, a millimeter-wave radar 11 is configured. The large-scale perspective environmental perception drones 18 are one or more. The large-scale perspective environmental perception drones 18 are configured with a lidar 2-14, a vision sensor 2-17, a data link 2-16, a magnetometer 2-13, an inertial navigation system 2-12, and a non-anti-jamming satellite navigation receiver 15. The unmanned vehicles 1 are three or more. Each unmanned vehicle 1 is configured with a small-scale perspective environmental perception drone 19. The small-scale perspective environmental perception drones 19 are configured with a lidar 2-14, a vision sensor 2-17, a data link 2-19, a magnetometer 2-13, an inertial navigation system 2-12, and a non-anti-jamming satellite navigation receiver 15. Each unmanned vehicle 1 and the small-scale perspective environmental perception drones 19 sense the surrounding environment, and in combination with the large-scale perspective environmental perception drones 18 sensing the surrounding environment, a navigation map is formed.

[0030] In the cooperative navigation system of the air-ground mother-child platform, due to the changes in terrain and landforms over time and natural disasters, etc., it is required that the unmanned platform quickly and safely reach the destination from the starting point. It is necessary to sense the environment and detect threat targets in the environment in order to plan a safe and fast path and smoothly navigate the unmanned platform to the destination. For this reason, the cooperative navigation system of the air-ground mother-child platform needs to be configured with three or more unmanned vehicles 1. Each unmanned vehicle 1 is configured with a small-scale perspective environmental perception drone 19. The entire cooperative navigation system of the air-ground mother-child platform is configured with one or more large-scale perspective environmental perception drones 18 according to requirements.

[0031] The main tasks of the ground mother platform unmanned vehicle 1 are: serving as the navigation reference point, command and control, and information fusion processing center for the large-scale perspective environmental perception drones 18 and the small-scale perspective environmental perception drones 19. Among multiple unmanned vehicles 1, one is selected as the centralized control center, which has the highest operation control right. Each unmanned vehicle 1 is configured with a small-scale perspective environmental perception drone 19. The unmanned vehicle 1 and the small-scale perspective environmental perception drone 19 obtain environmental perception information. The large-scale perspective environmental perception drones 18 sense the surrounding environment to obtain environmental perception information. The centralized control center stitches together the environmental perception information to form a navigation map and completes the map stitching of the entire operation area.

[0032] Although the ground mother platform can be equipped with navigation sensors of relatively high precision, its field of view is limited. It needs to rely on drones flying at high and low altitudes in the air to complete the rough perception of the large-scale environment and the fine perception of the small-scale environment. The large-scale environment perception mainly provides a reference for the path selection of the ground mother platform, and the small-scale environment perception is mainly used for the precise path planning during the movement of the ground mother platform to avoid obstacles. Therefore, during the combat process, the ground mother platform first assigns tasks and plans paths for the drones according to the large-scale map requirements, small-scale map requirements, and target detection requirements. During the movement of the ground mother platform, if there are visual blind spots, it can command the large-scale perspective environment perception drone 18 and the small-scale perspective environment perception drone 19 to perceive a specific area, and complete the short-range path planning by integrating the perception images fed back by the large-scale perspective environment perception drone 18 and the small-scale perspective environment perception drone 19 in advance, and identify multiple possible paths ahead. The ground mother platform completes the final path planning according to the path conditions and the detected threat target conditions.

[0033] When the anti-jamming satellite navigation receiver 10 is not interfered and the unmanned vehicle 1, the large-scale perspective environment perception drone 18, and the small-scale perspective environment perception drone 19 can work normally, mainly the large-scale perspective environment perception drone 18 and the small-scale perspective environment perception drone 19 provide the environmental information during the movement for the ground mother platform.

[0034] When the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 are interfered, the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 obtain high-precision navigation information in two ways: one is to use the unmanned vehicle 1 as the navigation reference point, and obtain the relative distances between the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 and multiple unmanned vehicles 1 through the data link. The data link has a relative ranging function and can obtain the distance information between multiple unmanned vehicles 1 and the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19. By using the known position information of the unmanned vehicle 1 and the distance information between the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 and multiple unmanned vehicles 1, the positions of the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 can be obtained through the three-circle intersection principle, and through collaborative positioning, high-precision position information of the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19 can be obtained; the other is to estimate the collaborative navigation system error of the air-ground mother-child platform through the repeated perception of the objects in the environment by the unmanned vehicle 1, the large-scale perspective environmental perception UAV 18 and the small-scale perspective environmental perception UAV 19. The combination of the two can effectively make up for the deficiencies in the weak connection situation in the collaborative positioning based on the relative ranging of the data link or the inability to match due to the lack of obvious feature points in the collaborative positioning based on environmental perception, so as to provide stable high-precision position information for the UAVs in the air.

[0035] A collaborative navigation method based on an air-ground mother-child platform collaborative navigation system includes the following steps:

[0036] Step 1, the unmanned vehicle 1 perceives the surrounding environment and obtains environmental perception information;

[0037] Step 2, the small-scale perspective environmental perception UAV 19 perceives the surrounding environment and obtains environmental perception information;

[0038] Step 3, combining the environmental perception information obtained in Step 1 and Step 2 to establish an environmental scene;

[0039] Step 4, the large-scale perspective environmental perception UAV 18 perceives the surrounding environment and obtains environmental perception information;

[0040] Step 5, combining the environmental scene established in Step 3 and the environmental perception information obtained in Step 4 to perform environmental scene reconstruction and establish an environmental model;

[0041] Step 6, establish an air-ground mother-child platform collaborative navigation system error model according to the Kalman filter equation, and evaluate and correct the environmental model established in Step 5;

[0042] Step 7: The unmanned vehicle 1 forms a navigation map based on the evaluated and corrected environmental model in Step 6, completing the cooperative navigation of the air-ground mother-child platform cooperative navigation system.

[0043] Aiming at the problem that it is difficult for the air-ground mother-child unmanned cluster to obtain high-precision navigation information, the present invention proposes an air-ground mother-child platform cooperative navigation system, which reasonably configures navigation sensors in the large-scale perspective environmental perception unmanned aerial vehicle 18, the small-scale perspective environmental perception unmanned aerial vehicle 19 and the ground mother platform respectively, and performs task allocation, and can give full play to their respective perception advantages under interference, achieve complementary advantages and function expansion, improve the task execution efficiency of multi-agent in cooperation, and provide a high-precision and high-reliability navigation system for the cooperative operation of the large-scale perspective environmental perception unmanned aerial vehicle 18, the small-scale perspective environmental perception unmanned aerial vehicle 19 and the ground mother platform.

[0044] Through the multi-platform cooperation mode of one or more large-scale perspective environmental perception unmanned aerial vehicles 18 and three or more unmanned vehicles 1, with each unmanned vehicle 1 equipped with a small-scale perspective environmental perception unmanned aerial vehicle 19, in the shortest possible time, make full use of the multi-scale information sensed by each platform at different positions, in different regions and from different perspectives, construct a navigation map that can reflect the overall environment, and plan the flight path of the unmanned platform accordingly, and then reach the destination and complete the operation task fastest and safest.

[0045] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art can understand that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the content disclosed in the embodiments and drawings.

Claims

1. An air-ground mother-son platform cooperative navigation system, characterized in that: It includes an air-ground mother-daughter unmanned cluster. The air-ground mother-daughter unmanned cluster includes large-scale perspective environmental perception drones and a ground mother platform. The ground mother platform is an unmanned vehicle. There is one or more large-scale perspective environmental perception drones, and there are three or more unmanned vehicles. Each unmanned vehicle is equipped with small-scale perspective environmental perception drones. Each unmanned vehicle and the small-scale perspective environmental perception drones perceive the surrounding environment, and in combination with the large-scale perspective environmental perception drones' perception of the surrounding environment, a navigation map is formed.

2. The air-ground parent-child platform collaborative navigation system according to claim 1 is characterized by: An installation rack one is arranged on the roof of the unmanned vehicle, and a lidar one, a vision one, and an infrared are configured on the installation rack one.

3. The air-ground parent-child platform collaborative navigation system according to claim 1, characterized in that: An installation rack two is arranged at the upper end of the head of the unmanned vehicle, and a data link one, a magnetometer one, an inertial navigation one, and an anti-jamming satellite navigation receiver are configured on the installation rack two.

4. The air-ground parent-child platform collaborative navigation system according to claim 1, characterized in that: A millimeter-wave radar is configured at the front end of the head of the unmanned vehicle.

5. The air-ground parent-child platform collaborative navigation system according to claim 1 is characterized by: Both the large-scale perspective environmental perception drones and the small-scale perspective environmental perception drones are configured with a lidar two, a vision two, a data link two, a magnetometer two, an inertial navigation two, and a non-anti-jamming satellite navigation receiver.

6. A cooperative navigation method for a cooperative navigation system based on an air-ground mother-child platform, characterized in that: It includes the following steps: Step 1: The unmanned vehicle perceives the surrounding environment to obtain environmental perception information. Step 2: The small-scale perspective environmental perception drones perceive the surrounding environment to obtain environmental perception information. Step 3: Combine the environmental perception information obtained in Step 1 and Step 2 to establish an environmental scene. Step 4: The large-scale perspective environmental perception drones perceive the surrounding environment to obtain environmental perception information. Step 5: Combine the environmental scene established in Step 3 and the environmental perception information obtained in Step 4 to perform environmental scene reconstruction and establish an environmental model. Step 6: Establish an error model of the air-ground mother-daughter platform cooperative navigation system according to the Kalman filter equation, and evaluate and correct the environmental model established in Step 5. Step 7: The unmanned vehicle forms a navigation map according to the environmental model evaluated and corrected in Step 6, and completes the cooperative navigation of the air-ground mother-daughter platform cooperative navigation system.

Images