Unmanned aerial vehicle landing positioning method and device, unmanned aerial vehicle landing system, parking apron, electronic equipment and program product
By using the signal interaction between orthogonal antenna arrays and multiple ranging devices and solving simultaneous equations, the problem of UAV landing on moving or non-horizontal landing pads was solved, achieving stable and safe landing results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-04-14
Smart Images
Figure CN121857748A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of drone positioning technology, and in particular to a positioning method, device, drone landing system, landing pad, electronic equipment and software product for guiding drones to land. Background Technology
[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and autonomous program control devices. Due to their flexibility, maneuverability, and ease of operation, they have been widely used in various fields such as aerial photography and mapping, logistics transportation, and power line inspection. Currently, the vast majority of UAVs are still limited to static helipads. However, with the continuous expansion of application needs, the demand for UAVs to land on mobile helipads is becoming increasingly urgent, such as landing on vehicle-mounted helipads while the vehicle is in motion. The vehicle's motion may include complex situations such as driving on flat roads, uphill driving, or downhill driving. Therefore, there is an urgent need for a UAV landing control solution adapted to mobile, non-horizontal helipads. Summary of the Invention
[0003] This application provides a positioning method, apparatus, drone landing system, landing pad, electronic equipment, and program product for guiding drone landing, in order to alleviate or solve one or more technical problems existing in the prior art.
[0004] In a first aspect, embodiments of this application provide a positioning method for guiding the landing of a drone. The method is applied to a drone equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the drone's fuselage reference plane. The method includes: The orthogonal antenna array establishes signal interaction with multiple ranging devices mounted on the helipad; the multiple ranging devices are deployed coplanarly on the parking plane of the helipad according to a preset layout; Based on the signal interaction, the angle of arrival and ranging results of each ranging device are obtained; the ranging results represent the measured distance between the UAV and the ranging device. Based on the angle of arrival and ranging results of each ranging device, as well as the constraints of the preset layout, a first simultaneous equation is established to solve for the relative position of each ranging device relative to the UAV. Based on the relative positions of each of the ranging devices, the relative attitude of the stopping plane with respect to the fuselage reference plane is determined; The relative position guides the flight direction of the UAV, and the relative attitude guides the landing attitude of the UAV.
[0005] In some embodiments of this application, before establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the tarmac, the method further includes: Within the effective interaction range of the signal, the orthogonal antenna array establishes the signal interaction with the target ranging device on the apron, wherein the target ranging device is one of the plurality of ranging devices; Based on the signal interaction, the angle of arrival and the ranging result of the target ranging device are obtained; Based on the angle of arrival and the ranging result of the target ranging device, a second simultaneous equation is established to solve for the relative position of the target ranging device with respect to the UAV; The relative position guides the flight direction of the drone.
[0006] In some embodiments of this application, establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the tarmac includes: Based on the ranging results, it is determined that the distance between the UAV and the helipad is less than a first distance threshold. The orthogonal antenna array establishes signal interaction with the remaining ranging devices mounted on the tarmac, wherein the remaining ranging devices are ranging devices other than the target ranging device among the plurality of ranging devices.
[0007] In some embodiments of this application, the constraints of the preset layout include the spacing constraints between any two of the ranging devices.
[0008] In some embodiments of this application, the preset layout is a regular polygon, and guiding the landing attitude of the UAV according to the relative attitude includes: The landing attitude of the UAV is adjusted according to the relative attitude so that the z-axis of the UAV coordinate system coincides with the normal vector of the plane containing the regular polygon, and the fuselage reference plane is the x-axis-y-axis plane of the UAV coordinate system.
[0009] Secondly, embodiments of this application provide a positioning device for guiding the landing of a drone. The device is applied to a drone equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the drone's fuselage reference plane. The device includes: The unit establishes a signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the apron; the multiple ranging devices are deployed coplanarly on the parking plane of the apron according to a preset layout. The acquisition unit is used to acquire the angle of arrival and ranging results of each ranging device based on the signal interaction; the ranging results represent the measured distance between the UAV and the ranging device. The first solving unit is used to establish a first simultaneous equation to solve for the relative position of each ranging device relative to the UAV based on the angle of arrival and ranging result of each ranging device, as well as the constraints of the preset layout. The second solving unit is used to solve the relative attitude of the stopping plane relative to the fuselage reference plane based on the relative positions of each of the ranging devices; The guidance control unit is used to guide the flight direction of the UAV based on the relative position and to guide the landing attitude of the UAV based on the relative attitude.
[0010] Thirdly, embodiments of this application provide a drone landing system, the system comprising: The drone is equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the drone's fuselage reference plane. The drone also includes a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the method provided by any of the technical solutions in the embodiments of this application. The helipad is equipped with multiple ranging devices, which are deployed coplanarly on the helipad's parking plane according to a preset layout.
[0011] Fourthly, embodiments of this application provide a helipad, which includes multiple ranging devices, which are coplanarly deployed on the helipad's parking plane according to a preset layout.
[0012] Fifthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor implements any of the methods of embodiments of this application when executing the computer program.
[0013] Sixthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method of any one of the embodiments of this application.
[0014] In a seventh aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method of any one of the embodiments of this application.
[0015] Based on the aforementioned positioning method, device, drone landing system, landing pad, electronic equipment, and program product for guiding drone landing, this application has at least the following beneficial effects or advantages: This application embodiment establishes signal interaction between an orthogonal antenna array and multiple ranging devices mounted on the helipad. Based on this signal interaction, the arrival angle and ranging results of each ranging device are obtained. The ranging results represent the measured distance between the UAV and the ranging devices. Based on the arrival angle and ranging results of each ranging device, and the constraints of the preset layout, a first simultaneous equation is established to solve for the relative position of each ranging device relative to the UAV. Based on the relative position of each ranging device, the relative attitude of the helipad plane relative to the fuselage reference plane is solved. The relative position guides the flight direction of the UAV, and the relative attitude guides the landing attitude of the UAV, which can adapt to the landing control of UAVs on mobile non-horizontal helipads.
[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description
[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this application and should not be construed as limiting the scope of this application.
[0018] Figure 1 A flowchart illustrating a positioning method for guiding a drone to land, according to an embodiment of this application, is shown. Figure 2 A schematic diagram of the orthogonal wireless array described in a positioning method for guiding the landing of a drone, provided in an embodiment of this application, is shown. Figure 3 This illustration shows a schematic diagram of the preset layout in a positioning method for guiding a drone to land, as provided in an embodiment of this application. Figure 4 This paper shows a structural block diagram of a positioning device for guiding the landing of a drone according to an embodiment of the present application; Figure 5 This paper shows a structural block diagram of a drone landing system according to an embodiment of the present application; Figure 6 A block diagram of an electronic device provided in an embodiment of this application is shown. Detailed Implementation
[0019] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the concept or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.
[0020] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following related technologies are optional solutions and can be arbitrarily combined with the technical solutions of the embodiments of this application, all of which fall within the protection scope of the embodiments of this application. It should be noted that the application scenarios or application examples provided in this application are for ease of understanding, and the embodiments of this application do not specifically limit the application of the technical solutions.
[0021] The technical solution of this application and how it solves the aforementioned technical problems are described in detail below with specific embodiments. The listed specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0022] See Figure 1 The flowchart shown is a positioning method for guiding a drone to land. This method is applied to a drone equipped with an orthogonal antenna array, which is coplanar with the drone's fuselage reference plane. The method specifically includes steps 101 to 105.
[0023] Step 101: Establish signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the tarmac.
[0024] Step 102: Based on signal interaction, obtain the angle of arrival and ranging results of each ranging device. The ranging results represent the measured distance between the UAV and the ranging device.
[0025] Step 103: Based on the angle of arrival and ranging results of each ranging device, as well as the constraints of the preset layout, establish the first simultaneous equations to solve for the relative position of each ranging device relative to the UAV. Step 104: Based on the relative positions of each ranging device, solve the relative attitude of the stopping plane with respect to the fuselage reference plane; Step 105: Guide the drone's flight direction based on its relative position and guide its landing attitude based on its relative attitude.
[0026] An orthogonal antenna array comprises at least two subarrays, and the two subarrays are orthogonal. Each subarray comprises at least two antenna elements, and the two orthogonal subarrays share a common antenna element. (Reference) Figure 2This is a schematic diagram of an example orthogonal antenna array configured on a drone. The orthogonal antenna array includes two subarrays: a first subarray 21 and a second subarray 22. The first subarray 21 includes a first antenna element 201 and a second antenna element 211. The second subarray 22 includes a first antenna element 201 and a third antenna element 221. The first subarray 21 and the second subarray 22 contain a common antenna element: the first antenna element 201. The plane containing the orthogonal antenna array coincides with the fuselage reference plane, which is the x-axis-y-axis plane of the fuselage coordinate system. In the fuselage coordinate system, the first antenna element 201 is located at the origin with coordinates (0,0,0), the second antenna element 211 has coordinates (d,0,0), and the third antenna element 221 has coordinates (0,d,0). The distance between the first antenna element 201 and the second antenna element 211 is d, and the distance between the first antenna element 201 and the third antenna element 221 is d. The first subarray 21 is located on the x-axis of the fuselage coordinate system, and the second subarray 22 is located on the y-axis of the fuselage coordinate system.
[0027] The number of multiple ranging devices is at least three. These devices are coplanarly deployed on the parking plane of the helipad according to a preset layout. The preset layout can be arbitrary, and the relative positional relationship between any two ranging devices, such as the spacing between them, can be determined based on the preset layout. Optionally, the preset layout can be a regular polygon, such as an equilateral triangle, square, or regular pentagon. (Reference) Figure 3 This is a preset layout for multiple ranging devices, with three ranging devices forming an equilateral triangle, including: a first ranging device 301, a second ranging device 302, and a third ranging device 303. The distance between the first ranging device 301 and the second ranging device 302 is A. 1,2 The distance between the first ranging device 301 and the third ranging device 303 is A. 1,3 The distance between the second ranging device 302 and the third ranging device 303 is A. 2,3 .
[0028] Each antenna element in the orthogonal antenna array is used to transmit and receive signals, which can be ultra-wideband (UWB) signals. A ranging device is a distance measuring device that can transmit and receive signals, also in UWB format. Each antenna element can cooperate with each ranging device to measure the distance between them. Optionally, the antenna element and the ranging device can achieve distance measurement based on two-way ranging (TWR) technology. Signals transmitted by any ranging device on the tarmac will have a phase difference when they reach two antenna elements in the orthogonal antenna array; the angle of arrival (AOA) can be calculated from this phase difference. Each ranging device can transmit and receive signals relatively independently, cooperating with the antenna elements to perform ranging based on a common ranging protocol. Optionally, in some feasible implementations, each ranging device may consist only of a ranging antenna element, with a central controller controlling the transmission and reception of signals by each antenna element.
[0029] Suppose there are N (N≥3) ranging devices on the helipad. Each ranging device measures the distance between itself and an antenna element mounted on the UAV. The antenna element selected on the UAV can be an antenna element located at the origin, for example... Figure 2 The first antenna element 201 shown in the figure, the ranging result measured by each ranging device is represented as R. k k is any integer between 1 and N. For the k-th ranging device, the angle of arrival formed by it and the two antenna elements in the first subarray is denoted as α. k1 The angle of arrival formed by it and the two antenna elements in the second subarray is denoted as α. k2 The coordinates of each ranging device in the fuselage coordinate system are represented as (X... Pk Y Pk Z Pk If the coordinates of the aforementioned cooperative ranging device at the kth apron end in the fuselage coordinate system satisfy the following equation: Formula 1 Formula 2 in, d represents the distance between two antenna elements in each subarray. It is understood that in different implementations, the distance between two antenna elements in different subarrays can be different. For example, the distance between two antenna elements in the first subarray might be d1, and the distance between two antenna elements in the second subarray might be d2, where d1 ≠ d2. Based on Formulas 1 and 2, 2N equations can be established for N ranging devices.
[0030] Based on the second set of simultaneous equations mentioned above, the coordinates (X, X) of the k-th ranging device on the tarmac in the fuselage coordinate system can be solved. Pk Y Pk ZPk Specifically, transmitters with the same angle of arrival are distributed on one of the two-leaf hyperboloids with the two antenna elements as foci. Combining the ranging results, it can be determined that the other end device is located on a circle perpendicular to the axis of symmetry of this hyperboloid. Two circles will be obtained from the two antenna subarrays. If the two circles intersect at only one point, this intersection point is the location of the ranging device; if the two circles intersect at two points, the intersection point below the drone is determined based on the elevation relationship between the drone and the landing pad during landing.
[0031] After determining the coordinates of the ranging device at the helipad end, the UAV can be controlled to fly towards the helipad based on these coordinates. In some implementations, the parameters controlling the UAV's flight direction include pitch and yaw angles, which can be calculated based on the coordinates of the ranging device at the helipad end. If two circles do not intersect, the yaw angle is calculated using the midpoint of the shortest line connecting the two circles, while the pitch angle remains unchanged. It is understood that there are different ways to implement the control parameters for the UAV's flight direction, and these parameters can be calculated based on the coordinates of the ranging device at the helipad end relative to the UAV.
[0032] Since multiple ranging devices are installed at the apron end, in addition to each ranging device satisfying the equation above, the coordinate relationship between every two ranging devices at the apron end also satisfies the following equation: Formula 3 A i,j The distance between the i-th and j-th ranging devices is a known value based on the preset layout, where i,j=1,2,...N. The above equation represents the constraint conditions satisfied by the coordinates of the N ranging devices at the apron end based on the preset layout. According to Formula 3, N(N-1) / 2 equations can be established for the N devices.
[0033] Based on the above 2N equations and N(N-1) / 2 equations combined, the first system of equations can be formed, which includes 2N+N(N-1) / 2 equations. By finding the optimal solution to the first system of equations, the coordinates of each ranging device can be obtained.
[0034] It is understandable that the coordinates of each ranging device can be solved by establishing the equations. However, the positional relationship constraints between multiple ranging devices at the apron end are redundant constraint information. Solving the system of equations can yield more stable and accurate coordinates.
[0035] After obtaining the coordinates of each ranging device, the landing plane containing multiple ranging devices at the helipad end can be obtained, i.e., the pose of the landing plane in the UAV's fuselage coordinate system. For example, the normal vector of the landing plane can be solved to represent the attitude of the landing plane relative to the UAV. The landing plane is the plane containing the polygon formed by multiple ranging devices. Optionally, in some embodiments, the polygon can be a regular polygon to facilitate the rapid determination of the distance between any two or adjacent ranging devices. Let the normal vector of the landing plane be (r, s, t), which satisfies the following equation: Formula 4 There are N(N-1) / 2 equations in total. Solve these N(N-1) / 2 equations for finding the normal vector to find the optimal solution for the normal vector.
[0036] After obtaining the normal vector of the landing plane, the attitude tilt of the UAV is controlled according to the angle between the normal vector of the landing plane at the landing pad end and the z-axis of the UAV's body coordinate system. This ensures that the normal vector of the landing plane coincides with the z-axis of the UAV's body coordinate system, or in other words, that the reference plane of the UAV's body is parallel to the landing pad plane when it lands, thus making the landing more stable.
[0037] This application embodiment establishes signal interaction between an orthogonal antenna array and multiple ranging devices mounted on the helipad. Based on this signal interaction, the arrival angle and ranging results of each ranging device are obtained. The ranging results represent the measured distance between the UAV and the ranging devices. Based on the arrival angle and ranging results of each ranging device, and the constraints of the preset layout, a first simultaneous equation is established to solve for the relative position of each ranging device relative to the UAV. Based on the relative position of each ranging device, the relative attitude of the helipad plane relative to the fuselage reference plane is solved. The relative position guides the flight direction of the UAV, and the relative attitude guides the landing attitude of the UAV, which can adapt to the landing control of UAVs on mobile non-horizontal helipads.
[0038] In some embodiments of this application, before establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the helipad in step 101, the method further includes: establishing signal interaction between the orthogonal antenna array and a target ranging device on the helipad within the effective signal interaction range, wherein the target ranging device is one of multiple ranging devices; obtaining the angle of arrival and ranging result of the target ranging device based on the signal interaction; establishing a second simultaneous equation to solve for the relative position of the target ranging device relative to the UAV based on the angle of arrival and ranging result of the target ranging device; and guiding the flight direction of the UAV based on the relative position.
[0039] In other words, in this embodiment, when entering the effective interaction range of the signal, signal interaction with a ranging device at the helipad is initiated. Since the distance is relatively far at this time, there is no need to adjust the attitude of the UAV. The UAV only needs to fly towards the helipad. Interacting with only one ranging device can reduce the efficiency of data calculation and processing and reduce the occupation of system computing resources by useless data processing.
[0040] Before establishing signal interaction with all ranging devices, the UAV is initially guided by a target ranging device. In practice, the UAV first enters the effective signal interaction range, which is determined by the communication performance and power of the ranging device. This range is typically the short-range effective ranging range of UWB technology, ensuring the stability of signal interaction and measurement accuracy. The target ranging device is any one of multiple ranging devices deployed on the helipad. Priority should be given to ranging devices with stable signal strength and easily identifiable deployment locations, such as those located at the vertices of a regular polygon layout.
[0041] The UAV's orthogonal antenna array establishes signal interaction with the target ranging device. This interaction process is consistent with subsequent interactions with all ranging devices, all based on UWB technology. The orthogonal antenna array captures the UWB signal emitted by the target ranging device through two sets of subarrays. By utilizing the time difference or phase difference of the signal arriving at different antenna elements, the X-axis and Y-axis angles of arrival of the target ranging device are obtained. Simultaneously, the ranging result between the UAV and the target ranging device is calculated using TWR two-way ranging technology.
[0042] Based on the obtained angle of arrival and ranging results of the target ranging device, a second simultaneous equation is established. The construction logic of this simultaneous equation is similar to that of the first simultaneous equation, but it only applies to the single target ranging device and does not have the constraints of a preset layout. For example, the second simultaneous equation can be established according to formula 1 and formula 2, but does not include the constraint of formula 3, while the first simultaneous equation is established according to formula 1, formula 2 and formula 3.
[0043] Based on the relative position of the target ranging device obtained from the solution, the azimuth and distance of the UAV relative to the target ranging device are calculated, thereby guiding the UAV's flight direction. For example, if the relative position coordinates of the target ranging device show that it is located to the right and front of the UAV, the UAV is controlled to adjust its heading to the right and front, while the flight speed is controlled according to the ranging results to ensure that the UAV smoothly approaches the landing pad. This step can quickly determine the approximate location of the landing pad before the UAV enters the close-range precise measurement range, laying the foundation for subsequent interaction and precise guidance with all ranging devices, and improving the efficiency of the entire landing process.
[0044] This embodiment of the application adds a target ranging device guidance step before establishing interaction with all ranging devices. This allows the UAV to quickly lock onto the approximate location of the helipad at long distances, preventing the UAV from flying blindly within the effective interaction range and improving the targeting and efficiency of flight guidance. The selection of the target ranging device is flexible, requiring no specific markings or additional configurations, thus lowering the barrier to entry for the system. By establishing simultaneous equations based on the target ranging device's angle of arrival and ranging results to solve for the relative position, the location reference of the helipad can be quickly obtained, guiding the UAV to smoothly approach the helipad and shortening the overall landing time. This step creates a layered guidance logic in the landing process. At long distances, coarse positioning guidance is achieved through a single target device, reserving ample operational space for precise measurement and attitude adjustment at close range. This effectively improves the UAV's dynamic response capability to moving helipads, ensuring continuous tracking during helipad movement and providing stable initial support for subsequent precise landing.
[0045] In some embodiments of this application, establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the helipad includes: determining, based on the ranging results, that the distance between the UAV and the helipad is less than a first distance threshold; and establishing signal interaction between the orthogonal antenna array and the remaining ranging devices mounted on the helipad, wherein the remaining ranging devices are ranging devices other than the target ranging device among the multiple ranging devices.
[0046] In the implementation of this embodiment, the UAV maintains signal interaction with the target ranging device, continuously acquires ranging results, and monitors changes in these results in real time. The first distance threshold can be set in conjunction with the layout parameters of the ranging devices on the helipad. For example, it can be set to twice the maximum spacing between the ranging devices. This value ensures that the UAV has reached the near-range airspace above the helipad. At this point, activating the interaction of all ranging devices ensures measurement accuracy while avoiding signal interference and computational load caused by premature activation.
[0047] When the detected ranging result is less than the first distance threshold, it indicates that the UAV has approached the helipad and possesses the spatial conditions for precise measurement. At this point, the UAV's orthogonal antenna array initiates signal interaction with the remaining ranging devices. These remaining ranging devices are all other ranging devices on the helipad besides the target ranging device, with at least two in number. The signal interaction is established in the same way as with the target ranging device, using UWB technology. The orthogonal antenna array simultaneously establishes communication connections with all ranging devices to ensure the synchronization of signal interaction.
[0048] After establishing signal interaction, the orthogonal antenna array synchronously acquires the angle of arrival and ranging results of each remaining ranging device. The angle of arrival includes angle data in the X and Y axes, and the ranging results are obtained using TWR two-way ranging technology. Signal interaction between all ranging devices is synchronized to avoid measurement time differences caused by variations in the interaction sequence, ensuring consistency of measurement data across all ranging devices in the time dimension. This provides an accurate data foundation for subsequent simultaneous equation solving to determine relative position. This step enables a smooth transition from coarse to fine positioning, ensuring rapid acquisition of all necessary measurement data during the close-range phase, supporting accurate determination of the hovering plane attitude.
[0049] This embodiment of the application sets a first distance threshold as the trigger condition for phase switching, which can precisely control the timing of initiating interaction of all ranging devices. This ensures the accuracy of close-range measurements while avoiding resource waste and signal interference caused by premature initiation. Synchronous signal interaction between the remaining ranging devices and the orthogonal antenna array ensures the time consistency of all measurement data, reduces the impact of data deviations on the solution results, and improves the accuracy of relative position and attitude calculations. The smooth implementation of phase switching makes the guidance logic of the entire landing process more coherent, with a natural transition from long-range coarse positioning to close-range fine positioning, avoiding abrupt changes in the UAV's flight state and improving flight stability. This method allows for the rational allocation of system resources while ensuring measurement accuracy. In the long-range phase, only a single device interaction reduces the computational load, while initiating full device interaction in the close-range phase improves measurement accuracy, achieving a balance between efficiency and accuracy and providing a reliable guarantee for the precise landing of UAVs on mobile helipads.
[0050] In some embodiments of this application, the constraints of the preset layout include the spacing constraints between any two ranging devices.
[0051] The pre-defined layout constraint specifically refers to the distance constraint between any two ranging devices. This constraint is one of the core conditions for ensuring the accuracy of relative position calculation. During implementation, when multiple ranging devices on the helipad are deployed according to the pre-defined layout, the actual physical distance between any two ranging devices can be precisely calibrated and permanently stored before leaving the factory, forming known fixed distance data. This data serves as the core parameter of the pre-defined layout constraint and is pre-entered into the UAV's storage unit. Alternatively, in some other implementations, the pre-defined layout distance constraint can also be sent to the UAV for storage via a control device. For example, before the first flight, the UAV's remote controller sends the pre-defined layout distance constraint to the UAV's processor for storage. Subsequent use allows the UAV to retrieve the stored values for calculation.
[0052] The selection of the preset layout only needs to ensure that the distance between any two ranging devices is fixed and known. In some implementations, in order to facilitate the determination of the distance, a regular polygonal layout can be adopted. For example, when using an equilateral triangle layout, the distance between each pair of the three ranging devices is equal; when using a square layout, the distance between adjacent ranging devices is equal, and the distance between diagonal ranging devices is √2 times the distance between adjacent devices. These fixed distance data constitute the basis of the distance constraint.
[0053] When solving the first simultaneous equations, the spacing constraint equation effectively constrains the solution results of the angle and distance measurement equations, preventing the relative position coordinates from deviating from the actual layout due to signal interference or measurement errors. For example, when the angle and distance measurement data are slightly deviated due to environmental interference, the spacing constraint equation can correct this deviation, ensuring that the relative positions of each distance measuring device obtained from the solution conform to their actual layout relationship, thereby improving the accuracy of subsequent parking plane attitude solutions.
[0054] This application embodiment provides strong constraints on the distance between any two ranging devices by explicitly defining the constraints of the preset layout, effectively improving the accuracy and stability of the relative position solution. The fixed distance constraint can correct for signal interference or measurement errors that may occur during angle and distance measurement, preventing the obtained relative position from deviating from the actual layout of the ranging devices, and ensuring the accuracy and reliability of the subsequent landing plane attitude solution based on the relative position. This constraint can be implemented without adding additional sensors or measuring equipment, simplifying the system structure and reducing costs. The existence of the distance constraint forms a closed loop in the entire solution logic, with angle and distance measurement data corroborating the physical layout constraints, improving the anti-interference capability of the solution and ensuring measurement accuracy even in complex environments. This constraint is adaptable to various preset layout forms; it can be applied as long as the fixed distance between the ranging devices is known, expanding the applicability of the method and ensuring that the UAV can accurately perceive the landing pad attitude and land smoothly on moving or non-horizontal landing pads.
[0055] In some embodiments of this application, the preset layout is a regular polygon, and the landing attitude of the UAV is guided according to the relative attitude, including: adjusting the landing attitude of the UAV according to the relative attitude so that the z-axis of the UAV coordinate system coincides with the normal vector of the plane containing the regular polygon, and the fuselage reference plane is the x-axis-y-axis plane of the UAV coordinate system.
[0056] This application specifies that the preset layout is a regular polygon, and clarifies the specific method of attitude guidance and the definition of the fuselage reference plane. During implementation, at least three ranging devices on the apron are coplanarly deployed on the parking plane according to a regular polygon layout. The regular polygon can be an equilateral triangle, a square, etc. For example, when using an equilateral triangle layout, the three ranging devices are deployed at the three vertices of the equilateral triangle, with equal spacing between each pair of vertices; when using a square layout, the four ranging devices are deployed at the four vertices of the square, with equal spacing between adjacent vertices.
[0057] The fuselage reference plane is defined as the x-axis and y-axis plane of the UAV coordinate system. The positive z-axis of the UAV coordinate system is perpendicular to the x-axis and y-axis plane and points upwards. This coordinate system definition is consistent with the deployment plane of the orthogonal antenna array, ensuring the uniformity of the measurement reference. After obtaining the relative positions of each ranging device, the center position of the regular polygon is calculated based on these relative position coordinates. Then, the center normal vector of the plane containing the regular polygon is solved. This center normal vector is the normal vector of the landing plane, which is obtained by solving multiple plane equations simultaneously, and can accurately characterize the tilt state of the landing plane.
[0058] Based on the calculated relative attitude, the UAV's flight control system adjusts its landing attitude, specifically aiming to align the UAV's z-axis with the central normal vector of the regular polygon. During this adjustment, the flight control system controls the UAV's servos, motor speeds, and other components to adjust the pitch and roll angles, ensuring the fuselage's reference plane remains parallel to the landing plane. For example, if the landing plane is tilted due to a vehicle going uphill, the central normal vector will deflect accordingly. The flight control system adjusts the UAV's attitude based on this deflection angle to ensure the z-axis of the UAV's coordinate system coincides with the deflected normal vector, allowing the fuselage to adapt to the tilt angle of the landing plane.
[0059] This attitude adjustment method directly addresses the actual state of the landing surface, eliminating the need for any attitude adjustments on the landing pad. It enables a smooth landing solely through the drone's own attitude adaptation, ensuring that the drone can still accurately land in the preset area even when the landing surface is not horizontal or is moving.
[0060] This application embodiment defines the layout as a regular polygon, giving the ranging device a clear geometric pattern, facilitating the calculation of the center normal vector and attitude adjustment, thus improving operational convenience and accuracy. By clearly defining the fuselage reference plane as the x-axis and y-axis planes of the UAV coordinate system, the measurement and control benchmark is unified, avoiding attitude adjustment deviations caused by unclear benchmarks. Adjusting the landing attitude by aligning the Z-axis of the UAV coordinate system with the center normal vector of the regular polygon ensures precise parallelism between the fuselage reference plane and the landing plane, effectively adapting regardless of whether the landing plane is tilted or moving, avoiding the risk of tipping or slipping during UAV landing due to attitude mismatch. The regular polygon layout has strong adaptability, meeting the needs of landing pads of different sizes without requiring additional modifications to the landing pad, reducing application costs. This attitude guidance method is directly based on the actual state of the landing plane, providing rapid response and precise adjustment, improving the safety and reliability of UAV landing, and expanding the application range of UAVs in moving, non-horizontal scenarios.
[0061] See Figure 4 Corresponding to the application scenarios and methods provided in the embodiments of this application, the embodiments of this application also provide a positioning device for guiding the landing of a drone. This device is applied to a drone equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the drone's fuselage reference plane. The device includes: The unit establishes signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the apron; the multiple ranging devices are deployed coplanarly on the parking plane of the apron according to a preset layout; The acquisition unit is used to acquire the angle of arrival and ranging results of each ranging device based on signal interaction; the ranging results represent the measured distance between the UAV and the ranging device. The first solution unit is used to establish the first simultaneous equations to solve the relative position of each ranging device with respect to the UAV based on the angle of arrival and ranging results of each ranging device, as well as the constraints of the preset layout. The second solution unit is used to solve the relative attitude of the stopping plane with respect to the fuselage reference plane based on the relative positions of each ranging device. The guidance control unit is used to guide the flight direction of the UAV based on its relative position and to guide its landing attitude based on its relative attitude.
[0062] The functions of each module in the device of this application embodiment can be found in the corresponding description in the above method, and they have corresponding beneficial effects, which will not be repeated here.
[0063] refer to Figure 5 This application also provides a drone landing system, which includes: The drone is equipped with an orthogonal antenna array, which is coplanar with the drone's fuselage reference plane. The drone also includes a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the method provided in any embodiment of the present application. The helipad is equipped with multiple ranging devices, which are deployed coplanarly on the helipad's parking plane according to a pre-set layout.
[0064] The implementation of the system in this application embodiment can be found in the corresponding description in the above method, and it has corresponding beneficial effects, which will not be repeated here.
[0065] This application embodiment also provides a helipad, which includes multiple ranging devices, which are deployed coplanarly on the helipad's parking plane according to a preset layout.
[0066] The landing pad provided in this application embodiment is equipped with multiple ranging devices, and the number of ranging devices can be configured to be at least three. These ranging devices are key positioning reference components for achieving precise landing of UAVs, ensuring that the attitude of the landing plane can be solved through their relative positions. Three or more ranging devices can provide sufficient position reference points to meet the requirements of solving simultaneous equations.
[0067] The ranging device can be a UWB device that supports TWR two-way ranging technology. This type of device can emit nanosecond-level extremely narrow pulse signals with a signal bandwidth of over 500MHz. It has the characteristics of high-precision ranging over short distances, can provide accurate ranging results for UAVs, and has strong anti-interference capabilities, making it suitable for signal interaction in complex environments.
[0068] Multiple ranging devices are deployed coplanarly on the landing plane of the helipad according to a preset layout. The preset layout preferably uses a regular polygonal structure, such as an equilateral triangle or a square. Taking an equilateral triangle layout as an example, three ranging devices are fixedly installed at the three vertices of the landing plane. Coplanarity is ensured through mechanical positioning or laser calibration, and the spacing between each pair of devices is equal and precisely measured. If a square layout is used, four ranging devices are installed at the four vertices of the square, with fixed spacing between adjacent devices and a fixed diagonal spacing. In some implementations, the geometric center of each ranging device is located within the landing plane, ensuring that the plane containing the ranging devices completely coincides with the landing plane where the UAV lands, avoiding errors in UAV attitude calculation due to deployment plane deviations.
[0069] The helipad in this embodiment of the application, by deploying multiple coplanar ranging devices in a preset layout, can provide a stable and reliable positioning reference for UAVs. This eliminates the need for complex auxiliary equipment or attitude adjustments, resulting in a simple structure and low cost. The ranging devices utilize UWB technology, possessing high-precision ranging and strong anti-interference capabilities. They can maintain stable signal interaction with the UAV in complex environments, providing accurate ranging results. The pre-set coplanar deployment ensures that the plane where the ranging devices are located is consistent with the landing plane, providing an accurate position reference for the UAV to solve its landing plane attitude and avoiding guidance errors caused by deployment deviations. The fixed spacing between the ranging devices provides a key constraint for solving the simultaneous equations of the UAV, helping to improve the accuracy of relative position and attitude calculations. This helipad is adaptable to various UAV landing scenarios. Whether stationary, moving, or in a non-horizontal state, it can stably serve as a positioning reference, enabling precise landings for UAVs, expanding the application range of UAVs, and improving the safety and reliability of UAV landings.
[0070] Figure 6 This is a block diagram of an electronic device used to implement embodiments of this application. For example... Figure 6 As shown, the electronic device includes a memory 601 and a processor 602. The memory 601 stores a computer program that can run on the processor 602. When the processor 602 executes the computer program, it implements the method described in the above embodiments. The number of memories 601 and processors 602 can be one or more. In a specific implementation, the electronic device may also include a communication interface 603 for communicating with external devices and exchanging data.
[0071] In practical implementation, if the memory 601, processor 602, and communication interface 603 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0072] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.
[0073] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in this application.
[0074] This application provides a computer program product, including a computer program that, when executed by a processor, implements the method provided in this application.
[0075] This application also provides a chip including a processor for calling and executing instructions stored in a memory, causing a communication device with the chip installed to perform the method provided in this application.
[0076] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.
[0077] It should be understood that the aforementioned processor can be a CPU (Central Processing Unit), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.
[0078] Further, optionally, the aforementioned memory may include read-only memory and random access memory. The memory may be volatile memory or non-volatile memory, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Sync Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).
[0079] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.
[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.
[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0082] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.
[0083] The logic and / or steps described in the flowchart or otherwise herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).
[0084] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.
[0085] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.
[0086] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A positioning method for guiding a UAV to land, characterized in that, The method is applied to a drone equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the fuselage reference plane of the drone, and the method includes: The orthogonal antenna array establishes signal interaction with multiple ranging devices mounted on the helipad; the multiple ranging devices are deployed coplanarly on the parking plane of the helipad according to a preset layout; Based on the signal interaction, the angle of arrival and ranging results of each ranging device are obtained; the ranging results represent the measured distance between the UAV and the ranging device. Based on the angle of arrival and ranging results of each ranging device, as well as the constraints of the preset layout, a first simultaneous equation is established to solve for the relative position of each ranging device relative to the UAV. Based on the relative positions of each of the ranging devices, the relative attitude of the stopping plane with respect to the fuselage reference plane is determined; The relative position guides the flight direction of the UAV, and the relative attitude guides the landing attitude of the UAV.
2. The method according to claim 1, characterized in that, Before establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the tarmac, the method further includes: Within the effective interaction range of the signal, the orthogonal antenna array establishes the signal interaction with the target ranging device on the apron, wherein the target ranging device is one of the plurality of ranging devices; Based on the signal interaction, the angle of arrival and the ranging result of the target ranging device are obtained; Based on the angle of arrival and the ranging result of the target ranging device, a second simultaneous equation is established to solve for the relative position of the target ranging device with respect to the UAV; The relative position guides the flight direction of the drone.
3. The method according to claim 2, characterized in that, The step of establishing signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the tarmac includes: Based on the ranging results, it is determined that the distance between the UAV and the helipad is less than a first distance threshold. The orthogonal antenna array establishes signal interaction with the remaining ranging devices mounted on the tarmac, wherein the remaining ranging devices are ranging devices other than the target ranging device among the plurality of ranging devices.
4. The method according to claim 1, characterized in that, The constraints of the preset layout include the spacing constraints between any two of the ranging devices.
5. The method according to claim 1, characterized in that, The preset layout is a regular polygon, and guiding the drone's landing attitude according to the relative attitude includes: The landing attitude of the UAV is adjusted according to the relative attitude so that the z-axis of the UAV coordinate system coincides with the normal vector of the plane containing the regular polygon, and the fuselage reference plane is the x-axis-y-axis plane of the UAV coordinate system.
6. A positioning device for guiding the landing of a drone, characterized in that, The device is applied to a drone equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the fuselage reference plane of the drone, and the device includes: The unit establishes a signal interaction between the orthogonal antenna array and multiple ranging devices mounted on the apron; the multiple ranging devices are deployed coplanarly on the parking plane of the apron according to a preset layout. The acquisition unit is used to acquire the angle of arrival and ranging results of each ranging device based on the signal interaction; the ranging results represent the measured distance between the UAV and the ranging device. The first solving unit is used to establish a first simultaneous equation to solve for the relative position of each ranging device relative to the UAV based on the angle of arrival and ranging result of each ranging device, as well as the constraints of the preset layout. The second solving unit is used to solve the relative attitude of the stopping plane with respect to the fuselage reference plane based on the relative positions of each of the ranging devices. The guidance control unit is used to guide the flight direction of the UAV based on the relative position and to guide the landing attitude of the UAV based on the relative attitude.
7. A drone landing system, characterized in that, The system includes: A drone is equipped with an orthogonal antenna array, the orthogonal antenna array being coplanar with the fuselage reference plane of the drone. The drone also includes a memory, a processor, and a computer program stored in the memory. When the processor executes the computer program, it implements the method of any one of claims 1-5. The helipad is equipped with multiple ranging devices, which are deployed coplanarly on the helipad's parking plane according to a preset layout.
8. A helipad, characterized in that, The helipad includes multiple ranging devices, which are deployed coplanarly on the helipad's parking plane according to a preset layout.
9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1-5.
10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-5.