Accurate and credible positioning and multi-source communication integrated terminal for low-altitude unmanned aerial vehicle

Abstract

The invention discloses a low-altitude unmanned aerial vehicle accurate and credible positioning and multi-source communication integrated terminal, and belongs to the technical field of low-altitude unmanned aerial vehicle navigation and communication. The system comprises a master control MCU, and an anti-interference GNSS module, a GNSS / INS integrated navigation module, a Beidou short message communication module, a 4G / 5G public network communication module, a UWB module, a barometer and a magnetometer which are connected with the master control MCU. The main control MCU is configured to execute a multi-source fusion positioning algorithm, fuse data from the modules and realize ubiquitous positioning with centimeter-level precision; and according to the ground network state, adaptive switching is carried out between 4G / 5G communication and Beidou short message communication, so that ubiquitous communication is realized. Through high integration and cooperative processing, the core security problems of unreliable positioning and communication interruption of the low-altitude unmanned aerial vehicle in severe environments of complex interference, no network coverage and the like are solved, and the system has the advantages of miniaturization, low power consumption and high reliability.

Description

Technical Field

[0001] This invention relates to the field of low-altitude unmanned aerial vehicle (UAV) navigation and communication technology, and in particular to an integrated airborne precise and reliable positioning and multi-source communication terminal for enhancing the survivability of low-altitude UAVs in complex environments. Background Technology

[0002] With the booming development of the low-altitude economy, drones are increasingly being used in logistics, surveying, agriculture, security, and other fields. However, the safe flight of drones heavily relies on reliable positioning and communication. In practical applications, drones often face two major challenges: Unreliable positioning: In complex environments such as border mountainous areas and urban buildings, satellite navigation signals are easily blocked, deceived, and interfered with, leading to decreased positioning accuracy or even complete failure. Although inertial navigation can maintain its position for a short period, it suffers from the problem of error accumulation.

[0003] Communication interruption: In remote areas, mountainous regions, or emergency scenarios, terrestrial 4G / 5G mobile communication networks may not provide coverage, causing drones to lose contact with ground control stations and become unmonitored and unmanaged.

[0004] Currently, there are some independent positioning or communication modules on the market, but most of them have only one function. Simply stacking multiple modules will lead to problems such as excessive size, weight, power consumption, and high system integration complexity, making it difficult to apply to small drones with limited payload. In addition, existing solutions lack intelligent coordination and adaptive switching mechanisms for positioning and communication capabilities in complex scenarios, and cannot achieve ubiquitous positioning and communication that are always online.

[0005] Therefore, there is an urgent need for a highly integrated, miniaturized, and low-power terminal that can provide low-altitude UAVs with continuous and reliable navigation and positioning capabilities and uninterrupted communication support. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated terminal for airborne precise and reliable positioning and multi-source communication, so as to solve the security risks of low-altitude UAVs being susceptible to positioning interference and communication interruption in complex environments.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A low-altitude unmanned aerial vehicle (UAV) precision and reliable positioning and multi-source communication integrated terminal includes: Main control MCU; An anti-jamming GNSS module, comprising a miniaturized array antenna and an anti-jamming processing chip connected together, is used to receive and filter out satellite signals after interference. A GNSS / INS integrated navigation module, connected to the output of the anti-interference GNSS module, is used to receive satellite signals and perform inertial navigation calculations; UWB module, used to provide relative positioning and ranging information; Barometer chip, used to measure altitude information; Magnetometer chip, used to measure heading information; The BeiDou short message communication module is used to exchange data with the backend when there is no terrestrial network coverage. The 4G / 5G public network communication module is used for high-speed data interaction with the backend when there is terrestrial network coverage. The power management module is used to provide power to the terminal and supports wide voltage input and power protection; The main control MCU is electrically connected to the GNSS / INS integrated navigation module, UWB module, barometer chip, magnetometer chip, Beidou short message communication module, and 4G / 5G public network communication module, respectively. The main control MCU is configured as follows: The multi-source fusion positioning algorithm is executed to fuse data from the GNSS / INS integrated navigation module, UWB module, barometer chip and magnetometer chip to output high-precision position, attitude and heading information. Based on the network connection status of the 4G / 5G public network communication module, the system adaptively selects to interact with the backend via either the 4G / 5G public network communication module or the BeiDou short message communication module.

[0008] Furthermore, the main control MCU is connected to the GNSS / INS integrated navigation module, the Beidou short message communication module, and the barometer chip via a UART interface.

[0009] Furthermore, the main control MCU is connected to the magnetometer chip via an SPI interface.

[0010] Furthermore, the UWB module and the 4G / 5G public network communication module are connected to the main control MCU through their respective serial ports or USB interfaces.

[0011] Furthermore, the power management module supports a wide voltage DC input of 5V-18V and integrates overvoltage protection circuit, undervoltage protection circuit and overcurrent protection circuit, with a power conversion efficiency of not less than 85%.

[0012] A method for positioning and communication of low-altitude unmanned aerial vehicles (UAVs), implemented using the aforementioned integrated terminal for precise and reliable positioning and multi-source communication of low-altitude UAVs, includes the following processes: S1, Multi-source data acquisition and synchronization: The system receives satellite signals via an anti-interference GNSS module, filters out interference, and outputs usable satellite signals to the GNSS / INS integrated navigation module. The GNSS / INS integrated navigation module acquires the UAV's position, velocity, and inertial measurement data. The UWB module acquires the relative distance or angle information between the UAV and a known reference point. The barometer chip acquires the UAV's altitude information. The magnetometer chip acquires the UAV's heading information. The main control MCU adds a unified timestamp to the data from all the above sensors and performs time synchronization and interpolation processing. S2, Multi-source fusion positioning calculation: The main control MCU executes the multi-source fusion positioning algorithm to fuse synchronous data from the GNSS / INS integrated navigation module, UWB module, barometer chip and magnetometer chip; the fusion algorithm uses Kalman filtering or extended Kalman filtering to output continuous, high-precision three-dimensional position, attitude and heading information of the UAV; S3, Real-time Network Status Monitoring: The main control MCU continuously monitors the network connection status of the 4G / 5G public network communication module; S4: Adaptive Communication Link Switching: If the 4G / 5G public network communication module is in a normal connection state, it will be used first to interact with the backend with full data volume; if the 4G / 5G public network communication module is detected to be unable to connect or the signal is interrupted, it will automatically switch to the Beidou short message communication module; after switching, the key status information of the UAV will be transmitted through the Beidou short message communication module in low-speed data mode, including one or more of the following: UAV ID, real-time location, altitude, and remaining battery power; S5: Positioning and Status Information Output: Outputs the fused high-precision positioning information to the UAV flight control system via serial port; records the communication status and transmission data to local memory to support post-event analysis and traceability.

[0013] Compared with the prior art, the present invention has the following significant advantages: High positioning reliability: By combining anti-interference GNSS technology with multi-source fusion positioning algorithms, interference is effectively suppressed, and a backup positioning source is provided when GNSS signals are missing, realizing "ubiquitous positioning" and ensuring the continuity and reliability of positioning.

[0014] Strong communication robustness: Through adaptive switching between 4G / 5G and BeiDou short message service, "ubiquitous communication" is achieved, ensuring that drones can still maintain contact with the backend in areas without ground network, greatly improving flight safety.

[0015] High integration and easy deployment: It integrates multiple navigation and communication modules into a single terminal, which is small in size, light in weight (≤1kg), and low in power consumption (≤10W). It is easy to mount on various types of drones, solving the integration problem caused by multiple modules being scattered.

[0016] Functional collaboration: The modules inside the terminal do not work in isolation, but are deeply collaborative through the main control MCU. For example, UWB is used for both positioning and communication, and barometers and magnetometers assist in INS calculations, achieving system efficiency of "1+1>2". Attached Figure Description

[0017] Figure 1 This is a block diagram of the terminal system architecture of the present invention.

[0018] Figure 2 This is a schematic diagram of the terminal's external structure and antenna layout according to the present invention.

[0019] Figure 3 This is a flowchart illustrating the working principle of multi-source fusion positioning and adaptive communication in this invention. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] An airborne precision and reliable positioning and multi-source communication integrated terminal includes: a main control MCU, and an anti-interference GNSS module, a GNSS / INS integrated navigation module, a Beidou short message communication module, a 4G / 5G public network communication module, a UWB module, a barometer chip, and a magnetometer chip electrically connected to the main control MCU.

[0022] The main control MCU is configured to perform two core functions: Function A (Ubiquitous Positioning): Executes a multi-source fusion positioning algorithm to fuse data from the anti-interference GNSS module, GNSS / INS integrated navigation module, UWB module, barometer chip, and magnetometer chip, outputting continuous, reliable, and high-precision position, attitude, and heading information. Even when satellite signals fail, positioning accuracy and continuity can be maintained through INS, UWB, barometer, and magnetometer.

[0023] Function B (Ubiquitous Communication): Based on the network connection status of the 4G / 5G public network communication module, adaptively select to interact with the backend through the 4G / 5G public network communication module or the Beidou short message communication module to ensure that a minimum communication link can be maintained in any scenario.

[0024] like Figure 1 As shown, the airborne precise and reliable positioning and communication integrated terminal provided in this embodiment of the invention has a hardware core including a main control MCU (such as an STM32 series high-performance processor based on the ARM Cortex architecture) and multiple functional modules built around it.

[0025] Positioning Unit: Includes anti-interference GNSS module, GNSS / INS integrated navigation module (such as Hexin Xingtong UM981), UWB module (such as based on DW1000 or self-developed HNav-UWB chip), barometer chip (such as BMP388) and magnetometer chip (such as SENM3Dx).

[0026] Communication units include Beidou short message communication modules (such as Hailiao Technology XM1305E) and 4G / 5G public network communication modules (such as Longshang Technology U9507C).

[0027] Power management module: Provides power to the entire system, supports a wide voltage input of 5V-18V, and features high conversion efficiency and comprehensive protection circuitry.

[0028] The hardware connection relationships are as follows: The GNSS / INS integrated navigation module, BeiDou short message module, and barometer chip are connected to the main control MCU via a UART interface. The magnetometer chip is connected to the main control MCU via an SPI interface to meet its high-frequency data transmission requirements. The UWB module and 4G / 5G module are also connected to the main control MCU via their respective serial ports or USB interfaces. The output of the anti-interference GNSS module is connected to the GNSS / INS integrated navigation module as its satellite signal input.

[0029] The specific work process is as follows: Step 1: After the terminal is powered on, each sensor initializes and begins to work.

[0030] Step 2, Data Acquisition and Synchronization: Each sensor sends data to the main control MCU at a set frequency. The main control MCU stamps all data with a uniform timestamp and performs interpolation synchronization processing.

[0031] Step 3, Multi-source Fusion Positioning: The main control MCU runs fusion algorithms such as Kalman filtering to deeply fuse the absolute position of GNSS, inertial data from INS, relative distance / angle from UWB, altitude from barometer, and heading information from magnetometer to solve for the optimal three-dimensional position, velocity, and attitude of the UAV. This process effectively compensates for the shortcomings of a single sensor.

[0032] Step 4, Adaptive Communication: The main control MCU continuously monitors the network connection status of the 4G / 5G module. When the public network is available, it prioritizes using its high-speed link to interact with the cloud platform for full data volume. Once a public network interruption is detected, it immediately and automatically switches to the Beidou short message module to send key status information such as the drone's ID, latitude and longitude, altitude, and remaining battery power to the backend at a lower rate, and receives simplified flight commands to ensure that it never loses contact.

[0033] Step 5, Information Output: The final generated accurate PNT (Positioning, Navigation, and Timing) information is output to the UAV's flight control system via a serial port (TTL level) to guide the UAV to complete its flight mission.

[0034] like Figure 2 As shown, the terminal adopts a box-shaped structure, using PP material to reduce weight, and a rigid steel plate at the bottom to enhance rigidity. To achieve miniaturization, a four-element anti-interference antenna, a Beidou RDSS antenna, and a UWB antenna are precisely integrated into the top cover of the terminal. The 5G / 4G patch antenna is placed on the inner wall of the terminal to avoid metal shielding.

[0035] The terminal of this invention has a technology maturity level of 6, the overall weight can be controlled within 1kg, and the typical power consumption does not exceed 10W, which fully meets the carrying requirements of most industrial-grade drones.

Claims

1. A terminal integrating precise and reliable positioning and multi-source communication for low-altitude unmanned aerial vehicles (UAVs), characterized in that, include: Main control MCU; An anti-jamming GNSS module, comprising a miniaturized array antenna and an anti-jamming processing chip connected together, is used to receive and filter out satellite signals after interference. A GNSS / INS integrated navigation module, connected to the output of the anti-interference GNSS module, is used to receive satellite signals and perform inertial navigation calculations; UWB module, used to provide relative positioning and ranging information; Barometer chip used to measure altitude information; Magnetometer chip, used to measure heading information; The BeiDou short message communication module is used to exchange data with the backend when there is no terrestrial network coverage. The 4G / 5G public network communication module is used for high-speed data interaction with the backend when there is terrestrial network coverage. The power management module is used to provide power to the terminal and supports wide voltage input and power protection; The main control MCU is electrically connected to the GNSS / INS integrated navigation module, UWB module, barometer chip, magnetometer chip, Beidou short message communication module, and 4G / 5G public network communication module, respectively. The main control MCU is configured as follows: The multi-source fusion positioning algorithm is executed to fuse data from the GNSS / INS integrated navigation module, UWB module, barometer chip and magnetometer chip to output high-precision position, attitude and heading information. Based on the network connection status of the 4G / 5G public network communication module, the system adaptively selects to interact with the backend via either the 4G / 5G public network communication module or the BeiDou short message communication module.

2. The integrated terminal for precise and reliable positioning and multi-source communication of low-altitude unmanned aerial vehicles according to claim 1, characterized in that, The main control MCU is connected to the GNSS / INS integrated navigation module, the Beidou short message communication module, and the barometer chip via a UART interface.

3. The integrated terminal for precise and reliable positioning and multi-source communication of low-altitude unmanned aerial vehicles according to claim 1, characterized in that, The main control MCU is connected to the magnetometer chip via an SPI interface.

4. The integrated terminal for precise and reliable positioning and multi-source communication of low-altitude unmanned aerial vehicles according to claim 1, characterized in that, The UWB module and the 4G / 5G public network communication module are connected to the main control MCU through their respective serial ports or USB interfaces.

5. The integrated terminal for precise and reliable positioning and multi-source communication of low-altitude unmanned aerial vehicles according to claim 1, characterized in that, The power management module supports a wide voltage DC input of 5V-18V and integrates overvoltage protection circuit, undervoltage protection circuit and overcurrent protection circuit, with a power conversion efficiency of not less than 85%.

6. A method for positioning and communication of low-altitude unmanned aerial vehicles (UAVs), characterized in that, This is achieved using an integrated terminal for precise and reliable positioning and multi-source communication of low-altitude unmanned aerial vehicles (UAVs) as described in any one of claims 1 to 5. Includes the following processes: S1, Multi-source data acquisition and synchronization: The system receives satellite signals via an anti-interference GNSS module, filters out interference, and outputs usable satellite signals to the GNSS / INS integrated navigation module. The GNSS / INS integrated navigation module acquires the UAV's position, velocity, and inertial measurement data. The UWB module acquires the relative distance or angle information between the UAV and a known reference point. The barometer chip acquires the UAV's altitude information. The magnetometer chip acquires the UAV's heading information. The main control MCU adds a unified timestamp to the data from all the above sensors and performs time synchronization and interpolation processing. S2, Multi-source fusion positioning calculation: The main control MCU executes the multi-source fusion positioning algorithm to fuse synchronous data from the GNSS / INS integrated navigation module, UWB module, barometer chip and magnetometer chip; the fusion algorithm uses Kalman filtering or extended Kalman filtering to output continuous, high-precision three-dimensional position, attitude and heading information of the UAV; S3, Real-time Network Status Monitoring: The main control MCU continuously monitors the network connection status of the 4G / 5G public network communication module; S4: Adaptive communication link switching: If the 4G / 5G public network communication module is in a normal connection state, it will be used first to interact with the backend with full data volume; if the 4G / 5G public network communication module is detected to be unable to connect or the signal is interrupted, it will automatically switch to the Beidou short message communication module. After switching, the key status information of the UAV is transmitted in low-speed data mode through the Beidou short message communication module, including one or more of the following: UAV ID, real-time location, altitude, and remaining battery power. S5: Positioning and Status Information Output: Outputs the fused high-precision positioning information to the UAV flight control system via serial port; records the communication status and transmission data to local memory to support post-event analysis and traceability.

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