Positioning and orientation integrated antenna system and unmanned aerial vehicle

Abstract

The embodiment of the utility model provides a positioning and orientation integrated antenna system and an unmanned aerial vehicle. The positioning and orientation integrated antenna system comprises an RTK antenna base plate, an RTK positioning module, a tubular antenna body and a magnetic compass module, the magnetic compass module is arranged on one side of the RTK antenna bottom plate, and the magnetic compass module is in communication connection with the RTK antenna bottom plate; the tubular antenna body is sleeved on the RTK antenna bottom plate around the magnetic compass module, and the tubular antenna body is in communication connection with the RTK positioning module through the RTK antenna bottom plate. The magnetic compass module is arranged on the RTK antenna bottom plate, so that integration of the magnetic compass module and the RTK antenna is realized, and the occupied space of the unmanned aerial vehicle is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a positioning and orientation integrated antenna system and an unmanned aerial vehicle. Background Art

[0002] On current small drones, RTK antennas (Real Time Kinematic, real-time dynamic carrier phase differential antenna) and magnetic compasses are usually used to achieve the positioning and orientation functions of the drone. The RTK antenna and magnetic compass are respectively set in different areas of the drone. The RTK antenna is usually placed at a higher position on the drone body. The magnetic compass is extremely sensitive to the magnetic field environment. For example, the motor, magnetic materials and other equipment on the drone and the ground environment will interfere with the magnetic compass. Therefore, the installation location of the magnetic compass has high requirements and is usually installed away from the motor, away from objects that generate large currents, and away from magnetic objects. Utility Model Content

[0003] The purpose of the embodiment of the utility model is to provide a positioning and orientation integrated antenna system and a drone to reduce the space occupied by the drone. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the utility model provides a positioning and directional integrated antenna system, the system comprising:

[0005] RTK antenna base plate, RTK positioning module, tubular antenna body and magnetic compass module;

[0006] The magnetic compass module is arranged on one side of the RTK antenna base plate, and the magnetic compass module is communicatively connected with the RTK antenna base plate;

[0007] The tubular antenna body is sleeved on the RTK antenna base plate around the magnetic compass module, and the tubular antenna body is communicatively connected with the RTK positioning module through the RTK antenna base plate.

[0008] In a possible implementation, the system further includes:

[0009] Connector; the magnetic compass module is connected to the RTK antenna base plate through a connector having mechanical strength; the connector includes a communication wire;

[0010] The magnetic compass module, the connecting piece and the tubular antenna body are arranged on the same side of the RTK antenna bottom plate, and the tubular antenna body is sleeved on the outside of the connecting piece.

[0011] In a possible implementation, the magnetic compass module and the RTK positioning module are arranged on the same side or different sides of the RTK antenna base plate.

[0012] In a possible implementation, the system further includes:

[0013] RTK radio frequency module;

[0014] The RTK radio frequency module and the RTK positioning module are arranged on the same side of the RTK antenna base plate;

[0015] The RTK radio frequency module is communicatively connected to the tubular antenna body.

[0016] In a possible implementation, the system further includes:

[0017] Shielding cover; the shielding cover, the RTK radio frequency module, and the RTK positioning module are arranged on the same side of the RTK antenna bottom plate;

[0018] The shielding cover and the RTK positioning module have a first interval, and the RTK radio frequency module is located in the shielding cover.

[0019] In a possible implementation manner, the height of the tubular antenna body is not higher than the height of the connecting member.

[0020] In a possible implementation manner, the tubular antenna body is a 4-arm helical antenna body.

[0021] In a second aspect, an embodiment of the utility model provides a drone, comprising a positioning and directional integrated antenna system as described in any one of the first aspects above.

[0022] In a possible implementation, the drone further includes a processor;

[0023] The processor and the RTK radio frequency module are connected in communication via a first communication serial port.

[0024] In a possible implementation, the drone further includes a flight controller;

[0025] The flight controller and the RTK radio frequency module are connected in communication via a second communication serial port, and the flight controller and the magnetic compass module are connected in communication via a two-wire serial communication interface.

[0026] The embodiment of the utility model provides a positioning and orientation integrated antenna system and a drone, wherein the positioning and orientation integrated antenna system comprises: an RTK antenna base plate, an RTK positioning module, a tubular antenna body and a magnetic compass module; the magnetic compass module is arranged on one side of the RTK antenna base plate, and the magnetic compass module is communicatively connected with the RTK antenna base plate; the tubular antenna body is sleeved on the RTK antenna base plate around the magnetic compass module, and the tubular antenna body is communicatively connected with the RTK positioning module through the RTK antenna base plate. By arranging the magnetic compass module on the RTK antenna base plate, the integration of the magnetic compass module and the RTK antenna is realized, and the occupied space of the drone is reduced.

[0027] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0029] Figure 1 A schematic diagram of the first structure of the positioning and directional integrated antenna system provided by an embodiment of the utility model;

[0030] Figure 2 A schematic diagram of wireless communication between a UAV and a satellite in the related technology;

[0031] Figure 3 Based on Figure 1 A first schematic top view of the structure shown;

[0032] Figure 4 Based on Figure 1 A second schematic top view of the structure shown;

[0033] Figure 5 A second structural schematic diagram of the positioning and directional integrated antenna system provided by an embodiment of the utility model;

[0034] Figure 6 A third structural schematic diagram of the positioning and directional integrated antenna system provided by an embodiment of the utility model;

[0035] Figure 7 Based on Figure 6 A schematic top view of the structure shown;

[0036] Figure 8 A schematic diagram of the first structure of a drone provided by an embodiment of the utility model;

[0037] Fig. 9 A second structural schematic diagram of a drone provided by an embodiment of the utility model;

[0038] Fig.10 A schematic diagram of wireless communication between a base station, a mobile station and a satellite in the related art;

[0039] Fig.11 A third structural schematic diagram of the drone provided by the embodiment of the utility model;

[0040] Fig.12 A fourth structural schematic diagram of the UAV provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0042] First, the professional terms that may be used in the embodiments of the present invention are explained:

[0043] UAV: The full name is unmanned aircraft, which is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently autonomously by an on-board computer.

[0044] Feeder: It is a cable used to connect RF devices. It is widely used in radio, mobile phone communication, TV station return, satellite communication, radar and other applications. Feeder consists of two or more conductors and must be made of low-loss materials to reduce signal attenuation. Feeder must also be able to withstand various temperature and environmental conditions without interfering with the signal to ensure good communication quality.

[0045] RTK antenna (Real Time Kinematic) is a high-precision GNSS (Global Navigation Satellite System) antenna, mainly used to achieve centimeter-level positioning accuracy. The working principle of RTK antenna is based on real-time dynamic positioning technology of carrier phase observation value. By establishing data transmission between fixed base station and receiving end, positioning deviation is corrected in real time to achieve centimeter-level positioning accuracy.

[0046] Carrier phase measurement: It is a technology that uses the carrier as a ranging signal for satellite positioning.

[0047] Phase observation value: The observation value of carrier phase measurement is the difference between the phase generated by the receiver's local oscillation and the phase of the received satellite carrier. Specifically, it is the difference between the phase of the reference signal generated by the receiver at a specified epoch and the phase of the satellite carrier signal received at this time. This value is an indirect observation value obtained by differential processing according to the three elements of the measuring station, satellite, and observation epoch.

[0048] Magnetic compass: It is a sensor on a multi-rotor drone that is responsible for providing the drone with a direction. The physical quantity measured by the magnetic compass is the component of the earth's magnetic field strength along the axis of the aircraft, and the heading angle of the aircraft is calculated based on this. It can provide data on the magnetic field that the drone is subjected to in each axis of XYZ, and then use this information to calculate the geographic direction.

[0049] Flight control (flight controller): It is the core component of the drone, equivalent to the "brain" of the drone. The main function of the flight control is to automatically maintain the normal flight attitude of the drone, stabilize and control the flight of the drone, and perform various tasks. The flight control is usually composed of three major parts: sensors, onboard computers, and servo actuators, including gyroscopes, accelerometers, geomagnetic sensors, air pressure sensors, ultrasonic sensors, etc. These components work together to sense the attitude and position information of the drone through flight control algorithms and software programs, and calculate and adjust the attitude and position of the drone to achieve stable flight, autonomous or semi-autonomous flight control, mission equipment management, and emergency control. The flight control is also responsible for integrating various sensor information, making independent decisions, and converting these decisions into actual flight actions.

[0050] 4-arm helical antenna: It consists of 4 spiral arms, each of which is an integer multiple of a quarter wavelength. The current amplitudes at the feeding ends of the 4 spiral arms are equal, and the phases differ by 90°. It has a cardioid radiation pattern, a good front-to-back ratio, and excellent wide-beam circular polarization characteristics, making it very suitable for use as a receiving antenna for satellite positioning systems. The 4-arm helical antenna is usually placed at a higher position on the drone body to prevent surrounding metal objects from blocking the 4-arm helical antenna.

[0051] 4G module: a module that integrates 4G (4th Generation Mobile Communication Technology) communication technology. It can be embedded in various smart devices, enabling these devices to perform high-speed and stable data transmission through the 4G network.

[0052] 5G module: a module that integrates 5G (5th Generation Mobile Communication Technology) communication technology. It can be embedded in various smart devices, enabling these devices to perform high-speed and stable data transmission through the 5G network.

[0053] Serial port: Serial port, also known as serial communication interface or serial communication interface, is an expansion interface using serial communication. The serial port uses a protocol called serial communication protocol to manage data transmission. Its characteristics are simple communication lines. Only one pair of transmission lines can realize two-way communication, which greatly reduces the cost. It is especially suitable for long-distance communication, but the transmission speed is slow.

[0054] I2C (Inter-Integrated Circuit): I2C bus is a two-wire serial bus, which is a bus standard widely used in the field of microelectronic communication control. It is a special form of synchronous communication, with the advantages of fewer interface lines, simple control method, small device packaging, and higher communication rate. I2C bus has only two bidirectional signal lines, one is the data line SDA (Serial Data) and the other is the clock line SCL (Serial Clock Line). Due to its fewer pins, simple hardware implementation, and strong scalability, it is widely used in major integrated chips.

[0055] On current small drones, RTK antennas (Real Time Kinematic, real-time dynamic carrier phase differential antenna) and magnetic compasses are usually used to achieve the positioning and orientation functions of drones. RTK antennas are usually composed of RTK antenna baseplate, RTK antenna baseplate interface, RTK radio frequency module, shielding cover and 4-arm spiral antenna body, and are placed at a higher position on the drone body. The magnetic compass is extremely sensitive to the magnetic field environment. For example, the motor, magnetic materials and other built-in equipment on the drone and the ground environment will interfere with the magnetic compass. Therefore, the installation position of the magnetic compass has high requirements and is usually installed away from the motor, away from objects that generate large currents, and away from magnetic objects. As drones are becoming more and more miniaturized, setting the RTK antenna and magnetic compass in different areas of the drone is not conducive to the miniaturization of drones.

[0056] On the other hand, the RTK positioning module is usually placed on the main control, flight control or other communication boards of the drone, and connected to the RTK antenna through a feeder. The RTK RF module receives radio signals from satellites through the 4-arm helical antenna body. These signals carry the satellite's positioning information. The RTK RF module will amplify, filter, demodulate and process the received signals, and cooperate with the RTK positioning module to extract effective positioning information. Then, using this positioning information, the drone's position coordinates are calculated through mathematical algorithms such as triangulation. Since the RTK positioning module and the RTK antenna need to be separated by feeders, the RF transmission loss is relatively high.

[0057] In order to solve at least one of the above problems, an embodiment of the utility model provides a positioning and orientation integrated antenna system and a drone, which are described in detail below.

[0058] See also Figure 1 , Figure 1 The first structural diagram of the positioning and directional integrated antenna system provided by the embodiment of the utility model, the positioning and directional integrated antenna system 1 comprises:

[0059] RTK antenna base plate 11, RTK positioning module 12, tubular antenna body 15 and magnetic compass module 17;

[0060] The magnetic compass module 17 is disposed on one side of the RTK antenna base plate 11, and the magnetic compass module 17 is communicatively connected with the RTK antenna base plate 11;

[0061] The tubular antenna body 15 is sleeved on the RTK antenna base plate 11 around the magnetic compass module 17 , and the tubular antenna body 15 is communicatively connected with the RTK positioning module 12 via the RTK antenna base plate 11 .

[0062] The magnetic compass module 17 is used to realize the orientation function of the UAV. The physical quantity measured by the magnetic compass module 17 is the component of the earth's magnetic field strength along the body axis, and the heading angle of the body is calculated based on this. It can provide data on the magnetic field that the UAV is subjected to in each axis of XYZ, and then use this information to calculate the geographic orientation.

[0063] The RTK positioning module 12 may be disposed on a side of the RTK antenna base plate 11 that is different from the side of the tubular antenna body 15 .

[0064] The RTK positioning module 12 can be welded on the RTK antenna base plate 11 by means of patch welding. Compared with the related art in which the RTK positioning module 12 and the RTK antenna are separated by a feeder, the embodiment of the utility model sets the RTK positioning module 12 on the RTK antenna base plate 11, which does not require the introduction of a feeder and reduces the radio frequency transmission loss.

[0065] In the embodiment of the utility model, by setting the magnetic compass module 17 on the RTK antenna base plate 11, a high degree of integration of the magnetic compass module 17 and the RTK antenna is achieved, which reduces the space occupied by the drone, helps to reduce the size of the drone, and makes the drone more portable.

[0066] In a possible implementation, see Figure 1 , the system 1 further comprises:

[0067] Connector 16; the magnetic compass module 17 is connected to the RTK antenna base plate 11 through a connector 16 having mechanical strength; the connector 16 includes a communication wire;

[0068] The magnetic compass module 17 , the connecting member 16 and the tubular antenna body 15 are arranged on the same side of the RTK antenna base plate 11 , and the tubular antenna body 15 is sleeved on the outside of the connecting member 16 .

[0069] The function of the connector 16 is, on the one hand, to connect to the signal line of the RTK antenna base plate 11 and the signal line of the magnetic compass module 17 respectively, that is, to realize the communication connection between the RTK antenna base plate 11 and the magnetic compass module 17 through the connector 16, and on the other hand, the connector 16 can play a supporting role in the fixation of the magnetic compass module 17.

[0070] The connector 16 may be a PCB (Printed Circuit Board), on which no components may be arranged, and only communication wires may be arranged for supplying power to the magnetic compass module 17 and transmitting signals.

[0071] In the embodiment of the utility model, the connector 16 can not only realize the communication connection between the RTK antenna base plate 11 and the magnetic compass module 17 , but also play a supporting role in fixing the magnetic compass module 17 .

[0072] In a possible implementation manner, the magnetic compass module 17 and the RTK positioning module 12 are arranged on the same side or different sides of the RTK antenna base plate 11 .

[0073] See also Figure 1 The magnetic compass module 17 and the RTK positioning module 12 can be arranged on different sides of the RTK antenna base plate 11 .

[0074] See also Figure 5, the magnetic compass module 17 and the RTK positioning module 12 can also be arranged on the same side of the RTK antenna base plate 11, and the magnetic compass module 17 can be welded on the RTK antenna base plate 11 by patch welding, that is, the RTK antenna base plate 11 can carry the magnetic compass module 17 and its related components, and realize the connection between the components through its own internal wiring. By directly arranging the magnetic compass module 17 on the RTK antenna base plate 11, the design of the connector can be omitted, the structure of the positioning and orientation integrated antenna system 1 is simplified, and the structural volume of the positioning and orientation integrated antenna system 1 is reduced.

[0075] In a possible implementation, see Figure 1 or Figure 5 , the system 1 further comprises:

[0076] RTK radio frequency module 13;

[0077] The RTK radio frequency module 13 and the RTK positioning module 12 are arranged on the same side of the RTK antenna base plate 11;

[0078] The RTK radio frequency module 13 is communicatively connected to the tubular antenna body 15 .

[0079] In a possible implementation, see Figure 1 or Figure 5 , the system 1 further comprises:

[0080] Shielding cover 14; the shielding cover 14, the RTK radio frequency module 13, and the RTK positioning module 12 are arranged on the same side of the RTK antenna base plate 11;

[0081] The shielding cover 14 and the RTK positioning module 12 have a first interval, and the RTK radio frequency module 13 is located in the shielding cover 14 .

[0082] The RTK radio frequency module 13 can be welded on the RTK antenna base plate 11 by means of patch welding.

[0083] The RTK antenna base plate 11 is used to carry the RTK positioning module 12, the RTK radio frequency module 13, the tubular antenna body 15 and related components, and realizes the connection between each module and each component through its own internal wiring.

[0084] The RTK radio frequency module 13 is used to receive radio signals from satellites through the tubular antenna body 15. These signals carry the positioning information of the satellites. The RTK radio frequency module 13 may include a low-noise amplifier, a frequency converter, a demodulator, an internal processor, etc. The RTK radio frequency module 13 will amplify, filter, demodulate, etc. the received signals, cooperate with the RTK positioning module 12 to extract effective positioning information, and then use these positioning information to calculate the position coordinates of the drone.

[0085] The shielding cover 14 is a radio frequency shielding cover, which is a shell made of metal, mainly composed of a metal shell and a ground pin, and can effectively isolate and shield the transmitted radio frequency signal to prevent the signal of the radio frequency device from interfering with the surrounding area.

[0086] The tubular antenna body 15 collects the radio signals sent by the satellite during the receiving phase and sends them to the RTK radio frequency module 13. The wireless communication diagram between the drone and the satellite is shown in FIG. Figure 2 As shown, the RTK radio frequency module 13 can process the signals of multiple satellites. Each satellite transmits its own positioning information. Through cross-verification of the signals of multiple satellites, more accurate position coordinates can be obtained. It can be understood that Figure 2 Four satellites are used as an illustration.

[0087] By arranging the magnetic compass module 17 in the integrated positioning and orientation antenna system 1, the RTK positioning module 12, the RTK radio frequency module 13, the tubular antenna body 15, and the magnetic compass module 17 are highly integrated, and the overall structure is more compact. At the same time, the distance between the motor, the magnetic object and the magnetic compass module 17 is also increased, so that the magnetic compass module 17 can work better, thereby improving the positioning stability and orientation stability of the UAV.

[0088] In a possible implementation, see Figure 1 or Figure 5 , the positioning and orientation integrated antenna system 1 further comprises:

[0089] RTK antenna bottom plate interface 20;

[0090] The RTK antenna baseboard interface 20 , the RTK positioning module 12 , the RTK radio frequency module 13 , and the shielding cover 14 are arranged on the same side of the RTK antenna baseboard 11 .

[0091] The RTK antenna baseboard interface 20 is connected to other communication boards through wiring to realize power supply and signal transmission for the RTK radio frequency module 13, the magnetic compass module 17, etc.

[0092] The RTK antenna base plate interface 20 can be welded on the RTK antenna base plate 11 by plug-in welding.

[0093] In the embodiment of the utility model, the RTK antenna bottom board interface 20 is connected to other communication boards, so that the RTK radio frequency module 13, the magnetic compass module 17, etc. can be powered and signals can be transmitted.

[0094] Understandably, Figure 1 The structure in which the magnetic compass module 17 and the RTK positioning module 12 are arranged on different sides of the RTK antenna base plate 11 is illustrated. Figure 1 A side view schematic diagram is shown. Figure 3 Based on Figure 1 A first top view of the structure shown (from the perspective of the RTK positioning module 12), Figure 4 Based on Figure 1 A second schematic top view of the structure shown (from the perspective of the magnetic compass module 17 ).

[0095] In a possible implementation, the RTK antenna baseboard interface 20 includes: a first communication serial port, a second communication serial port, and a two-wire serial communication I2C interface.

[0096] The processor of the drone can transmit signals to the RTK radio frequency module 13 through the first communication serial port, the flight controller of the drone can transmit signals to the RTK radio frequency module 13 through the second communication serial port, and the flight controller of the drone can transmit signals to the magnetic compass module 17 through the two-wire serial communication I2C interface.

[0097] In a possible implementation manner, the height of the tubular antenna body 15 is not higher than the height of the connecting member 16 .

[0098] In the embodiment of the utility model, the height of the tubular antenna body 15 is designed to be no higher than the height of the connecting member 16 , so as to reduce the interference of the tubular antenna body 15 on the magnetic compass module 17 .

[0099] In a possible implementation manner, the tubular antenna body 15 is a 4-arm helical antenna body.

[0100] The feeding positions of the four antenna arms of the four-arm helical antenna body are welded to the four welding pads of the RTK antenna base plate 11.

[0101] The 4-arm helical antenna is based on the polarization characteristics of electromagnetic waves and can receive or transmit signals in any direction. The antenna has excellent electromagnetic properties, including good directivity, bandwidth performance, and noise resistance.

[0102] A shell can be installed on the outside of the integrated positioning and orientation antenna system 1 and placed on the top of the drone. The RTK positioning module 12, the RTK radio frequency module 13, the magnetic compass module 17, the tubular antenna body 15, etc. work together to achieve high-precision positioning and orientation of the drone.

[0103] In one possible implementation, based on Figure 1 The structure of the positioning and directional integrated antenna system 1 shown in FIG. Figure 6 , the positioning and orientation integrated antenna system 1 may further include a magnetic compass module base plate 18;

[0104] The magnetic compass module 17 can be welded on the magnetic compass module base plate 18 by means of surface mount welding.

[0105] The magnetic compass module base plate 18 can carry the magnetic compass module 17 and its related components, and realize the connection between the components through its own internal wiring and the like.

[0106] The magnetic compass module base plate 18 can be connected to the RTK antenna base plate 11 through a connector 16. A first through hole is provided on the RTK antenna base plate 11, and a second through hole is provided on the magnetic compass module base plate 18. One end of the connector 16 is inserted into the first through hole and welded to the RTK antenna base plate 11, and the other end of the connector 16 is inserted into the second through hole and welded to the magnetic compass module base plate 18.

[0107] The connector 16 is used to connect to the signal line of the RTK antenna base plate 11 and the signal line of the magnetic compass module base plate 18 , and to support the fixation of the magnetic compass module base plate 18 .

[0108] Figure 6 A side view schematic diagram is shown. Figure 7 Based on Figure 6 A schematic top view of the structure shown (from the perspective of the magnetic compass module 17).

[0109] The utility model embodiment also provides a drone 3, see Figure 8 The drone 3 includes the positioning and orientation integrated antenna system 1 described in any one of the above-mentioned utility model embodiments.

[0110] In one possible implementation, see Fig. 9 , the drone 3 also includes a processor 32;

[0111] The processor 32 and the RTK radio frequency module 13 are connected to each other via the first communication serial port.

[0112] In order to facilitate readers to understand the embodiments of the present utility model, the following is a brief introduction to RTK technology and its application on drones:

[0113] In addition to satellites, RTK (Real Time Kinematic) technology also includes two important components, namely, base stations (also called fixed base stations, differential base stations) and mobile stations, such as Fig.10 As shown in the figure, both stations can observe and receive satellite signals. As the name implies, the base station is a base station that provides a reference, while the rover is a station that can move continuously. The rover is actually the object that measures its own three-dimensional coordinates, that is, the RTK terminal. When RTK technology is applied to drones, the drone is the rover.

[0114] The implementation process of RTK technology is as follows: the base station first observes and receives satellite signals, and sends the phase observation value and station coordinate information to the mobile station in real time through radio transmission equipment; the mobile station receives the information sent by the base station and the satellite signal at the same time, and performs real-time differential operations based on the principle of relative positioning to solve the three-dimensional coordinates of the mobile station with centimeter-level accuracy. RTK technology can be divided into correction method and differential method. The correction method is that the base station calculates the correction value and sends it to the mobile station, corrects the phase observation value of the mobile station to achieve positioning; the differential method is that the base station directly sends the phase observation value and station coordinate information to the mobile station, and the mobile station performs differential processing to achieve centimeter-level precision positioning.

[0115] In layman's terms, the correction method is to establish a base station with known coordinates in a fixed place. The known coordinates (real coordinates) are then compared with the position coordinates of the satellite real-time positioning (real-time coordinates) to obtain the error value between the real coordinates and the real-time coordinates. The base station transmits the error value to the mobile station through radio transmission equipment to achieve centimeter-level precision positioning.

[0116] It should be noted that the embodiment of the utility model adopts a correction method. The processor 32 obtains differential data (error value / correction amount) through a mobile communication module (radio transmission equipment) and forwards it to the RTK radio frequency module 13 through the first communication serial port. The mobile communication module 33 can be a 4G module or a 5G module, etc., and the utility model does not make specific limitations on this. Specifically, the base station can transmit the differential data to the server through 4G / 5G and other methods, and the processor 32 of the drone 3 then obtains the differential data through the server. This method is called network differential, and the drone 3 can obtain differential data through the network.

[0117] In one possible implementation, see Fig.11 , the drone 3 also includes a flight controller 34;

[0118] The flight controller 34 and the RTK radio frequency module 13 are connected to each other through a second communication serial port, and the flight controller 34 and the magnetic compass module 17 are connected to each other through a two-wire serial communication I2C interface.

[0119] The RTK radio frequency module 13 obtains high-precision position information by settling the acquired differential data; before taking off, the flight controller 34 of the UAV 3 obtains the high-precision position information of the RTK radio frequency module 13 through the second communication serial port, obtains the heading information of the magnetic compass module 17 through the two-wire serial communication I2C interface, and uses the flight control algorithm to obtain high-precision heading and position information, thereby completing high-precision positioning and orientation of the UAV 3.

[0120] For an example, see Fig.12 The magnetic compass module 17 may include a first magnetic compass sub-module 171 and a second magnetic compass sub-module 172. The flight controller 34 and the first magnetic compass sub-module 171 are communicated via a two-wire serial communication I2C interface. The flight controller 34 and the second magnetic compass sub-module 172 are communicated via a two-wire serial communication I2C interface.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A positioning and directional integrated antenna system, characterized in that: The system comprises: RTK antenna base plate, RTK positioning module, tubular antenna body and magnetic compass module; The magnetic compass module is arranged on one side of the RTK antenna base plate, and the magnetic compass module is communicatively connected with the RTK antenna base plate; The tubular antenna body is sleeved on the RTK antenna base plate around the magnetic compass module, and the tubular antenna body is communicatively connected with the RTK positioning module through the RTK antenna base plate.

2. The system according to claim 1, characterized in that The system further comprises: Connector; the magnetic compass module is connected to the RTK antenna base plate through a connector having mechanical strength; the connector includes a communication wire; The magnetic compass module, the connecting piece and the tubular antenna body are arranged on the same side of the RTK antenna bottom plate, and the tubular antenna body is sleeved on the outside of the connecting piece.

3. The system according to claim 1, characterized in that The magnetic compass module and the RTK positioning module are arranged on the same side or different sides of the RTK antenna base plate.

4. The system according to claim 2 or 3, characterized in that: The system further comprises: RTK radio frequency module; The RTK radio frequency module and the RTK positioning module are arranged on the same side of the RTK antenna base plate; The RTK radio frequency module is communicatively connected to the tubular antenna body.

5. The system according to claim 4, characterized in that The system further comprises: Shielding cover; the shielding cover, the RTK radio frequency module, and the RTK positioning module are arranged on the same side of the RTK antenna bottom plate; The shielding cover and the RTK positioning module have a first interval, and the RTK radio frequency module is located in the shielding cover.

6. The system according to claim 2, characterized in that The height of the tubular antenna body is not higher than the height of the connecting piece.

7. The system according to claim 1, characterized in that The tubular antenna body is a 4-arm helical antenna body.

8. A drone, characterized in that: The drone comprises a positioning and orientation integrated antenna system as described in any one of claims 1-7 above.

9. The drone according to claim 8, characterized in that: The drone also includes a processor; The processor and the RTK radio frequency module are connected in communication via a first communication serial port.

10. The drone according to claim 9, characterized in that: The drone also includes a flight controller; The flight controller and the RTK radio frequency module are connected in communication via a second communication serial port, and the flight controller and the magnetic compass module are connected in communication via a two-wire serial communication interface.

Images