Unmanned aerial vehicle positioning device and system based on hangar

Abstract

The utility model provides an unmanned aerial vehicle positioning device and system based on a hangar, and relates to the technical field of unmanned aerial vehicle navigation and positioning, the unmanned aerial vehicle positioning device comprises a hangar fixed station and an unmanned aerial vehicle, a hangar end processor and a hangar end receiving antenna are deployed in the hangar fixed station, and the hangar end processor and the hangar end receiving antenna are in communication connection through a feeder line; the unmanned aerial vehicle is provided with an unmanned aerial vehicle end processor and an unmanned aerial vehicle end receiving antenna which are in communication connection through a feeder line; wherein the hangar end receiving antenna receives satellite data, and the hangar end processor generates differential data corresponding to the satellite data and transmits the differential data to the unmanned aerial vehicle end processor; and the unmanned aerial vehicle end receiving antenna receives the satellite data, and the unmanned aerial vehicle end processor realizes fixed solution positioning based on the satellite data and the differential data so as to determine the current position information of the unmanned aerial vehicle. According to the utility model, the precision of unmanned aerial vehicle positioning data can be significantly improved, so that the unmanned aerial vehicle can rapidly and safely arrive at a destination position, and the cost required by unmanned aerial vehicle positioning is significantly reduced.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) navigation and positioning technology, and in particular to a UAV positioning device and system based on a hangar. Background Technology

[0002] Currently, during the takeoff and landing phases of drones, ground-based differential satellite reference stations are primarily used to provide accurate satellite correction data for the drone's navigation system. This enables the airborne satellite system to perform carrier phase differential (RTK, Real-Time Kinematic) positioning or pseudorange differential positioning, providing precise position information for the flight control and management system. However, in many cases, there are no positioning base stations deployed near the drone's location during field operations, or the positioning data provided by the base stations is of low quality. This prevents the drone from quickly acquiring positioning data, hindering its ability to reach the target location and seriously impacting flight safety. Furthermore, renting commercial positioning base stations significantly increases the operating costs of drones. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide a hangar-based drone positioning device and system, which can significantly improve the accuracy of drone positioning data, so as to ensure that the drone can quickly and safely reach the destination location, while significantly reducing the cost required for drone positioning.

[0004] In a first aspect, this utility model provides a hangar-based unmanned aerial vehicle (UAV) positioning device, comprising: a hangar fixed station and a UAV; the hangar fixed station is equipped with a hangar-end processor and a hangar-end receiving antenna connected via feeder communication; the UAV is equipped with a UAV-end processor and a UAV-end receiving antenna connected via feeder communication.

[0005] The hangar-side receiving antenna receives satellite data, the hangar-side processor generates differential data corresponding to the satellite data, and transmits the differential data to the UAV-side processor;

[0006] The drone's receiving antenna receives satellite data, and the drone's processor uses the satellite data and differential data to perform fixed-solution positioning to determine the drone's current location information.

[0007] In one embodiment, the hangar-side processor includes a hangar-side onboard computer and a hangar-side communication module, which are communicatively connected. The hangar-side onboard computer houses a hangar-side processing chip, and the hangar-side processing chip is communicatively connected to the hangar-side receiving antenna via a feeder line.

[0008] The onboard computer in the hangar configures the hangar processing chip. The configured hangar processing chip generates differential data corresponding to the satellite data, and the hangar communication module transmits the differential data to the UAV processor.

[0009] In one embodiment, the UAV-side processor includes a UAV-side onboard computer and a UAV-side communication module, which are communicatively connected. The UAV-side onboard computer houses a UAV-side processing chip, and the UAV-side processor chip is communicatively connected to the UAV-side receiving antenna via a feeder line.

[0010] The UAV-side communication module receives differential data sent by the hangar-side processor;

[0011] The onboard computer on the drone configures the drone processing chip. The configured drone processing chip uses satellite data and differential data to achieve fixed-positioning to determine the drone's current location information.

[0012] In one implementation, both the hangar-side onboard computer in the hangar-side processor and the drone-side onboard computer in the drone-side processor are equipped with communication terminals. The communication terminal deployed on the hangar-side onboard computer acts as a publisher, and the communication terminal deployed on the drone-side onboard computer acts as a subscriber.

[0013] In one embodiment, both the hangar-side communication module in the hangar-side processor and the drone-side communication module in the drone-side processor include an image transmission module.

[0014] The image transmission module on the hangar side and the onboard computer on the hangar side processor are connected via network cable, as are the image transmission module on the drone side and the onboard computer on the drone side processor.

[0015] In one embodiment, the drone positioning device also includes a message middleware server built on the drone.

[0016] In one embodiment, both the hangar-side communication module in the hangar-side processor and the drone-side communication module in the drone-side processor include a network module.

[0017] The network module on the hangar side and the onboard computer in the hangar side processor, as well as the network module on the drone side and the onboard computer in the drone side processor, are all connected via a universal serial bus (USB) network cable.

[0018] In one implementation, the drone positioning device also includes an IoT messaging middleware server built in the cloud.

[0019] In one implementation, there are two receiving antennas for both the hangar and the drone.

[0020] Secondly, this utility model also provides a hangar-based drone positioning system, including any of the hangar-based drone positioning devices provided in the first aspect.

[0021] This utility model provides a hangar-based drone positioning device and system, comprising: a hangar fixed station and a drone. The hangar fixed station is equipped with a hangar-end processor and a hangar-end receiving antenna connected via a feeder communication connection. The drone is equipped with a drone-end processor and a drone-end receiving antenna connected via a feeder communication connection. The hangar-end receiving antenna receives satellite data, the hangar-end processor generates differential data corresponding to the satellite data, and transmits the differential data to the drone-end processor. The drone-end receiving antenna receives satellite data, and the drone-end processor performs fixed depositioning based on the satellite data and the differential data to determine the drone's current location information. This device utilizes the hangar-end receiving antenna and hangar-end processor deployed within the hangar to receive satellite data and generate corresponding differential data. By sending the differential data to the drone, the drone-end processor performs fixed depositioning based on the differential data and the satellite data received by the drone-end receiving antenna, determining a more accurate current location information. This ensures the drone can quickly and safely reach its destination location while significantly reducing the cost of drone positioning.

[0022] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description, claims, and drawings.

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of a hangar-based drone positioning device provided for an embodiment of this utility model;

[0026] Figure 2 A specific schematic diagram of the hangar end of a drone positioning device provided in an embodiment of this utility model;

[0027] Figure 3 This is a schematic diagram of the drone terminal in a drone positioning device provided in an embodiment of the present invention;

[0028] Figure 4 The overall disclosure provided for the embodiments of this utility model.

[0029] Icons: 1-Hanger fixed station; 2-UAV; 3-Hanger-end processor; 31-Hanger-end onboard computer; 32-Hanger-end image transmission module; 33-Hanger-end network module; 34-Hanger-end positioning and orientation chip module; 4-Hanger-end receiving antenna; 41-Hanger-end first GNSS receiving antenna; 42-Hanger-end second GNSS receiving antenna; 5-UAV-end processor; 51-UAV-end onboard computer; 52-UAV-end image transmission module; 53-UAV-end network module; 54-UAV-end positioning and orientation chip module; 6-UAV-end receiving antenna; 61-First GNSS receiving antenna; 62-UAV-end second GNSS receiving antenna. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0031] Currently, in many cases, there are no positioning base stations deployed near the location where drones are operating in the field, or the positioning data provided by the base stations is of low quality, which makes it impossible for drones to quickly obtain positioning data. This not only prevents them from quickly reaching the target location, but also seriously affects the flight safety of the drones. In addition, renting commercial positioning base stations greatly increases the operating cost of drones. Based on this, this utility model provides a hangar-based drone positioning device and system, which can significantly improve the accuracy of drone positioning data to ensure that drones can quickly and safely reach the target location, while significantly reducing the cost required for drone positioning.

[0032] To facilitate understanding of this embodiment, a detailed description of a hangar-based drone positioning device disclosed in this utility model embodiment will be provided first. (See [link to relevant documentation]). Figure 1 The diagram shows a structural schematic of a hangar-based drone positioning device. The device includes a hangar fixed station 1 and a drone 2. The hangar fixed station 1 is equipped with a hangar-end processor 3 and a hangar-end receiving antenna 4 connected via feeder communication. The drone 2 is equipped with a drone-end processor 5 and a drone-end receiving antenna 6 connected via feeder communication.

[0033] In one example, the hangar-side receiving antenna 4 receives satellite data, the hangar-side processor 3 generates differential data corresponding to the satellite data, and transmits the differential data to the UAV-side processor 5. The hangar-side processor 3 can use a differential data algorithm to process the satellite data to obtain the corresponding differential data.

[0034] The UAV receiving antenna 6 receives satellite data, and the UAV processor 5 performs fixed positioning based on the satellite data and differential data, such as using carrier phase differential positioning algorithm or pseudorange differential positioning algorithm to determine the current position information of the UAV.

[0035] The hangar-based drone positioning device provided in this embodiment utilizes a hangar-side receiving antenna and a hangar-side processor deployed within the hangar to receive satellite data and generate corresponding differential data. By sending the differential data to the drone, the drone-side processor performs fixed deposition based on the differential data and the satellite data received by the drone-side receiving antenna, thereby determining a more accurate current location information. This ensures that the drone can quickly and safely reach its destination location, while significantly reducing the cost required for drone positioning.

[0036] In one embodiment, the hangar-side processor 3 includes a hangar-side onboard computer 31 and a hangar-side communication module, which are communicatively connected. The hangar-side onboard computer 31 houses a hangar-side processing chip, which is communicatively connected to the hangar-side receiving antenna 4 via a feeder. The hangar-side onboard computer 31 configures the hangar-side processing chip, which then generates differential data corresponding to the satellite data. The hangar-side communication module transmits this differential data to the UAV-side processor.

[0037] Preferably, the number of hangar-side receiving antennas 4 is two, which are high-precision RTK antennas, specifically the first GNSS receiving antenna 41 and the second GNSS receiving antenna 42 at the hangar end.

[0038] Preferably, the hangar-side communication module includes a hangar-side image transmission module 32 or a hangar-side network module 33. The hangar-side image transmission module 32 is connected to the hangar-side onboard computer 31 via a network cable; or, the hangar-side network module 33 is connected to the hangar-side onboard computer 31 via a network cable or a universal serial bus.

[0039] Preferably, the hangar-side processing chip is a hangar-side positioning and orientation chip module 34.

[0040] See Figure 2 The diagram shows a specific schematic of the hangar end of a drone positioning device. Figure 2The diagram illustrates that the hangar fixed station 1 is equipped with a hangar-side onboard computer 31, a hangar-side positioning and orientation chip module 34, a hangar-side image transmission module 32, a hangar-side network module 33, a hangar-side first GNSS receiving antenna 41, and a hangar-side second GNSS receiving antenna 42. Their connections are as follows: the hangar-side positioning and orientation chip module 34 is connected to the hangar-side first GNSS receiving antenna 41 and the hangar-side second GNSS receiving antenna 42 via a feeder cable; the hangar-side positioning and orientation chip module 34 is connected to the hangar-side onboard computer 31 via USB; the hangar-side onboard computer 31 is connected to the hangar-side image transmission module 32 via a network cable; and the hangar-side onboard computer 31 is connected to the hangar-side network module 33 via USB.

[0041] In one embodiment, the UAV-side processor 5 includes a UAV-side onboard computer 51 and a UAV-side communication module, which are communicatively connected. The UAV-side onboard computer 51 houses a UAV-side processing chip, and the UAV-side processor chip is communicatively connected to the UAV-side receiving antenna 6 via a feeder. The UAV-side communication module receives differential data; the UAV-side onboard computer 51 configures the UAV-side processing chip, and the configured UAV-side processing chip performs fixed-positioning based on satellite data and differential data to determine the UAV's current location information.

[0042] Preferably, the number of UAV receiving antennas 6 is two, which are high-precision RTK antennas, specifically the first UAV GNSS receiving antenna 61 and the second UAV GNSS receiving antenna 62.

[0043] Preferably, the UAV-side communication module includes a UAV-side image transmission module 52 or a UAV-side network module 53. The UAV-side image transmission module 52 is connected to the UAV-side onboard computer 51 via a network cable; or, the UAV-side network module 53 is connected to the UAV-side onboard computer 51 via a network cable or a Universal Serial Bus (USB) communication cable.

[0044] Preferably, the UAV-side processing chip is specifically a UAV-side positioning and orientation chip module 54.

[0045] See Figure 3 The diagram shows a specific schematic of the drone terminal in a drone positioning device. Figure 3The diagram illustrates that the UAV is equipped with an onboard computer 51, a positioning and orientation chip module 54, an image transmission module 52, a network module 53, a first GNSS receiving antenna 61, and a second GNSS receiving antenna 62. Their connections are as follows: the positioning and orientation chip module 54 is connected to the first and second GNSS receiving antennas 61 and 62 via a feeder cable; the positioning and orientation chip module 54 is connected to the onboard computer 51 via USB; the onboard computer 51 is connected to the image transmission module 52 via a network cable; and the onboard computer 51 is connected to the network module 53 via USB. Additionally, the positioning and orientation chip module 54 is connected to the flight control module (not shown) via USB.

[0046] exist Figure 2 , Figure 3 Based on this, the embodiments of this utility model provide, as follows Figure 4 The diagram shows the overall structure of a hangar-based UAV positioning device. The hangar fixed station 1 houses a hangar-side onboard computer 31, a hangar-side positioning and orientation chip module 34, a hangar-side image transmission module 32, a hangar-side network module 33, a hangar-side first GNSS receiving antenna 41, and a hangar-side second GNSS receiving antenna 42. The UAV is equipped with a UAV-side onboard computer 51, a UAV-side positioning and orientation chip module 54, a UAV-side image transmission module 52, a UAV-side network module 53, a UAV-side first GNSS receiving antenna 61, and a UAV-side second GNSS receiving antenna 62. For specific connection relationships, please refer to the aforementioned embodiments; this embodiment will not repeat them here.

[0047] Based on this, the principle of the UAV positioning device is explained in this embodiment of the utility model:

[0048] A hangar-side positioning and orientation chip module 34 is installed in the hangar-side onboard computer 31, and two high-precision RTK antennas are installed in the hangar-side positioning and orientation chip module 34. The RTK antennas receive satellite data (hangar-side first GNSS receiving antenna 41 and hangar-side second GNSS receiving antenna 42) and send the satellite data to the control terminal or controller of the hangar-side positioning and orientation chip module 34. The hangar-side onboard computer 31 completes the relevant configuration of the hangar-side positioning and orientation chip module 34 through a communication line, in two steps: First, the initial precise position (centimeter level) is marked, and this point is used as the base station reference point to establish a high-precision ground reference point; Second, the communication configuration of the positioning system, such as RTCM related configuration, is performed. Differential data is sent to the UAV-side onboard computer 51 using the RTCM standard protocol. The UAV-side onboard computer 51 transmits the differential data to the UAV-side positioning and orientation chip module 54 in the UAV 2. The UAV-side positioning and orientation chip module 54 transmits the differential data to the flight control module. The flight control module determines the designated position to be flown by the UAV based on the differential data.

[0049] Two RTK antennas are installed on the UAV-side positioning and orientation chip module 54. The RTK antennas receive satellite data (UAV-side first GNSS receiving antenna 61 and UAV-side second GNSS receiving antenna 62) and send the raw data to the control terminal or controller of the UAV-side positioning and orientation chip module 54. The UAV-side onboard computer 51 configures the UAV-side positioning and orientation chip module 54 accordingly: after receiving differential data, it verifies and sorts the data using a redundancy check mechanism before sending it to the UAV-side positioning and orientation chip module 54, achieving centimeter-level fixed positioning. (When the hangar-side positioning and orientation chip module 34 acquires positioning data, the hangar-side onboard computer 31 sorts the small packets with sequence codes and sends them to the UAV-side positioning and orientation chip module 54.)

[0050] Finally, the UAV-side positioning and orientation chip module 54 determines its current position using satellite data transmitted by the first GNSS receiving antenna 61 and the second GNSS receiving antenna 62 of the UAV. Then, based on the differential data transmitted by the hangar-side positioning and orientation chip module 34, the UAV-side positioning and orientation chip module 54 determines the precise position of the UAV. The UAV-side positioning and orientation chip module 54 then sends the calculated precise position to the flight control module, achieving accurate positioning of the UAV and providing basic support for performing various tasks.

[0051] Furthermore, the hangar-side onboard computer 31 and the drone 2 communicate via image transmission modules (hangar-side image transmission module 32 and drone-side image transmission module 52) or network modules (hangar-side network module 33 and drone-side network module 53), such as using the MQTT (Message Queuing Telemetry Transport) protocol to achieve efficient network transmission of differential data. Based on this, both the hangar-side onboard computer 31 and the drone-side onboard computer 51 are equipped with communication terminals. The communication terminal deployed on the hangar-side onboard computer 31 acts as the publisher, and the communication terminal deployed on the drone-side onboard computer 51 acts as the subscriber. The communication terminal can employ an MQTT client.

[0052] In one example, if an image transmission module is used as the communication tool, a message middleware server needs to be built on the drone. Specifically, this is done by building an MQTT server on the drone.

[0053] In one example, if a network module is used as the communication tool, an IoT (Internet of Things) message middleware server needs to be built in the cloud.

[0054] In summary, the hangar-based drone positioning device provided by this utility model embodiment can ensure that drones can quickly and safely reach their destination, while significantly reducing the cost required for drone positioning.

[0055] Based on the foregoing embodiments, this utility model provides a hangar-based drone positioning system, which includes the hangar-based drone positioning device provided in the foregoing embodiments.

[0056] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the hangar-based UAV positioning system described above can be referred to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0057] In the description of the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0058] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0059] Finally, it should be noted that the above-described embodiments are merely specific implementations of this utility model, used to illustrate the technical solution of this utility model, and not to limit it. The protection scope of this utility model is not limited thereto. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this utility model. These modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A hangar-based unmanned aerial vehicle (UAV) positioning device, characterized in that, include: The system includes a hangar fixed station and a drone. The hangar fixed station is equipped with a hangar-end processor and a hangar-end receiving antenna connected via feeder communication. The drone is equipped with a drone-end processor and a drone-end receiving antenna connected via feeder communication. The hangar-end receiving antenna receives satellite data, the hangar-end processor generates differential data corresponding to the satellite data, and transmits the differential data to the UAV-end processor; The UAV receiving antenna receives the satellite data, and the UAV processor performs fixed positioning based on the satellite data and the differential data to determine the current location information of the UAV.

2. The hangar-based UAV positioning device according to claim 1, characterized in that, The hangar-side processor includes a hangar-side onboard computer and a hangar-side communication module, which are connected in communication. The hangar-side onboard computer has a hangar-side processing chip installed within it. The hangar-side processing chip and the hangar-side receiving antenna are connected in communication via a feeder line. The onboard computer on the hangar configures the hangar processing chip, and the configured hangar processing chip generates differential data corresponding to the satellite data. The hangar communication module transmits the differential data to the UAV processor.

3. The hangar-based UAV positioning device according to claim 1, characterized in that, The UAV-side processor includes a UAV-side onboard computer and a UAV-side communication module, which are connected via communication. The UAV-side onboard computer houses a UAV-side processing chip, and the UAV-side processor chip is connected to the UAV-side receiving antenna via a feeder line. The UAV-side communication module receives the differential data sent by the hangar-side processor; The onboard computer of the UAV configures the UAV processing chip. The configured UAV processing chip performs fixed positioning based on the satellite data and the differential data to determine the current location information of the UAV.

4. The hangar-based UAV positioning device according to claim 2 or 3, characterized in that, Both the hangar-side onboard computer in the hangar-side processor and the drone-side onboard computer in the drone-side processor are equipped with communication terminals. The communication terminal deployed on the hangar-side onboard computer acts as a publisher, and the communication terminal deployed on the drone-side onboard computer acts as a subscriber.

5. The hangar-based UAV positioning device according to claim 2 or 3, characterized in that, Both the hangar-side communication module in the hangar-side processor and the drone-side communication module in the drone-side processor include an image transmission module. The image transmission module on the hangar side and the onboard computer of the hangar side processor are connected via network cable, as are the image transmission module on the drone side and the onboard computer of the drone side processor.

6. The hangar-based UAV positioning device according to claim 5, characterized in that, The drone positioning device also includes a message middleware server built on the drone.

7. The hangar-based UAV positioning device according to claim 2 or 3, characterized in that, Both the hangar-side communication module in the hangar-side processor and the drone-side communication module in the drone-side processor include a network module. The network module on the hangar side and the onboard computer of the hangar side processor, as well as the network module on the drone side and the onboard computer of the drone side processor, are all connected via a universal serial bus (USB) network cable.

8. The hangar-based UAV positioning device according to claim 7, characterized in that, The drone positioning device also includes an IoT messaging middleware server built in the cloud.

9. The hangar-based UAV positioning device according to claim 1, characterized in that, The number of receiving antennas at both the hangar end and the UAV end is two.

10. A hangar-based unmanned aerial vehicle (UAV) positioning system, characterized in that, Includes the hangar-based drone positioning device as described in any one of claims 1-9.

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