Measuring device for air route control precision of unmanned aerial vehicle

Abstract

The utility model discloses a device for measuring the air route control precision of an unmanned aerial vehicle. The device comprises an airborne measuring end and a ground reference end, the airborne measuring end is carried on the unmanned aerial vehicle, and a GPS unit is used for collecting GPS information of the unmanned aerial vehicle at the current moment in real time; the first data processing unit is used for resolving the position coordinates of the unmanned aerial vehicle; the first data transmission module is used for sending the position coordinates to a ground reference end in a wireless mode; a task coordinate setting unit in the ground reference end is used for inputting a starting point coordinate and a terminal point coordinate of a task executed by the unmanned aerial vehicle; the coordinate system unit is used for establishing a ground coordinate system and constructing a route equation; the second data processing unit is used for acquiring the position coordinate of the unmanned aerial vehicle at the current moment through the second data transmission module and calculating the distance between the position coordinate and the route equation; the evaluation unit is used for calculating the root mean square of all the distances as the route control precision, and comparing the route control precision with a preset index to judge whether the requirement is met or not.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of unmanned aerial vehicle route test, concretely relates to a kind of unmanned aerial vehicle route control precision measuring device. BACKGROUND

[0002] Navigation system performance has been an important tactical and technical index in unmanned aerial vehicle test, especially in unmanned aerial vehicle system development, equipment identification, it is used as important evaluation index, national military standard GJB5434-2005 specifies that unmanned aerial vehicle navigation control deviation is important test content of unmanned aerial vehicle navigation performance flight test, national military standard GJB5433-2005 "unmanned aerial vehicle system general requirements" mention that track control precision is the tactical and technical index of unmanned aerial vehicle system.

[0003] Navigation system control performance is an important technical index in unmanned aerial vehicle test, unmanned aerial vehicle can automatically complete predetermined task according to predetermined route in uncertain environment, which mainly relies on unmanned aerial vehicle route control precision as important evaluation index, and according to test result, unmanned aerial vehicle navigation performance and flight control system are evaluated.

[0004] Currently, unmanned aerial vehicle route control precision measurement method mainly includes ground equipment tracking, airborne equipment identification, independent airborne positioning equipment, ground equipment tracking mainly adopts tracking radar, photoelectric theodolite equipment to track unmanned aerial vehicle, compares position information recorded by test equipment with predetermined route information, error is stacked more, cost is high, and there are many field layout limitations;Airborne equipment identification is unfair and easy to fake;In view of the above problems, it is urgent to design a more fair and scientific measuring device to evaluate the performance of unmanned aerial vehicle route control precision. SUMMARY

[0005] The utility model aims at providing a kind of unmanned aerial vehicle route control precision measuring device, to measure and evaluate the unmanned aerial vehicle route control precision.

[0006] To achieve the above task, the utility model adopts the following technical solutions:

[0007] A kind of unmanned aerial vehicle route control precision measuring device, including airborne measuring end and ground reference end;

[0008] Airborne measuring end is carried on unmanned aerial vehicle, including GPS unit, first data processing unit, first data transmission module, wherein:

[0009] GPS unit is used to collect the GPS information of unmanned aerial vehicle current time in real time;First data processing unit is used to solve the position coordinates of unmanned aerial vehicle in ground coordinate system under current time according to GPS information;First data transmission module is used to send the position coordinates to ground reference end by wireless mode;

[0010] The ground reference end comprises a task coordinate setting unit, a coordinate system unit, a second data processing unit, a second data transmission module and an evaluation unit, wherein:

[0011] The task coordinate setting unit is configured to input the start point coordinate and the end point coordinate of the task performed by the UAV.

[0012] The coordinate system unit is configured to establish a ground coordinate system and construct a flight path equation of the UAV according to the start point coordinate and the end point coordinate of the task.

[0013] The second data processing unit is configured to obtain the position coordinate of the UAV at the current time through the second data transmission module, calculate the distance between the position coordinate and the corresponding straight line of the flight path equation, and put the calculated distances of the position coordinates collected at each time during the execution of the task by the UAV into a queue.

[0014] The evaluation unit is configured to calculate the root mean square of all distances in the queue as the flight path control accuracy, and compare the flight path control accuracy with a preset index to determine whether the flight path control accuracy meets the requirements.

[0015] Further, the task coordinate setting unit inputs the start point coordinate and the end point coordinate of the task through a touch screen, a keyboard or a remote control terminal in a wireless manner.

[0016] Further, the ground coordinate system is established with the start point coordinate of the task as the origin coordinate, the positive east as the positive direction of the x-axis and the positive north as the positive direction of the y-axis; the flight path equation is determined according to the start point coordinate (x1, y1) and the end point coordinate (x2, y2) as (y-y1) / (y2-y1) = (x-x1) / (x2-x1); wherein (x, y) is the coordinate of a point on the corresponding straight line of the flight path equation.

[0017] Further, when the root mean square of the data calculated during the execution of a task is less than the preset index, it is considered that the flight path control accuracy of the UAV during the execution of the task meets the requirements.

[0018] Further, the evaluation result of the evaluation unit is sent to other terminals or displayed through a display screen.

[0019] Further, the GPS unit adopts a full-system multi-frequency high-precision positioning board card, supports BD, GPS and GLONASS satellite signals, and has a data refresh rate of 5Hz-20Hz.

[0020] Compared with the prior art, the utility model has the following technical characteristics:

[0021] The measuring device has the characteristics of simple structure and convenient installation integration, solves the flight test requirement of the unmanned aerial vehicle, can objectively and effectively obtain real data of flight deviation of the unmanned aerial vehicle in a task and perform control accuracy evaluation based on the real data, improves fairness, justice and scientific nature of the route control accuracy test of the unmanned aerial vehicle, and is simple and easy to operate in test implementation. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structural schematic view of the measuring device. DETAILED DESCRIPTION

[0023] The overall idea of the utility model is that the airborne measuring end is carried on the unmanned aerial vehicle to obtain GPS information in the flight process of the unmanned aerial vehicle; for the task performed by the unmanned aerial vehicle, the ideal state of the route is a straight line between the starting point and the end point, the position coordinates of the unmanned aerial vehicle are calculated from the GPS information by continuously sampling the GPS information in the flight process of the unmanned aerial vehicle, the distance between the straight lines of the position coordinates is the route deviation at the sampling time, and the distances finally calculated at all sampling times constitute the route deviation set of the unmanned aerial vehicle; the root mean square of all deviation sets in the set is calculated, and the route control accuracy of the unmanned aerial vehicle is evaluated according to the calculation result and the preset index.

[0024] A measuring device for route control accuracy of an unmanned aerial vehicle, comprising an airborne measuring end and a ground reference end, wherein:

[0025] The airborne measuring end is carried on the unmanned aerial vehicle and comprises a GPS unit, a first data processing unit and a first data transmission module, wherein:

[0026] The GPS unit collects real-time GPS information of the unmanned aerial vehicle at the current time through an external antenna; in the embodiment, the GPS unit adopts a full-system multi-frequency high-precision positioning board card, supports BD, GPS, GLONASS and other satellite signals, and the data refresh rate is 5Hz-20Hz; the first data processing unit is used for calculating the position coordinates (x0, y0) of the unmanned aerial vehicle in the ground coordinate system according to the GPS information; the first data transmission module is used for sending the position coordinates (x0, y0) to the ground reference end through a wireless mode; wherein the wireless mode can adopt 4G, 5G and the like.

[0027] The ground reference end comprises a task coordinate setting unit, a coordinate system unit, a second data processing unit, a second data transmission module and an evaluation unit, wherein:

[0028] The task coordinate setting unit is used for inputting the starting point coordinates and the end point coordinates of the task performed by the unmanned aerial vehicle; the input can be realized through a touch screen, a keyboard or a remote control terminal in a wireless mode.

[0029] The coordinate system unit is configured to establish a ground coordinate system and construct a flight path equation of the UAV according to a start point coordinate and an end point coordinate of a task; wherein the ground coordinate system is established with the start point coordinate as an origin coordinate of the ground coordinate system, a positive east as a positive direction of an x-axis, and a positive north as a positive direction of a y-axis; according to the start point coordinate (x1, y1) and the end point coordinate (x2, y2), the flight path equation can be determined as: (y-y1) / (y2-y1) = (x-x1) / (x2-x1); wherein (x, y) is a coordinate of a point on a straight line corresponding to the flight path equation.

[0030] The second data processing unit is configured to acquire a position coordinate (x0, y0) of the UAV at a current time through the second data transmission module, calculate a distance d between the position coordinate and the straight line corresponding to the flight path equation, and put the distances d calculated from the position coordinates collected at each time during execution of the task by the UAV into a queue in time sequence.

[0031] The evaluation unit is configured to calculate a root mean square of all distances d in the queue as a flight path control precision, and compare the flight path control precision with a preset index to determine whether the flight path control precision meets a requirement; for example, when the root mean square calculated from the data collected during execution of a task is less than the preset index, it is considered that the flight path control precision during execution of the task by the UAV meets the requirement; an evaluation result of the evaluation unit can be sent to other terminals or displayed through a display screen.

[0032] The specific configuration mode of the functions realized by the units in the airborne measurement end and the ground reference end, the construction of the linear equation, and the distance calculation process between the coordinates and the straight line are all known prior art, and will not be described in detail.

[0033] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A measuring device for the flight path control accuracy of an unmanned aerial vehicle, characterized in that, Including airborne measurement terminals and ground-based reference terminals; The airborne measurement terminal is mounted on the unmanned aerial vehicle and includes a GPS unit, a first data processing unit, and a first data transmission module, wherein: The GPS unit is used to collect the GPS information of the unmanned aerial vehicle in real time; the first data processing unit is used to calculate the position coordinates of the unmanned aerial vehicle in the ground coordinate system at the current time based on the GPS information; the first data transmission module is used to transmit the position coordinates to the ground reference terminal wirelessly. The ground reference unit includes a mission coordinate setting unit, a coordinate system unit, a second data processing unit, a second data transmission module, and an evaluation unit, wherein: The mission coordinate setting unit is used to input the start and end coordinates of the mission to be performed by the unmanned aerial vehicle; The coordinate system unit is used to establish the ground coordinate system and construct the flight path equation of the unmanned aerial vehicle based on the starting and ending coordinates of the mission. The second data processing unit is used to obtain the current position coordinates of the unmanned aerial vehicle through the second data transmission module, calculate the distance between the position coordinates and the flight path equation, and put the distances calculated from the position coordinates collected at each moment during the unmanned aerial vehicle's mission into a queue. The evaluation unit is used to calculate the root mean square of all distances in the queue as the route control accuracy, and compare it with the preset index to determine whether the requirements are met.

2. The measuring device for the flight path control accuracy of an unmanned aerial vehicle according to claim 1, characterized in that, The task coordinate setting unit allows users to wirelessly input the start and end coordinates of the task via touchscreen, keyboard, or remote control terminal.

3. The measuring device for the flight path control accuracy of an unmanned aerial vehicle according to claim 1, characterized in that, The ground coordinate system is established with the starting coordinates of the mission as the origin, east as the positive x-axis, and north as the positive y-axis. Based on the starting coordinates (x1, y1) and the ending coordinates (x2, y2), the flight path equation is determined as: (y-y1) / (y2-y1)=(x-x1) / (x2-x1); where (x, y) are the coordinates of a point on the straight line corresponding to the flight path equation.

4. The measuring device for the flight path control accuracy of an unmanned aerial vehicle according to claim 1, characterized in that, When the root mean square of the data collected during a certain task is less than the preset target, the flight path control accuracy of the unmanned aerial vehicle during the task is considered to meet the requirements.

5. The measuring device for the flight path control accuracy of an unmanned aerial vehicle according to claim 1, characterized in that, The evaluation results from the evaluation unit are sent to other terminals or displayed on a screen.

6. The measuring device for the flight path control accuracy of an unmanned aerial vehicle according to claim 1, characterized in that, The GPS unit uses a multi-frequency high-precision positioning board for the entire system, supporting BD, GPS, and GLONASS satellite signals, with a data refresh rate of 5Hz to 20Hz.

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