A visual flight navigation system

Abstract

This utility model relates to the field of visual navigation technology for unmanned aerial vehicles (UAVs), specifically, to a visual flight navigation system. It involves setting a navigation module for return-to-home use under normal conditions to provide location information, and setting up a LiDAR and camera for combined use. When the navigation module signal is lost, the LiDAR and camera are used to achieve the return-to-home objective, and the navigation module's PPS signal (time synchronization signal) is sent to the LiDAR module to achieve time synchronization.

Description

Technical Field

[0001] This utility model relates to the field of visual navigation technology for unmanned aerial vehicles (UAVs), specifically, to a visual flight navigation system. Background Technology

[0002] Existing UAV visual navigation systems primarily rely on the Global Positioning System (GPS) and Inertial Navigation System (INS) for positioning and path planning. These systems can provide stable navigation in open areas. However, in urban canyons, indoor environments, or other areas with limited GPS signals, these systems cannot provide accurate navigation information. Some systems employ Real-Time Dynamic Differential (RTK) technology to enhance navigation accuracy; however, RTK still has limitations in situations with weak signals or loss of lock.

[0003] Currently, there are no commonly used and compatible visual navigation devices on the market for ordinary drones, making visual navigation difficult for such drones. Utility Model Content

[0004] This invention addresses the problem that existing UAVs lack commonly used and compatible visual navigation devices, making visual navigation difficult. It proposes a visual flight navigation system that transmits acquired positioning information to the visual flight navigation motherboard via a navigation module, transmits acquired airborne situational awareness data to the visual flight navigation motherboard via an ADS-B receiving module, and transmits PPS signals acquired from the navigation module to the visual flight navigation motherboard via a lidar module. This forms an independent visual navigation device that can be installed on the UAV, assisting in visual navigation and flight control, and enabling remote command control of the UAV.

[0005] The specific implementation details of this utility model are as follows:

[0006] A visual flight navigation system includes a visual flight navigation motherboard, a navigation module, a lidar module, and an ADS-B receiver module;

[0007] The navigation module is connected to the visual flight navigation motherboard via an RS232 interface;

[0008] The lidar module is connected to the visual flight navigation motherboard via an Ethernet interface;

[0009] The ADS-B receiver module is connected to the visual flight navigation motherboard via a UART interface;

[0010] The navigation module is used to transmit the acquired positioning information to the visual flight navigation motherboard;

[0011] The ADS-B receiving module is used to transmit the acquired air situational awareness data to the visual flight navigation motherboard.

[0012] The lidar module is used to transmit the PPS signal obtained from the navigation module to the visual flight navigation motherboard.

[0013] To better realize this utility model, the visual flight navigation system further includes a USB chip and an RS232 transceiver;

[0014] The USB chip is connected to the visual flight navigation motherboard via a USB 2.0 interface and to an RS232 transceiver via a UART interface;

[0015] The RS232 transceiver is connected to the navigation module via an RS232 interface.

[0016] To better realize this utility model, the visual flight navigation system further includes an atmospheric module;

[0017] The atmospheric module is connected to the USB chip via a UART interface.

[0018] To better realize this utility model, the visual flight navigation system further includes a communication module;

[0019] One end of the communication module is connected to the visual flight navigation motherboard via a USB 2.0 interface, and the other end is connected to the antenna via an SMA interface.

[0020] To better realize this utility model, the visual flight navigation system further includes an infrared module;

[0021] The infrared module is connected to the visual flight navigation motherboard via a UART interface and a MIPI CIS interface.

[0022] To better realize this utility model, the visual flight navigation system further includes multiple cameras;

[0023] All of the aforementioned cameras are connected to the visual flight navigation motherboard via the MIPI CIS interface.

[0024] To better realize this utility model, the visual flight navigation system further includes a Type-C connector, an HDMI connector, an SD connector, and a DUG_UART connector;

[0025] The visual flight navigation motherboard is connected to a Type-C connector via an I2C interface, a USBRX interface, and a USBTX interface;

[0026] The visual flight navigation motherboard is connected to an HDMI connector via an HDMI interface;

[0027] The visual flight navigation motherboard is connected to the SD connector via the SDIO interface;

[0028] The visual flight navigation motherboard is connected to the DUG_UART connector via a UART interface.

[0029] To better realize this utility model, the visual flight navigation system further includes a UART connector;

[0030] The UART connector connects to the USB chip via the UART interface.

[0031] To better realize this utility model, the visual flight navigation system further includes a power supply module;

[0032] The power module inputs 28V DC power to the visual flight navigation motherboard.

[0033] To better realize this utility model, the visual flight navigation motherboard is further described as a Jetson_Orin_NX motherboard.

[0034] This utility model has the following beneficial effects:

[0035] This invention creates an independent visual navigation device that can be installed on a drone by setting up a visual navigation motherboard, thereby assisting in the visual navigation and flight control of the drone and enabling remote command control of the drone. Attached Figure Description

[0036] Figure 1 A schematic diagram of the overall structure of the visual flight navigation system provided by this utility model.

[0037] Figure 2 The specific circuit structure diagram of the vision flight navigation system provided by this utility model. Detailed Implementation

[0038] To more clearly illustrate the technical solutions of the embodiments of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of this utility model, not all embodiments, and therefore should not be regarded as a limitation on the scope of protection. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" 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.

[0040] Example 1:

[0041] This embodiment proposes a visual flight navigation system, such as Figure 1 As shown, it specifically includes a visual flight navigation motherboard, a navigation module, a lidar module, and an ADS-B receiver module;

[0042] The navigation module is connected to the visual flight navigation motherboard via an RS232 interface;

[0043] The lidar module is connected to the visual flight navigation motherboard via an Ethernet interface;

[0044] The ADS-B receiver module is connected to the visual flight navigation motherboard via a UART interface;

[0045] The navigation module is used to transmit the acquired positioning information to the visual flight navigation motherboard;

[0046] The ADS-B receiving module is used to transmit the acquired air situational awareness data to the visual flight navigation motherboard.

[0047] The lidar module is used to transmit the PPS signal obtained from the navigation module to the visual flight navigation motherboard.

[0048] Working principle: This embodiment sets the navigation module to return to home under normal circumstances, providing location information. It also sets up a LiDAR and camera to work together. When the navigation module signal is lost, the LiDAR and camera are used to achieve the purpose of returning to home. The PPS signal of the navigation module, i.e. the time synchronization signal, is sent to the LiDAR module to achieve time synchronization.

[0049] This embodiment uses the MS-6222 as the navigation module. The MS-6222 integrated navigation system has a built-in high-precision GNSS module that continuously provides centimeter-level positioning information. At the same time, combined with calibrated IMU data (which can be additionally connected to odometer and steering information), it can continuously provide high-precision, high-frequency position, speed, and attitude information. Even in complex road conditions, it can maintain data accuracy for a period of time and perform timely self-assessment of data reliability.

[0050] This implementation uses the VS36-12D as an ADS-B receiver module, primarily for aerial situational awareness of devices such as drones and aviation obstruction lights. It features high receiver sensitivity: a maximum receiver sensitivity of -90dBm, covering ADS-B signals within a range of approximately 250 kilometers, and a low-power design: operating current is only 60mA (5V power supply). Its dimensions are 50×38×5mm, and it weighs 8g, making it suitable for small devices. It also offers multi-format output: supporting raw ADS-B messages, MavLink2 format messages, and aircraft plaintext information (such as ICAO numbers, flight numbers, etc.), and can output collision risk alarms via the Flag pin. It is mainly used in drone obstacle avoidance, aviation obstruction light monitoring, bridge inspection, and other fields, providing aerial target recognition and conflict warning functions.

[0051] This embodiment uses the Jetson_Orin_NX motherboard as the visual flight navigation motherboard, and achieves high-precision positioning and obstacle avoidance in UAV visual navigation through GPU-accelerated visual SLAM (Simultaneous Localization and Mapping) technology.

[0052] Example 2:

[0053] This embodiment is based on the above embodiment 1, such as... Figure 1 As shown, the visual flight navigation system also includes a USB chip and an RS232 transceiver;

[0054] The USB chip is connected to the visual flight navigation motherboard via a USB 2.0 interface and to an RS232 transceiver via a UART interface;

[0055] The RS232 transceiver is connected to the navigation module via an RS232 interface.

[0056] Working principle: In this embodiment, the TD(H)541S232H is set as an RS232 transceiver to convert the TTL level to the RS232 protocol level, thereby achieving signal isolation.

[0057] The USB chip in this embodiment is a CH344Q chip, used for real-time processing and analysis of image data acquired by the camera. Combined with a GNSS high-precision module, it enhances the UAV's positioning capabilities, achieving real-time positioning accuracy from meters to centimeters. Interaction with the flight control system via a serial port or wireless communication module ensures low-latency transmission of visual data. Its miniaturized design meets the stringent payload requirements of UAVs while supporting high-bandwidth data transmission, guaranteeing smooth high-definition image transmission.

[0058] The other parts of this embodiment are the same as those in Embodiment 1 above, so they will not be described again.

[0059] Example 3:

[0060] Based on any one of Embodiments 1-2 above, the visual flight navigation system in this embodiment further includes an atmospheric module;

[0061] The atmospheric module is connected to the USB chip via a UART interface.

[0062] The visual flight navigation system also includes a communication module;

[0063] One end of the communication module is connected to the visual flight navigation motherboard via a USB 2.0 interface, and the other end is connected to the antenna via an SMA interface.

[0064] The visual flight navigation system also includes an infrared module;

[0065] The infrared module is connected to the visual flight navigation motherboard via a UART interface and a MIPI CIS interface.

[0066] The visual flight navigation system also includes multiple cameras;

[0067] All of the aforementioned cameras are connected to the visual flight navigation motherboard via the MIPI CIS interface.

[0068] Working principle: In this embodiment, the atmospheric module provides the UAV with accurate absolute altitude information by measuring air pressure data and calibrating it with a temperature sensor. In scenarios where visual navigation relies on relative altitude (such as obstacle avoidance or hovering), air pressure data can compensate for altitude estimation errors of pure vision systems in textureless environments (such as water surfaces or deserts).

[0069] This embodiment is equipped with an infrared module that provides the drone with perception capabilities in non-visible light environments by detecting the infrared radiation emitted by objects. It can penetrate smoke, darkness or vegetation obstruction and still provide clear imaging at night, in low light or complex weather conditions (such as fog, haze, and sandstorms). By emitting / receiving infrared signals, it can detect the distance to obstacles in real time and achieve multi-directional obstacle avoidance in conjunction with the vision system.

[0070] This embodiment provides drones with more comprehensive environmental perception capabilities by setting up multiple cameras to work together.

[0071] The other parts of this embodiment are the same as any one of the above embodiments 1-2, so they will not be described again.

[0072] Example 4:

[0073] This embodiment is based on any one of embodiments 1-3 above, such as Figure 2 As shown, it also includes several reserved connectors.

[0074] The visual flight navigation system also includes a Type-C connector, an HDMI connector, an SD connector, and a DUG_UART connector.

[0075] The visual flight navigation motherboard is connected to a Type-C connector via an I2C interface, a USBRX interface, and a USBTX interface;

[0076] The visual flight navigation motherboard is connected to an HDMI connector via an HDMI interface;

[0077] The visual flight navigation motherboard is connected to the SD connector via the SDIO interface;

[0078] The visual flight navigation motherboard is connected to the DUG_UART connector via a UART interface.

[0079] The visual flight navigation system also includes a UART connector;

[0080] The UART connector connects to the USB chip via the UART interface.

[0081] The visual flight navigation system also includes a power module;

[0082] The power module inputs 28V DC power to the visual flight navigation motherboard.

[0083] Working principle: This embodiment sets up multiple connectors as reserved connectors for debugging, providing physical interfaces for the subsequent installation of sensors such as infrared modules, lidar, and multispectral cameras, ensuring that the visual navigation system can adapt to different task requirements.

[0084] The other parts of this embodiment are the same as any one of the embodiments 1-3 above, so they will not be described again.

[0085] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A visual flight navigation system, characterized in that, Includes a visual flight navigation motherboard, navigation module, lidar module, and ADS-B receiver module; The navigation module is connected to the visual flight navigation motherboard via an RS232 interface; The lidar module is connected to the visual flight navigation motherboard via an Ethernet interface; The ADS-B receiver module is connected to the visual flight navigation motherboard via a UART interface; The navigation module is used to transmit the acquired positioning information to the visual flight navigation motherboard; The ADS-B receiving module is used to transmit the acquired air situational awareness data to the visual flight navigation motherboard. The lidar module is used to transmit the PPS signal obtained from the navigation module to the visual flight navigation motherboard.

2. The visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes a USB chip and an RS232 transceiver; The USB chip is connected to the visual flight navigation motherboard via a USB 2.0 interface and to an RS232 transceiver via a UART interface; The RS232 transceiver is connected to the navigation module via an RS232 interface.

3. The visual flight navigation system according to claim 2, characterized in that, The visual flight navigation system also includes an atmospheric module; The atmospheric module is connected to the USB chip via a UART interface.

4. The visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes a communication module; One end of the communication module is connected to the visual flight navigation motherboard via a USB 2.0 interface, and the other end is connected to the antenna via an SMA interface.

5. A visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes an infrared module; The infrared module is connected to the visual flight navigation motherboard via a UART interface and a MIPI CIS interface.

6. A visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes multiple cameras; All of the aforementioned cameras are connected to the visual flight navigation motherboard via the MIPI CIS interface.

7. A visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes a Type-C connector, an HDMI connector, an SD connector, and a DUG_UART connector; The visual flight navigation motherboard is connected to a Type-C connector via an I2C interface, a USBRX interface, and a USBTX interface; The visual flight navigation motherboard is connected to an HDMI connector via an HDMI interface; The visual flight navigation motherboard is connected to the SD connector via the SDIO interface; The visual flight navigation motherboard is connected to the DUG_UART connector via a UART interface.

8. A visual flight navigation system according to claim 2, characterized in that, The visual flight navigation system also includes a UART connector; The UART connector connects to the USB chip via the UART interface.

9. A visual flight navigation system according to claim 1, characterized in that, The visual flight navigation system also includes a power module; The power module inputs 28V DC power to the visual flight navigation motherboard.

10. A visual flight navigation system according to any one of claims 1-9, characterized in that, The visual flight navigation motherboard is a Jetson_Orin_NX motherboard.

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