A device for detecting the Beidou navigation positioning precision of a UAV

Abstract

This utility model discloses a device for detecting the BeiDou navigation and positioning accuracy of unmanned aerial vehicles (UAVs), belonging to the field of UAV auxiliary equipment technology. The key technical points are: the device includes a fixed rod, with both ends connected to a first antenna assembly and a second antenna assembly via SMA threaded interfaces. A device slot for accommodating a measuring instrument is formed in the middle, with a hollow interior cavity connected to the device slot via a wire groove. The fixed rod is made of carbon fiber composite material, with a connecting rod threadedly connected to it. A locking assembly is provided on the connecting rod, including a slidably fixed slip ring and a locking part composed of locking arms A and B. The locking part can be adjusted by bolts to fit the UAV landing gear. This device, through optimized structural design, achieves rapid connection with UAVs of different sizes, reduces overall weight, avoids affecting the aerodynamic performance of the UAV, and is suitable for UAV positioning accuracy detection scenarios.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) auxiliary equipment technology, and more specifically, it relates to a detection device for the BeiDou navigation and positioning accuracy of UAVs. Background Technology

[0002] Currently, the accuracy of UAV positioning is mostly determined by ground-based reference stations, which provide a reference for UAV positioning by establishing static reference points. However, static reference points can only reflect the coordinate information of a fixed position and cannot capture the real-time status of the UAV during dynamic flight, such as attitude changes and speed fluctuations. This makes it difficult for the detection results to accurately reflect the positioning error of the UAV during actual flight, especially under complex flight attitudes such as turning, climbing, and diving, where the accuracy of error assessment is significantly reduced.

[0003] With the development of drone technology, while some mainstream models such as the DJI Phantom 4 RTK possess high positioning performance, they generally lack third-party accuracy verification interfaces. External testing equipment cannot directly obtain their native navigation data and perform objective comparisons. This deficiency prevents users from effectively verifying the drone's positioning accuracy through independent third-party devices, forcing them to rely solely on the data output by the device itself. This data is difficult to compare and verify, hindering the application verification of drones in high-precision operational scenarios.

[0004] Therefore, in order to solve the above-mentioned technical problems, this utility model proposes a detection device for the Beidou navigation and positioning accuracy of unmanned aerial vehicles. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a detection device for the Beidou navigation and positioning accuracy of unmanned aerial vehicles.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles (UAVs), comprising a fixed rod, with a first antenna assembly and a second antenna assembly respectively provided at both ends of the fixed rod, an equipment slot for accommodating a measuring instrument on the fixed rod, a cavity inside the fixed rod, a wire groove communicating with the cavity in the equipment slot, and a connecting wire on the measuring instrument connected to the first antenna assembly and the second antenna assembly through the wire groove and the cavity; The measuring instrument includes a multi-frequency RTK positioning module, a memory card, a radio module, and a battery.

[0007] Furthermore, bolts are installed on the fixing rod, which is then connected to the drone via these bolts.

[0008] Furthermore, a locking assembly is provided on the fixing rod via a connecting rod, which can fix the fixing rod to the drone. The locking assembly includes a fixing part and a fastening part, which are fixedly connected. The fixing part can slide on the fixing rod, and the fastening part can quickly clamp onto the drone.

[0009] Furthermore, the fixing part includes a slip ring, which is slidably connected to the connecting rod, and a screw is threaded onto the slip ring, one end of which can abut against the connecting rod.

[0010] Furthermore, the fastening part includes a fastening arm A and a fastening arm B, a fastening groove is formed between the fastening arm A and the fastening arm B, one end of the fastening arm A and one end of the fastening arm B are hinged together, and the other end of the fastening arm A and the other end of the fastening arm B are both threadedly connected to a bolt.

[0011] Furthermore, the fastening arm A is fixedly connected to the slip ring.

[0012] Furthermore, the fastening arm B is fixedly connected to the slip ring.

[0013] Furthermore, the interior of the fastening arm A and the fastening arm B is provided with a rubber layer.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This utility model discloses a device for detecting the BeiDou navigation and positioning accuracy of unmanned aerial vehicles (UAVs). The device can be directly installed on the UAV bracket without the need for a third-party progress verification interface. After the UAV takes off, it can be detected through the first / second antenna components on both sides, thereby realizing the collection of positioning data and calculation of positioning results throughout the entire flight process of the UAV. It can truly reflect the positioning accuracy of the UAV during dynamic flight, which is convenient for application verification of UAVs in high-precision operation scenarios and is compatible with various UAV models. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the fixing rod structure in this utility model; Figure 3 This is a cross-sectional structural diagram of the fixing rod in this utility model; Figure 4 This is a schematic diagram of the locking assembly structure in this utility model.

[0016] 1. Fixing rod; 2. First antenna assembly; 3. Second antenna assembly; 4. Measuring instrument; 5. Connecting rod; 6. Locking assembly; 61. Locking arm A; 62. Locking arm B; 63. Locking groove; 64. Bolt; 65. Slip ring; 66. Screw; 7. Equipment slot; 8. Cable slot; 9. Cavity. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0019] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0020] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0021] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0022] like Figures 1-4As shown, this utility model provides a device for testing the BeiDou navigation and positioning accuracy of unmanned aerial vehicles (UAVs). It includes a fixed rod 1, with a first antenna assembly 2 and a second antenna assembly 3 respectively installed at both ends. The antenna assembly shell is made of ABS impact-resistant material and has an IP67 waterproof rating, allowing it to work stably in harsh environments such as rain. The antenna shell surface is frosted to reduce interference from airflow during flight. A device slot 7 for accommodating a measuring instrument 4 is located in the middle of the fixed rod 1. A 3mm thick EVA buffer pad is pasted on the inner wall of the device slot 7 to effectively mitigate the impact of UAV flight vibrations on the measuring instrument 4. A snap-on cover is fitted to the outside of the device slot 7, with a silicone rubber sealing strip embedded on the inside, achieving IP65 waterproof and dustproof protection. This facilitates opening and maintenance of the measuring instrument 4 while protecting the internal equipment from dust and rain corrosion. The fixing rod 1 has a cavity 9 with a diameter of 15mm inside. A flexible cable clip is set at 10cm intervals in the cavity 9 to fix the cable harness in an orderly manner and prevent the cable harness from shaking and rubbing during flight, which could cause damage to the outer sheath. The equipment slot 7 has a cable groove 8 that communicates with the cavity 9. The cable groove 8 is 8mm wide and 5mm deep, which is just right to fit the diameter of commonly used connecting cable harnesses, ensuring that the cable harness can pass through smoothly without being squeezed. Thus, the first antenna assembly 2, the second antenna assembly 3 and the measuring instrument 4 are stably connected by physical connection.

[0023] Setting the fixing rod 1 to a hollow design can also reduce the weight of the fixing rod 1. The material of the fixing rod 1 is preferably carbon fiber composite material. This material not only has a density of only 1 / 4 that of steel, which greatly reduces the overall weight of the device, but also has extremely high tensile strength and fatigue resistance. It is not easy to deform after long-term use. At the same time, it also has good corrosion resistance and will not rust in outdoor environments such as humidity and salt spray, so it can adapt to the needs of drone operation in multiple scenarios. The measuring instrument 4 is an RTK positioning device, which includes a multi-frequency RTK positioning module, a MicroSD memory card supporting up to 256GB, a radio module, and a 10000mAh lithium battery. The memory card supports hot-swapping and can be replaced without turning off the drone, and data is automatically saved during data transmission to prevent data loss. The lithium battery is equipped with four power indicator lights, corresponding to 25%, 50%, 75%, and 100% power, allowing users to check the remaining power in real time. When the power is below 10%, the device will send an alarm signal to the ground terminal via radio to remind the user to retrieve the drone in time. The RTK positioning device is connected to the first antenna assembly 2 and the second antenna assembly 3 through a connecting cable set in the cavity 9. The connecting cable uses shielded twisted-pair cable to reduce external electromagnetic interference and ensure signal transmission stability.

[0024] The RTK positioning device has built-in data processing software that can send data to a memory card for storage and also send data to a radio station. Its specific model is the Hexin Xingtong UM982, which is existing technology and will not be described in detail here.

[0025] The fixing rod 1 has SMA threaded interfaces with waterproof sealing rings at both ends. The waterproof sealing rings are made of nitrile rubber, and when the interface is tightened, the sealing rings fit tightly to prevent rainwater from seeping in and corroding the interface. The first antenna assembly 2 and the second antenna assembly 3 can be firmly fixed through these SMA threaded interfaces, and the interfaces can be finely adjusted from 0-15°, which can be used to adjust the antenna orientation according to the satellite distribution in the flight area and improve the satellite signal acquisition efficiency. It is worth noting that the first antenna assembly 2 and the second antenna assembly 3 operate in the B1I / B2I / B3I Beidou signals and L1 / L2 GPS signals, with an antenna gain of ≥5dBi. They can receive signals stably even in areas with dense buildings or tree shade, and there is no interference with the UAV's own signal. During the UAV's flight, the antenna assemblies can acquire satellite signals in real time, providing basic data for positioning and detection. The RTK positioning module supports multi-system solutions including BeiDou-3, GPS, and Galileo, and is compatible with mainstream CORS services such as Qianxun Location and China Mobile Smart Mobility. With a positioning update rate of 10Hz, it can accurately capture the position changes of drones flying at high speeds (e.g., 60km / h) every 0.01 seconds. Horizontal positioning accuracy is 8mm+1ppm, and vertical positioning accuracy is 10mm+1ppm, meeting centimeter-level positioning detection requirements. The radio module operates in the 410-470MHz frequency band, with an adjustable transmit power of 5W. It can transmit up to 8km in open areas and maintain stable transmission over 3km in complex mountainous environments. The module employs frequency hopping anti-interference technology to reduce signal interference from other devices on the same frequency band. It also supports NTRIP protocol differential data pass-through, ensuring real-time and accurate transmission of differential data to the RTK positioning device.

[0026] This device is primarily used with drones. During use, the device needs to be fixed to the drone's landing gear. To address the cumbersome and incompatible issues of the original 64-bolt fixing method, a connecting rod 5 is added to the fixing rod 1 via an M8 thread. The connecting rod 5 is made of 6061 aluminum alloy, which is lightweight and high-strength, with a diameter of 12mm. Its length can be customized from 50-150mm to accommodate different drone landing gear spacings. The surface of the connecting rod 5 is engraved with millimeter graduations from 0-150mm for precise adjustment of the installation position. A locking assembly 6 is provided on the connecting rod 5 to connect to the drone's landing gear. This locking assembly 6 allows for quick connection of the detection device to the drone, significantly improving installation efficiency.

[0027] The locking device includes a detection mechanism fixing part and a drone fastening part. The fixing part includes a slip ring 65 with an inner diameter of 12.2mm, which is precisely matched with the diameter of the connecting rod 5. This ensures that the slip ring 65 slides smoothly on the connecting rod 5 without causing significant wobbling. The slip ring 65 is threaded with an internal hexagon screw 66. The head of the screw 66 has anti-slip texture to prevent slippage when tightening. A 1mm thick silicone rubber pad is attached to the end of the screw 66. When the screw 66 is tightened, the rubber pad can abut against the connecting rod 5, which can prevent the screw 66 from directly squeezing and causing scratches on the connecting rod 5, and also enhance the fixing friction to prevent the slip ring 65 from loosening, thereby firmly fixing the slip ring 65 to the connecting rod 5.

[0028] The fastening part includes fastening arm A and fastening arm B. The fastening arms are made of high-strength nylon material, which has a certain degree of elasticity to avoid damage caused by rigid contact with the landing gear. A fastening groove 63 with an initial diameter of 20-30mm is formed between fastening arms A and fastening arms B. One end of fastening arm A and one end of fastening arm B are hinged by stainless steel hinges. The stainless steel hinges are rust-proof and rotate flexibly. Long-lasting grease is applied to the hinges to reduce wear during long-term use and prevent jamming. The other end of fastening arm A and the other end of fastening arm B are provided with internal threaded holes for threaded connection with M6 stainless steel bolts 64. The surface of bolts 64 is galvanized to enhance corrosion resistance. Tightening bolts 64 will bring the other end of fastening arm A and the other end of fastening arm B closer together, so that the fastening groove 63 can be reduced to a minimum of 8mm, thereby enabling stable fixation on the UAV landing gear with a diameter of 8-30mm.

[0029] The locking arm B or locking arm A is connected to the slip ring 65 using an integral molding process. The connection part is equipped with triangular reinforcing ribs to enhance the load-bearing capacity and can stably support the weight of the detection device within 5kg, preventing the device from falling off during flight due to a loose connection.

[0030] When fixing the detection device to the drone, first adjust the position of the slip ring 65 on the connecting rod 5 according to the spacing of the drone's landing gear and installation requirements, referring to the scale on the connecting rod 5. After adjusting to the appropriate position, tighten the screw 66 with an Allen wrench to make the slip ring 65 firmly fixed on the connecting rod 5 to prevent displacement during flight. Then, open the locking arms A61 and B62 and lock them onto the drone's landing gear, ensuring that the landing gear is fully embedded in the locking groove 63. Then, tighten the bolts 64 at both ends with a wrench to gradually clamp the landing gear with the locking arms until the device is no longer shaking. The entire installation process does not require professional tools and can be completed by one person in 1-2 minutes. This not only greatly improves the installation efficiency of the detection device, but also allows for the adaptation of drones of different sizes and landing gear diameters by adjusting the position of the slip ring 65 and the size of the locking groove 63.

[0031] In addition to the above solution, a 2-3mm thick nitrile rubber layer can be glued inside the locking arms A and B. The surface of the rubber layer is pressed with a diamond-shaped anti-slip pattern. On the one hand, this can prevent the locking arms from directly contacting the metal surface of the landing gear, preventing the landing gear from being scratched and protecting the UAV landing gear. On the other hand, the diamond pattern can significantly increase the friction between the locking arms and the landing gear, so that the device can remain stable and not easily slip even when the UAV is flying in turbulent conditions. At the same time, the rubber layer has a certain degree of elasticity and can adapt to landing gears of different diameters within the range of 8-30mm through its own deformation, further expanding the compatibility range of the device. The rubber layer is fixed with a high-strength adhesive, which is not easy to fall off. When the rubber layer is worn, it can be peeled off and replaced separately, reducing maintenance costs.

[0032] When in use, this detection device requires synchronous connection to the CORS differential system. During the drone's flight, the detection device receives CORS differential data relayed from a laptop via radio in real time. Combined with satellite signals captured by the antenna assembly, the RTK positioning module calculates and acquires centimeter-level position, attitude, and velocity information in real time. Simultaneously, the memory card automatically records the drone's native navigation data. The data sampling interval is consistent with the positioning update rate, both being 10Hz, ensuring time synchronization between the two sets of data. Dedicated data processing software compares the two sets of data, using the accurate data acquired by the detection device as a benchmark to calculate the accuracy of the drone's BeiDou positioning. This effectively solves the problem that many drones on the market lack third-party accurate verification interfaces, resulting in static benchmarks failing to reflect the true dynamic flight errors. The detection device in this application continuously collects positioning data and calculates positioning results throughout the entire flight process after the drone takes off, accurately reflecting the positioning accuracy fluctuations of the drone during dynamic flight (such as turning, climbing, and diving). Furthermore, this device does not rely on the drone's data interface. Through a point-to-point calculation algorithm, it can calculate the drone's flight trajectory without modifying the drone's hardware and software. Using the positioning result of the detection device as a benchmark, it calculates the difference between the drone's positioning result and the detection device's positioning result at the same moment, and calculates the mean square error. This allows for a scientific and accurate verification of the drone's positioning accuracy. The verification results can be connected to a ground tablet or computer via Bluetooth (version 5.0, transmission distance 10m) or Wi-Fi (2.4GHz band, transmission distance 30m) of the RTK device, enabling real-time viewing and data export, facilitating subsequent analysis and report generation.

[0033] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or equivalent variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are considered equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. A device for detecting the BeiDou navigation positioning accuracy of a UAV, applied to a UAV, characterized in that: it includes a fixed rod (1), at both ends of the fixed rod (1) are respectively provided a first antenna assembly (2) and a second antenna assembly (3), the fixed rod (1) has an equipment slot (7) for accommodating a measuring instrument (4), the fixed rod (1) has a cavity (9) inside, the equipment slot (7) has a wire groove (8) communicating with the cavity (9), the connecting wire on the measuring instrument (4) is connected to the first antenna assembly (2) and the second antenna assembly (3) through the wire groove (8) and the cavity (9); the fixed rod is installed on the UAV; The measuring instrument (4) includes a multi-frequency RTK positioning module, which is connected to a memory card, a radio module and a battery via a transmission line; the battery is responsible for powering the RTK positioning module, the memory card and the radio; the RTK positioning module obtains differential external differential data through the radio module and stores the positioning results in the memory card.

2. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 1, characterized in that: The fixing rod (1) is equipped with bolts (64), and the fixing rod (1) is connected to the drone through the bolts (64).

3. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 1, characterized in that: The fixing rod (1) is provided with a locking assembly (6) via a connecting rod (5). The locking assembly (6) can fix the fixing rod (1) to the drone. The locking assembly (6) includes a fixing part and a fastening part, which are fixedly connected. The fixing part can slide on the fixing rod (1), and the fastening part can be quickly clamped onto the drone.

4. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 3, characterized in that: The fixing part includes a slip ring (65), which is slidably connected to the connecting rod (5), and a screw (66) is threaded onto the slip ring (65), one end of which can abut against the connecting rod (5).

5. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 4, characterized in that: The fastening part includes a fastening arm A (61) and a fastening arm B (62), and a fastening groove (63) is formed between the fastening arm A (61) and the fastening arm B (62). One end of the fastening arm A (61) and one end of the fastening arm B (62) are hinged together, and the other end of the fastening arm A (61) and the other end of the fastening arm B (62) are threadedly connected to a bolt (64).

6. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 5, characterized in that: The fastening arm A (61) is fixedly connected to the slip ring (65).

7. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 5, characterized in that: The fastening arm B (62) is fixedly connected to the slip ring (65).

8. The detection device for the BeiDou navigation and positioning accuracy of unmanned aerial vehicles according to claim 5, characterized in that: The buckling arm A (61) and the buckling arm B (62) are provided with a rubber layer inside.

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