Tunnel scene unmanned aerial vehicle communication positioning system

Abstract

The utility model relates to unmanned plane inspection technical field provides a kind of tunnel scene unmanned plane communication positioning system, including multiple positioning beacon along the preset path interval arrangement of tunnel, the gathering beacon being arranged in one end of tunnel, the inspection terminal flying along preset path in tunnel and the monitoring terminal being communicated connected with gathering beacon;Gathering beacon and inspection terminal are communicated connected with positioning beacon, adjacent positioning beacon is communicated connected between, and monitoring terminal is used to receive target data that inspection terminal is forwarded by positioning beacon and gathering beacon.The utility model is arranged along preset path in tunnel by multiple positioning beacon, and it is set up with the gathering beacon of monitoring terminal connection in one end of tunnel, constructs a comprehensive basic network of integrated positioning and communication for the inspection terminal flying therebetween, solves the two big problems of unmanned plane positioning and communication in tunnel, guarantees the autonomy, security and real-time of data backhaul of inspection operation.

Description

Technical Field

[0001] This utility model relates to the field of drone inspection technology, and in particular to a drone communication and positioning system for tunnel scenarios. Background Technology

[0002] In recent years, drone technology has developed rapidly and has been widely used in various fields such as power line inspection, agricultural plant protection, and security monitoring. In traditional open outdoor scenarios, drones mainly rely on the Global Positioning System (GPS) for navigation and positioning to perform preset flight missions.

[0003] However, in enclosed or semi-enclosed spaces where GPS signals cannot reach, such as tunnels, mines, and large indoor buildings, drones cannot accurately obtain their own position and thus cannot achieve autonomous flight. At the same time, the tunnel structure also causes severe attenuation of wireless communication signals, resulting in short and unstable data transmission distances between drones and monitoring terminals, which greatly limits the application of drones. Utility Model Content

[0004] This invention provides a communication and positioning system for unmanned aerial vehicles (UAVs) in tunnel scenarios, which solves the shortcomings of existing technologies in UAVs that cannot accurately locate and communicate stably in enclosed environments such as tunnels where GPS signals are missing or wireless signals are severely attenuated.

[0005] This utility model provides a communication and positioning system for unmanned aerial vehicles (UAVs) in a tunnel scene, including multiple positioning beacons deployed at preset path intervals along the tunnel, a convergence beacon deployed at one end of the tunnel, an inspection terminal flying along the preset path inside the tunnel, and a monitoring terminal communicating with the convergence beacon. Both the convergence beacon and the inspection terminal are communicatively connected to the positioning beacon, and adjacent positioning beacons are communicatively connected. The monitoring terminal is used to receive target data forwarded by the inspection terminal through the positioning beacon and the convergence beacon.

[0006] According to the present invention, a communication and positioning system for unmanned aerial vehicles (UAVs) in a tunnel scene is provided. The inspection terminal includes a first communication unit and a second communication unit symmetrically arranged on both sides of the central axis of its forward direction. Both the first communication unit and the second communication unit are communicatively connected to the positioning beacon.

[0007] According to the present invention, a communication and positioning system for a UAV in a tunnel scenario is provided. The first communication unit and the second communication unit are two ultra-wideband relay modules. The antennas of the two ultra-wideband relay modules are symmetrically installed on the fuselage on both sides of the central axis of the inspection terminal's forward direction. The line connecting the two antennas is perpendicular to the central axis of the inspection terminal's forward direction.

[0008] According to the present invention, a communication and positioning system for unmanned aerial vehicles in a tunnel scene is provided, wherein the positioning beacon and the convergence beacon are both wireless relay base stations, and the convergence beacon is connected to the monitoring terminal through a gigabit Ethernet interface.

[0009] According to the present invention, a communication and positioning system for unmanned aerial vehicles in a tunnel scene is provided, wherein multiple positioning beacons are wirelessly cascaded through a chain-type multi-hop relay to transmit the target data to the convergence beacon.

[0010] According to the present invention, a communication and positioning system for unmanned aerial vehicles in a tunnel scene is provided, wherein the multiple positioning beacons are deployed at intervals of 300 meters to 600 meters along the preset path.

[0011] According to the present invention, a UAV communication and positioning system for a tunnel scene is provided, wherein the preset path is the central axis of the top of the tunnel.

[0012] According to the UAV communication and positioning system for tunnel scenarios provided by this utility model, the wireless communication between the inspection terminal and the positioning beacon, as well as the mutual communication between the positioning beacons, are all based on ultra-wideband communication technology.

[0013] According to the present invention, a communication and positioning system for unmanned aerial vehicles (UAVs) in a tunnel scene is provided, wherein the inspection terminal is an UAV.

[0014] This utility model provides a tunnel-based UAV communication and positioning system. By deploying multiple positioning beacons along a preset path within the tunnel and setting up a convergence beacon at one end of the tunnel connected to a monitoring terminal, it constructs a comprehensive basic network integrating positioning and communication for inspection terminals flying within the tunnel. On one hand, the multiple positioning beacons provide continuous and stable positioning reference points for the inspection terminal, enabling it to achieve high-precision real-time positioning even in tunnel environments without GPS signals. On the other hand, the positioning beacons also serve as communication relay nodes. Target data collected by the inspection terminal can be relayed step-by-step to the convergence beacon via the nearest positioning beacon using a multi-hop relay method, and then reliably transmitted to the monitoring terminal from the convergence beacon. This multi-hop relay communication architecture effectively overcomes the attenuation of wireless signals in the narrow space of the tunnel, establishing a reliable long-distance data transmission link covering the entire tunnel. This solves the two major problems of UAV positioning and communication within tunnels, ensuring the autonomy, safety, and real-time data transmission of inspection operations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this utility model or related technologies, the drawings used in the description of the embodiments or related technologies 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 based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the UAV communication and positioning system for tunnel scenarios provided by this utility model; Figure 2 This is a schematic diagram of the installation of the first communication unit and the second communication unit provided by this utility model; Figure 3 This is a schematic diagram of the single-antenna positioning principle provided by this utility model; Figure 4 This is a schematic diagram of the dual-antenna deviation measurement principle provided by this utility model; Figure 5 This is a deployment diagram of the UAV communication and positioning system for tunnel scenarios provided by this utility model.

[0017] Figure label: 10. Positioning beacon; 20. Convergence beacon; 30. Inspection terminal; 31. First communication unit; 32. Second communication unit; 40. Monitoring terminal. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. 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 scope of protection of this utility model.

[0019] In recent years, drone technology has developed rapidly and has been widely used in various fields such as power line inspection, agricultural plant protection, and security monitoring. In traditional open outdoor scenarios, drones mainly rely on the Global Positioning System (GPS) for navigation and positioning to perform preset flight missions.

[0020] However, the application of drones is severely limited in enclosed or semi-enclosed spaces where GPS signals cannot reach, such as tunnels, mines, and large indoor buildings. Taking tunnel inspection as an example, traditional tunnel inspection mainly relies on manual labor, which is not only time-consuming and inefficient, but also poses risks to the safety of inspection personnel due to the complex environment inside the tunnel, such as potential structural safety hazards and the accumulation of toxic and harmful gases.

[0021] While introducing drones for tunnel inspection can effectively overcome many drawbacks of manual inspection, existing drone technology faces pressing technical challenges when applied to narrow, enclosed environments like tunnels. First, because tunnels completely block satellite signals, drones cannot receive GPS signals, losing their most basic positioning capabilities and hindering autonomous flight and location awareness. Second, the tunnel structure causes severe attenuation and multipath effects on radio signals, drastically reducing the communication distance between the drone and the ground control station, resulting in unstable data transmission and making real-time monitoring and data feedback difficult.

[0022] In response, this utility model provides a communication and positioning system for unmanned aerial vehicles (UAVs) in tunnel scenarios. This system provides a high-precision and high-reliability positioning solution for UAVs in tunnel environments without GPS signals, while simultaneously ensuring stable and long-distance communication between the UAV and the monitoring terminal, thereby overcoming the aforementioned shortcomings.

[0023] Figure 1 This is a schematic diagram of the structure of the UAV communication and positioning system for tunnel scenarios provided by this utility model, as shown below. Figure 1 As shown, the system includes multiple positioning beacons 10 deployed at preset path intervals along the tunnel, a convergence beacon 20 deployed at one end of the tunnel, an inspection terminal 30 flying along the preset path inside the tunnel, and a monitoring terminal 40 communicating with the convergence beacon 20. Both the convergence beacon 20 and the inspection terminal 30 are communicatively connected to the positioning beacon 10. Adjacent positioning beacons 10 are also communicatively connected. The monitoring terminal 40 is used to receive target data forwarded by the inspection terminal 30 through the positioning beacon 10 and the convergence beacon 20.

[0024] Specifically, the UAV communication and positioning system for tunnel scenarios in this embodiment may include multiple positioning beacons 10, a convergence beacon 20, an inspection terminal 30, and a monitoring terminal 40. In this embodiment, the positioning beacons 10 and the convergence beacon 20 may be wireless relay base stations.

[0025] Multiple positioning beacons 10 are deployed at intervals along a predetermined path in the tunnel, such as the central axis at the tunnel ceiling. This deployment provides continuous positioning references and communication relay points along the route for the inspection terminal 30 flying within the tunnel. To ensure continuous signal coverage, the deployment interval between the positioning beacons 10 can be 300 to 600 meters, depending on the tunnel environment and the wireless communication technology used. It should be understood that these wireless relay base stations can communicate wirelessly with the inspection terminal 30, and adjacent wireless relay base stations can perform wireless cascading communication.

[0026] The convergence beacon 20, acting as a wireless relay base station for the convergence base station, is deployed at one end of the tunnel, such as at the tunnel entrance or exit. The convergence beacon 20 communicates with multiple positioning beacons 10 deployed within the tunnel via wireless or wired means, forming a tree-like or chain-like network topology. Its core function is to serve as the data aggregation point for the entire tunnel beacon network and a gateway connecting to external networks. It should be understood that, in one specific implementation, the convergence beacon 20, acting as the convergence base station, can be located at the tunnel entrance and communicate with the wireless relay base station closest to the tunnel entrance. The wireless relay base stations deployed at intervals within the tunnel can communicate wirelessly through a chain-like multi-hop relay method to transmit data to the convergence base station, which then transmits it to the external monitoring terminal 40.

[0027] In this embodiment, the inspection terminal 30 can be a drone used to perform tunnel inspection tasks. The inspection terminal 30 flies within the tunnel along a preset path formed by the positioning beacons 10. During flight, the inspection terminal 30 uses its onboard communication equipment to conduct real-time wireless communication with one or more of the nearest positioning beacons 10 along the flight path for self-positioning and data exchange.

[0028] The monitoring terminal 40, also known as a monitoring station, can be one or more computers, servers, or dedicated control devices. It communicates with the aggregation beacon 20 deployed at the tunnel entrance via a reliable communication method (e.g., via Gigabit Ethernet). The main function of the monitoring terminal 40 is to receive target data collected by the inspection terminal 30 and relayed through the positioning beacon 10 network and the aggregation beacon 20. This target data may include the real-time location information of the inspection terminal 30, collected image and video data, sensor data, etc. The monitoring terminal 40 can display, store, and analyze this data, thereby achieving remote real-time monitoring and management of inspection operations within the tunnel.

[0029] Based on the above embodiments, the inspection terminal 30 includes a first communication unit 31 and a second communication unit 32 symmetrically arranged on both sides of the central axis of its forward direction. Both the first communication unit 31 and the second communication unit 32 are communicatively connected to the positioning beacon 10.

[0030] Specifically, this embodiment further defines the internal structure of the inspection terminal 30 to achieve a higher precision positioning function. Figure 2 This is a schematic diagram of the installation of the first communication unit and the second communication unit provided by this utility model, as shown below. Figure 2As shown, the inspection terminal 30 (e.g., a drone) in this embodiment includes a first communication unit 31 and a second communication unit 32. To facilitate differential measurement for calculating the attitude and position deviation of the inspection terminal 30, the first communication unit 31 and the second communication unit 32 are symmetrically arranged in the forward direction of the inspection terminal 30 (i.e.,...). Figure 2 On both sides of the central axis (in the direction indicated by the middle arrow).

[0031] For example, in an implementation of a quadcopter drone, the first communication unit 31 and the second communication unit 32 can be installed on the left front side and the right front side of the drone's forward direction (or the left rear side and the right rear side of the drone's forward direction) respectively, ensuring that they are symmetrical about the central axis of the drone's forward direction and that the distance between them is fixed and known.

[0032] Furthermore, the first communication unit 31 and the second communication unit 32 can be two UWB (Ultra Wide Band) communication modules, utilizing the high accuracy of UWB technology in time-of-flight ranging to achieve high-precision distance measurement. For example, these two communication units can be two lightweight UWB relay modules. The antennas of the two UWB relay modules need to be installed at specific positions on the UAV (i.e., inspection terminal 30) fuselage, and the connection between the two antennas needs to be perpendicular to the central axis of the UAV's forward direction, that is, installed on both sides of the central axis of the UAV's forward direction.

[0033] In addition, the inspection terminal 30 also includes a processor, which can be a central processing unit (CPU) on the UAV main control board or a dedicated microcontroller unit (MCU). This processor is electrically connected to the first communication unit 31 and the second communication unit 32 via an internal bus or interface. One of the core functions of the processor is to determine the location information of the inspection terminal 30 based on the communication between the first communication unit 31 and the second communication unit 32 and the positioning beacon 10. That is, the processor collects ranging data generated from the interaction between the two symmetrically deployed communication units and the positioning beacons 10 along the route, and calculates the location of the inspection terminal 30 based on this data using a specific algorithm.

[0034] This embodiment, by symmetrically deploying two communication units on the inspection terminal 30 and having its communication data processed uniformly by a processor, can obtain richer spatial attitude information about the inspection terminal 30 relative to the positioning beacon 10. This differential layout of the two units provides the necessary hardware foundation for calculating the longitudinal position and lateral deviation of the inspection terminal 30, significantly improving the dimensionality and accuracy of the positioning information, and laying a key technical prerequisite for realizing accurate autonomous navigation of the inspection terminal 30 in the tunnel.

[0035] Based on any of the above embodiments, the target data received by the monitoring terminal 40 includes the location information of the inspection terminal 30 and the inspection data collected by the inspection terminal 30. The target data is forwarded to the monitoring terminal 40 via the positioning beacon 10 that communicates with the inspection terminal 30, through other positioning beacons 10 and the aggregation beacon 20 in a multi-hop relay manner.

[0036] Specifically, the target data is a composite data packet, which includes at least two core parts: one part is the location information of the inspection terminal 30; the other part is the inspection data collected in real time by the inspection terminal 30 during task execution. The content of the inspection data depends on the specific task. For example, it could be images or video streams of the tunnel wall structure captured by a high-definition camera mounted on the inspection terminal 30, or equipment temperature data collected by an infrared thermal imager, or data on the concentration of harmful gases detected by a gas sensor, etc.

[0037] After the target data is generated on the inspection terminal 30, it needs to be reliably transmitted back to the monitoring terminal 40. Specifically, the target data is first uploaded through the location beacon (or multiple location beacons 10) currently communicating with the inspection terminal 30. After receiving the data, the location beacon 10 does not directly attempt to send it to the convergence beacon 20 at the tunnel entrance (because the distance may be too far and the signal attenuation may be severe). Instead, it uses a multi-hop relay method to forward the data packet along the communication link composed of multiple location beacons 10, step by step, in a relay manner towards the convergence beacon 20. Finally, the data packet is completely and reliably forwarded to the monitoring terminal 40 via other location beacons 10 in the tunnel and the final convergence beacon 20.

[0038] Based on any of the above embodiments, the location information of the inspection terminal 30 includes longitudinal location information and lateral deviation information.

[0039] Specifically, the processor of the inspection terminal 30 can calculate a two-dimensional position description that is highly significant for tunnel inspection scenarios. Among them, the longitudinal position information (calculated by ranging from two adjacent positioning beacons 10) clarifies the specific progress of the inspection terminal 30 along the total length of the tunnel; while the lateral deviation information (calculated by ranging from two communication units to the same positioning beacon 10) clarifies the position of the inspection terminal 30 relative to the safety centerline within the tunnel cross-section.

[0040] By combining information from these two dimensions, the monitoring terminal 40 can not only know where the drone is flying, but also whether it is flying straight in real time. The flight control system can also use this complete two-dimensional position information to perform planned inspection tasks in the vertical direction and dynamically correct the flight trajectory in the horizontal direction to ensure that it always flies within the safe area.

[0041] It is understood that this invention achieves precise positioning and flight trajectory adjustment by deploying multiple wireless relay base stations at intervals along a predetermined path within the tunnel (such as the central axis at the top of the tunnel) and symmetrically deploying two UWB relay modules capable of communicating with these wireless relay base stations on both sides of the central axis in the direction of travel of the inspection terminal 30. This ensures the normal operation of the inspection task. The focus of this invention is on the layout and optimization of the overall system structure, while the specific ranging technology and distance calculation principles are not limited. The specific calculation process of location information is described below using the well-known UWB wireless positioning principle as an example.

[0042] Figure 3 This is a schematic diagram of the single-antenna positioning principle provided by this utility model, as shown below. Figure 3 As shown, when the inspection terminal 30 flies in the tunnel and enters the coverage area of ​​two adjacent base stations (i.e., two adjacent positioning beacons 10), the target communication unit on it will simultaneously communicate with the two positioning beacons 10 in front and behind (i.e., adjacent), for example... Figure 3 The two positioning beacons 10, B and C, shown in the diagram, are used for communication ranging. The processor can obtain the distance d1 from the target communication unit to positioning beacon B and the distance d2 to positioning beacon C. Since all positioning beacons 10 are deployed along a preset path (e.g., the tunnel's central axis), the distance d3 between two adjacent positioning beacons 10 (such as B and C) is a fixed value that has been pre-measured and stored in the system. At this time, the target communication unit of the inspection terminal 30 and the two positioning beacons 10, B and C, form a triangle. The processor knows the lengths of the three sides of this triangle (d1, d2, d3). According to the trigonometric cosine theorem, it can accurately calculate the projection position of the inspection terminal 30 on the line connecting the two beacons. Then, based on the positional deviation between the UWB antenna installation position of the target communication unit and the center point of the inspection terminal 30, it can calculate the one-dimensional position of the inspection terminal 30 between the two beacons (i.e., the two base stations), which is the longitudinal position information of the inspection terminal 30 in the tunnel. It should be understood that since the UWB positioning error is less than or equal to 10cm, the positioning accuracy of the inspection terminal 30 itself on the one-dimensional coordinate map is also less than or equal to 10cm.

[0043] It should be noted that the target communication unit mentioned above can be the first communication unit 31 and / or the second communication unit 32. In actual calculations, the ranging data of any one of the communication units (e.g., the first communication unit 31) can be selected, or the average or optimal value of the ranging data of the two communication units can be used to improve stability. When the two communication units are used to perform ranging independently, the ranging data of the two communication units can be analyzed and judged in order to select the ranging data with more accurate ranging results.

[0044] Furthermore, in order for the inspection terminal 30 to always fly on a safe path in the center of the tunnel, in addition to knowing its longitudinal position, it is also necessary to know its deviation relative to the preset path (i.e., the center line of the positioning beacon 10) in real time.

[0045] Figure 4 This is a schematic diagram of the dual-antenna deviation measurement principle provided by this utility model, as shown below. Figure 4 As shown, when the inspection terminal 30 is in flight, the processor selects the nearest positioning beacon 10 as a reference point. At this time, the first communication unit 31 and the second communication unit 32 (such as antenna 1 and antenna 2) simultaneously perform ranging with the same positioning beacon 10. The processor obtains the distance D1 from the first communication unit 31 to the positioning beacon 10, and the distance D2 from the second communication unit 32 to the positioning beacon 10, respectively. Since the first and second communication units are symmetrically arranged on both sides of the central axis of the inspection terminal 30, theoretically, D1 should be equal to D2 when the inspection terminal 30 is flying exactly on the preset path (i.e., the centerline where the positioning beacon 10 is located). When the inspection terminal 30 deviates laterally to the left or right, a difference will appear between D1 and D2. Based on the known fixed distance D0 between the two communication units and the measured distances D1 and D2, the processor can construct an isosceles or non-isosceles triangle with the positioning beacon 10 as the vertex. According to the trigonometric cosine theorem, the left and right horizontal deviation distances of the central axis of the inspection terminal 30 relative to the preset path (such as the central axis of a tunnel, where the UWB relay base station is installed on the central axis at the top of the tunnel) can be calculated, also known as the lateral deviation distance. It can even further calculate the heading angle deviation of the inspection terminal 30.

[0046] Based on any of the above embodiments, the monitoring terminal 40 is also used to send a self-calibration command to the convergence beacon 20 to trigger mutual ranging between the multiple positioning beacons 10; The convergence beacon 20 is used to converge ranging information between multiple positioning beacons 10 to generate a one-dimensional topology map containing the location information of multiple positioning beacons 10.

[0047] Specifically, to achieve automated and high-precision system deployment, in this embodiment, the monitoring terminal 40 is also used to send a self-calibration command to the convergence beacon 20 (such as a UWB relay base station at the tunnel entrance). This command can be manually triggered by the operator on the monitoring terminal 40 after the initial system deployment is completed or after maintenance (such as replacing a positioning beacon 10).

[0048] After receiving the self-calibration command, the convergence beacon 20 will broadcast or forward the command to all positioning beacons 10 in the tunnel through the communication link between it and multiple positioning beacons 10, thereby triggering mutual ranging between multiple positioning beacons 10, that is, triggering the cascaded UWB pulse bidirectional ranging of the entire tunnel base station network.

[0049] In one specific implementation, each positioning beacon 10, upon receiving a command, activates its wireless communication module (e.g., a UWB module) to perform high-precision bidirectional ranging on its physically adjacent beacons. For example, positioning beacon 10 numbered k will measure the straight-line distance between itself and positioning beacons 10 numbered k-1 and k+1, respectively.

[0050] After ranging is completed, each positioning beacon 10 reports its ranging results to the convergence beacon 20. The convergence beacon 20, acting as a data center, aggregates ranging information between all positioning beacons 10. After collecting distance data between all adjacent beacon pairs, the convergence beacon 20 calculates based on these distance values ​​to construct a one-dimensional topology map containing the location information of multiple positioning beacons 10. This one-dimensional topology map can be understood as a data structure describing the linear arrangement of all positioning beacons 10 along the tunnel path and the precise spacing between them. For example, taking the convergence beacon 20 itself or the first positioning beacon 10 at the tunnel entrance as the origin (position 0m), the longitudinal coordinates of each subsequent positioning beacon 10 can be precisely calculated by accumulating the spacing between them, thus marking the absolute position of each beacon (i.e., each base station) (e.g., base station 1: 305m, base station 2: 610m).

[0051] Based on any of the above embodiments, the monitoring terminal 40 is further used for: Receive the one-dimensional topology map returned by the convergence beacon 20 and send the one-dimensional topology map to the inspection terminal 30.

[0052] Specifically, after completing map generation, the convergence beacon 20 will send the map data to the monitoring terminal 40 via a communication link (e.g., gigabit Ethernet) between itself and the monitoring terminal 40. The monitoring terminal 40 can store the map and display it visually on its user interface, making it easy for operators to understand the actual deployment of beacons in the tunnel.

[0053] More importantly, before the inspection terminal 30 executes its task, the monitoring terminal 40 will also send a one-dimensional topology map to the inspection terminal 30. This sending process is usually completed before the inspection terminal 30 takes off, when it establishes communication with the convergence beacon 20 or the monitoring terminal 40 near the tunnel entrance. After receiving the one-dimensional topology map, the inspection terminal 30 will store it in its local memory.

[0054] The purpose of this is that when the inspection terminal 30 is flying in the tunnel and performing longitudinal positioning, its processor needs to know the accurate distance between two adjacent positioning beacons 10 within its communication range. By pre-downloading and storing this one-dimensional topology map, the inspection terminal 30 has the distance information between all adjacent positioning beacons 10, thus enabling it to perform longitudinal position calculation locally in real time and autonomously, without having to query the distance information from the ground or other beacons during flight.

[0055] Based on any of the above embodiments, the wireless communication between the inspection terminal 30 and the positioning beacon 10, as well as the mutual ranging between the positioning beacons 10, are both implemented based on ultra-wideband communication technology.

[0056] Specifically, in order to simultaneously meet the requirements of high-precision positioning and reliable communication, in this embodiment, the wireless communication between the inspection terminal 30 and the positioning beacon 10, as well as the mutual ranging between the positioning beacons 10 during the system self-calibration process, are all implemented based on ultra-wideband (UWB) communication technology.

[0057] UWB technology communicates by transmitting extremely narrow, nanosecond-level pulses, enabling highly precise distance measurements using time-of-flight methods, achieving centimeter-level accuracy. This provides a fundamental physical guarantee for high-precision calculation of longitudinal position and lateral deviation. Furthermore, UWB signals exhibit strong resistance to multipath interference. In environments with highly complex signal reflections, such as tunnels, UWB technology can effectively distinguish between direct and reflected signals, thus ensuring the stability and reliability of ranging and communication.

[0058] Based on any of the above embodiments Figure 5 This is a deployment diagram of the UAV communication and positioning system for tunnel scenarios provided by this utility model, as shown below. Figure 5 As shown, the system mainly consists of monitoring terminal 40 (i.e. Figure 5 The monitoring station shown), convergence beacon 20 (i.e. Figure 5 The wireless relay base station deployed at the tunnel entrance), and multiple positioning beacons 10 (i.e. Figure 5 It consists of multiple wireless relay base stations inside the tunnel and 30 inspection terminals.

[0059] Multiple wireless relay base stations are linearly deployed along the central axis of the tunnel ceiling at intervals of 300 to 600 meters, forming a beacon chain that runs through the tunnel. Next, a wireless relay base station is deployed at the tunnel entrance or exit as a convergence beacon 20, which is connected to the monitoring terminal 40 via a highly reliable wired connection (e.g., Gigabit Ethernet). The convergence beacon 20 and all the positioning beacons 10 together constitute a communication and positioning network covering the entire tunnel. The inspection terminal 30 is a drone equipped with a specific communication module, used to perform aerial inspection tasks within the tunnel. The system's workflow is as follows: After system deployment or maintenance, operators send a self-calibration command to the convergence beacon 20 via monitoring terminal 40. This command triggers all positioning beacons 10 to perform mutual ranging based on UWB technology to accurately measure their physical distances. The convergence beacon 20 collects all ranging data and, based on this, automatically generates a one-dimensional topology map containing the linear order of all positioning beacons 10 and their precise spacing.

[0060] The convergence beacon 20 transmits the generated one-dimensional topology map back to the monitoring terminal 40. Before the inspection terminal 30 (drone) prepares to execute its mission, the monitoring terminal 40 sends this map data to the flight control system of the inspection terminal 30 for storage. This allows the inspection terminal 30 to have the coordinate information of the positioning beacon 10 throughout the tunnel before entering the tunnel.

[0061] The inspection terminal 30 takes off from the tunnel entrance and enters the area covered by the positioning beacon 10. During flight, the inspection terminal 30 uses its onboard dual UWB communication units to perform high-precision ranging with one or two positioning beacons 10 along the path in real time. Based on the ranging data and a pre-stored one-dimensional topology map, its onboard processor autonomously and in real time calculates its longitudinal position within the tunnel and its lateral deviation relative to the centerline. Based on this precise position information, the flight control system controls the UAV to fly autonomously along a preset path while simultaneously performing inspection tasks (such as collecting images, videos, or sensor data).

[0062] The inspection terminal 30 packages its calculated location information and collected inspection data into target data. This target data is uploaded to the nearest positioning beacon 10 via a UWB link. Subsequently, the data packet is rapidly forwarded along the beacon chain to the convergence beacon 20 at the tunnel entrance via a multi-hop relay between positioning beacons 10, and finally reaches the monitoring terminal 40. The operator of the monitoring terminal 40 can then see the drone's precise location, flight trajectory, and transmitted inspection images and data on the screen in real time.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications 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.

Claims

1. A communication and positioning system for unmanned aerial vehicles (UAVs) in a tunnel scenario, characterized in that, It includes multiple positioning beacons deployed at preset intervals along the tunnel path, a convergence beacon deployed at one end of the tunnel, an inspection terminal flying along the preset path inside the tunnel, and a monitoring terminal communicating with the convergence beacon. Both the convergence beacon and the inspection terminal are communicatively connected to the positioning beacon, and adjacent positioning beacons are communicatively connected. The monitoring terminal is used to receive target data forwarded by the inspection terminal through the positioning beacon and the convergence beacon.

2. The UAV communication and positioning system for tunnel scenarios according to claim 1, characterized in that, The inspection terminal includes a first communication unit and a second communication unit symmetrically arranged on both sides of the central axis of its forward direction. Both the first communication unit and the second communication unit are communicatively connected to the positioning beacon.

3. The UAV communication and positioning system for tunnel scenarios according to claim 2, characterized in that, The first communication unit and the second communication unit are two ultra-wideband relay modules. The antennas of the two ultra-wideband relay modules are symmetrically mounted on the body on both sides of the central axis of the inspection terminal's forward direction. The line connecting the two antennas is perpendicular to the central axis of the inspection terminal's forward direction.

4. The UAV communication and positioning system for tunnel scenarios according to claim 1, characterized in that, Both the positioning beacon and the aggregation beacon are wireless relay base stations, and the aggregation beacon is connected to the monitoring terminal via a gigabit Ethernet interface.

5. The UAV communication and positioning system for tunnel scenarios according to claim 4, characterized in that, Multiple positioning beacons communicate wirelessly via a chain-like multi-hop relay to transmit the target data to the convergence beacon.

6. The UAV communication and positioning system for tunnel scenarios according to claim 1, characterized in that, The multiple positioning beacons are deployed at intervals of 300 meters to 600 meters along the preset path.

7. The tunnel scene UAV communication and positioning system according to any one of claims 1 to 6, characterized in that, The preset path is the central axis of the top of the tunnel.

8. The tunnel scene UAV communication and positioning system according to any one of claims 1 to 6, characterized in that, The wireless communication between the inspection terminal and the positioning beacon, as well as the mutual communication between the positioning beacons, are all implemented based on ultra-wideband communication technology.

9. The tunnel scene UAV communication and positioning system according to any one of claims 1 to 6, characterized in that, The inspection terminal is a drone.

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