CN107727093A - A kind of navigation system and its method of logistics unmanned plane - Google Patents
A kind of navigation system and its method of logistics unmanned plane Download PDFInfo
- Publication number
- CN107727093A CN107727093A CN201711024143.6A CN201711024143A CN107727093A CN 107727093 A CN107727093 A CN 107727093A CN 201711024143 A CN201711024143 A CN 201711024143A CN 107727093 A CN107727093 A CN 107727093A
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- CN
- China
- Prior art keywords
- unmanned plane
- navigation
- control station
- module
- ground control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/913—Radar or analogous systems specially adapted for specific applications for traffic control for landing purposes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of navigation system of logistics unmanned plane, it is characterised in that：Including Navigation of Pilotless Aircraft device and several ground control stations；Communicated between the Navigation of Pilotless Aircraft device and ground control station；The ground control station includes monitoring unmanned module, navigation programming module and communication module；The monitoring unmanned module, for detecting the unmanned plane in affiliated area；The navigation programming module, navigation programming is carried out for the flight to unmanned plane；The communication module, for being communicated between unmanned plane and data transfer.The navigation system of logistics unmanned plane of the present invention can carry out subregion navigation from the interference of unmanned plane, and the precisely navigation with stabilization is provided for unmanned plane.
Description
Technical field
The present invention relates to logistics field, the especially a kind of navigation system and its method of logistics unmanned plane.
Background technology
Navigation of Pilotless Aircraft is precision as requested, and nobody is correctly guided within the specified time along predetermined course line
Machine is to destination.Unmanned plane is set to successfully complete predetermined navigational duty, in addition to the position of starting point and target, it is necessary to
Know the navigational parameters such as the real time position, headway, course of unmanned plane.
The airmanship used at present on unmanned plane is mainly navigated using GPS geo-location system.GPS geo-location system is led
The general principle of boat:When gps satellite normal work, the pseudo noise code that constantly can be formed with 1 and 0 binary element is (referred to as
Pseudo-code) transmitting navigation message.Navigation message includes satellite ephemeris, working condition, clock correction, ionospheric delay amendment, air
The information such as Refractive correction.When user receives navigation message, extract satellite time and contrast itself and the clock of oneself
Satellite and the pseudorange R of user can be learnt, when recycling the satellite almanac data in navigation message to extrapolate satellite launch text
Present position, because the clock that receiver user uses can not possibly be always synchronous with satellite carried clock, introduce a Δ t and defend
Time difference between star and receiver is as unknown number.In order to obtain the position x, y, z of receiver, as long as receiver measures four
The pseudorange of satellite, four equations can be obtained using formula (1), simultaneous gets up to obtain four unknown number x, y, z and Δ t.
GPS navigation is that global, round-the-clock, continuous precision navigation and stationkeeping ability, real-time are outstanding；But easily by electromagnetic interference；GPS
The work of system receiver is influenceed by aircraft is motor-driven, for example, GPS signal update frequency typically in the Hz of 1 Hz~2, if
Aircraft needs quick renewal navigation information, and the needs of aircraft fresh information cannot be met by individually carrying GPS system.
Particularly it is used for the unmanned plane of logistics, generally requires to fly in city；GPS system is highly susceptible to disturb,
Influence the navigation of unmanned plane.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of navigation system of logistics unmanned plane,
The interference of signal can be avoided, is accurate to up to delivery destination.
The technical solution adopted by the present invention is as follows：
A kind of navigation system of logistics unmanned plane of the present invention, including Navigation of Pilotless Aircraft device and several ground control stations；Institute
State and communicated between Navigation of Pilotless Aircraft device and ground control station.
Further, the Navigation of Pilotless Aircraft device includes navigation elements and Transmit-Receive Unit；The navigation elements, for for nothing
It is man-machine to be navigated；The Transmit-Receive Unit, for carrying out data receiver and transmission between ground control station.
Further, the navigation elements are inertial navigation system, including gyroscope and accelerometer；Navigation elements connection flies
Control module.
Further, the ground control station includes monitoring unmanned module, navigation programming module and communication module；The nothing
Man-machine monitoring module, for detecting the unmanned plane in affiliated area；The navigation programming module, enters for the flight to unmanned plane
Row navigation programming；The communication module, for being communicated between unmanned plane and data transfer.
Further, the monitoring unmanned module uses radar.
A kind of air navigation aid of logistics unmanned plane, including：Ground control station detects unmanned plane, when detecting unmanned plane, together
When receive unmanned plane destination information；Navigation programming is carried out, and navigation information is sent to unmanned plane, guiding unmanned plane is carried out
Flight.
Further, the unmanned plane destination information that the ground control station receives comes from a ground control station.
Further, when unmanned plane enters next region, navigated by the ground control station in the region.
Further, between ground control station and unmanned plane after bi-directional verification, carry out data transmission, transmission data are carried out
Encryption.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Compared with prior art, originally
The logistics UAV Navigation System of invention, due to not using GPS navigation system, and inertial navigation is used, and be based on earth station
Navigated, so as to solve the problems, such as that existing Navigation of Pilotless Aircraft easily by signal interference, is done suitable for signals such as city and hives
Serious region is disturbed, simultaneously because logistics needs to be sent to different places in transporting, certain transport zone can be divided into
Several regions, set ground control station in the zone, subregion navigation are carried out by multiple ground control stations, so as to avoid
The problem of unmanned plane needs to carry out telecommunication, shortens the communication distance between unmanned plane and control station, can accelerate to lead
The feedback and data transfer of boat control, while certain Communication Jamming can be reduced, keep the stable operation of navigation system.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of the navigation system of logistics unmanned plane of the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
Such as Fig. 1, a kind of navigation system of logistics unmanned plane of the present invention, including Navigation of Pilotless Aircraft device and several ground
Face control station；Communicated between the Navigation of Pilotless Aircraft device and ground control station.
The Navigation of Pilotless Aircraft device includes navigation elements and Transmit-Receive Unit；The navigation elements, for entering for unmanned plane
Row navigation；The Transmit-Receive Unit, for carrying out data receiver and transmission between ground control station.
The navigation elements are inertial navigation system, including gyroscope and accelerometer；Navigation elements connection flies control module.
Used inertial navigation system not by the signal interference in the external world, can keep the stabilized flight of unmanned plane completely.
The ground control station includes monitoring unmanned module, navigation programming module and communication module；The unmanned plane prison
Module is controlled, for detecting the unmanned plane in affiliated area；The navigation programming module, navigates for the flight to unmanned plane
Planning；The communication module, for being communicated between unmanned plane and data transfer；The monitoring unmanned module uses thunder
Reach.
A kind of air navigation aid of logistics unmanned plane of the present invention, including：Ground control station detects unmanned plane, when detecting nobody
Machine, while receive unmanned plane destination information；Navigation programming is carried out, and navigation information is sent to unmanned plane, guides nobody
Machine is flown；The unmanned plane destination information that the ground control station receives comes from a ground control station；When nobody
Machine enters next region, is navigated by the ground control station in the region；By two-way between ground control station and unmanned plane
After checking, carry out data transmission, transmission data are encrypted.
Logistics unmanned plane is sent to next ground before logistics center takes off, by the destination information of unmanned plane and controlled
Stand, while nobody in logistics center region is navigated；When unmanned plane enters another region, unmanned plane receives another
The navigation of one ground control station, after unmanned plane receives the navigation of another earth station, navigation information failure before, navigation
Information updating；Ground control station is arranged at logistics receiving point；Charging device is provided with, charging continuation of the journey is carried out for unmanned plane；Simultaneously
The landing of ground control station management unmanned plane is launched and taken off；When detecting multiple unmanned plane landing, unmanned plane is automatically controlled
Successively land.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (9)
- A kind of 1. navigation system of logistics unmanned plane, it is characterised in that：Controlled including Navigation of Pilotless Aircraft device and several ground System station；Communicated between the Navigation of Pilotless Aircraft device and ground control station.
- 2. the navigation system of logistics unmanned plane according to claim 1, it is characterised in that：The Navigation of Pilotless Aircraft device bag Include navigation elements and Transmit-Receive Unit；The navigation elements, for being navigated for unmanned plane；The Transmit-Receive Unit, for ground Data receiver and transmission are carried out between the control station of face.
- 3. the navigation system of logistics unmanned plane according to claim 2, it is characterised in that：The navigation elements are led for inertia Boat system, including gyroscope and accelerometer；Navigation elements connection flies control module.
- 4. the navigation system of logistics unmanned plane according to claim 1, it is characterised in that：The ground control station includes nothing Man-machine monitoring module, navigation programming module and communication module；The monitoring unmanned module, for detecting the nothing in affiliated area It is man-machine；The navigation programming module, navigation programming is carried out for the flight to unmanned plane；The communication module, for nobody Communicated between machine and data transfer.
- 5. the navigation system of logistics unmanned plane according to claim 4, it is characterised in that：The monitoring unmanned module is adopted Use radar.
- A kind of 6. air navigation aid of logistics unmanned plane, it is characterised in that：Including：Ground control station detects unmanned plane, when detecting Unmanned plane, while receive unmanned plane destination information；Navigation programming is carried out, and navigation information is sent to unmanned plane, is guided Unmanned plane is flown.
- 7. the air navigation aid of logistics unmanned plane according to claim 6, it is characterised in that：What the ground control station received Unmanned plane destination information comes from a ground control station.
- 8. the air navigation aid of logistics unmanned plane according to claim 6, it is characterised in that：When unmanned plane enters next area Domain, navigated by the ground control station in the region.
- 9. the air navigation aid of logistics unmanned plane according to claim 6, it is characterised in that：Ground control station and unmanned plane it Between after bi-directional verification, carry out data transmission, transmission data be encrypted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711024143.6A CN107727093A (en) | 2017-10-27 | 2017-10-27 | A kind of navigation system and its method of logistics unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711024143.6A CN107727093A (en) | 2017-10-27 | 2017-10-27 | A kind of navigation system and its method of logistics unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107727093A true CN107727093A (en) | 2018-02-23 |
Family
ID=61203140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711024143.6A Withdrawn CN107727093A (en) | 2017-10-27 | 2017-10-27 | A kind of navigation system and its method of logistics unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107727093A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319116A (en) * | 2018-09-12 | 2019-02-12 | 北京星云城科技有限公司 | A kind of police UAV system based on distributed unmanned plane base station |
| EP4141840A1 (en) * | 2021-08-30 | 2023-03-01 | Airbus Operations GmbH | Communication device, communication system, and method for communication |
-
2017
- 2017-10-27 CN CN201711024143.6A patent/CN107727093A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319116A (en) * | 2018-09-12 | 2019-02-12 | 北京星云城科技有限公司 | A kind of police UAV system based on distributed unmanned plane base station |
| EP4141840A1 (en) * | 2021-08-30 | 2023-03-01 | Airbus Operations GmbH | Communication device, communication system, and method for communication |
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Application publication date: 20180223 |
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| WW01 | Invention patent application withdrawn after publication |