CN111930151A - Ground measurement and control system for industrial-grade unmanned aerial vehicle - Google Patents
Ground measurement and control system for industrial-grade unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111930151A CN111930151A CN202010676062.XA CN202010676062A CN111930151A CN 111930151 A CN111930151 A CN 111930151A CN 202010676062 A CN202010676062 A CN 202010676062A CN 111930151 A CN111930151 A CN 111930151A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- ground
- rotary table
- aerial vehicle
- ground measurement
- 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.)
- Pending
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 79
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention relates to a ground measurement and control system for an industrial unmanned aerial vehicle, which aims to solve the problem that the flight of the industrial unmanned aerial vehicle is limited by terrain and distance. The system comprises a directional panel antenna, a ground data link terminal, a servo tracking rotary table, a ground measurement and control station and a satellite positioning module. The directional panel antenna is arranged on the servo tracking rotary table and used for receiving the position information, the telemetering information and the image information of the unmanned aerial vehicle sent by the unmanned aerial vehicle and sending the received information to the ground measurement and control station through the ground data link terminal and the servo tracking rotary table; the satellite positioning module is used for acquiring position information of the ground measurement and control station and sending the position information to the ground measurement and control station; the ground measurement and control station is used for displaying and monitoring information of the unmanned aerial vehicle, calculating a rotation angle of the servo tracking rotary table according to position information of the unmanned aerial vehicle and position information of the ground measurement and control station, controlling the servo tracking rotary table to rotate, and simultaneously sending remote control information to the unmanned aerial vehicle through the servo tracking rotary table, the ground data link terminal and the directional panel antenna.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle measurement and control, in particular to a ground measurement and control system for an industrial-grade unmanned aerial vehicle.
Background
A drone is an unmanned aircraft that is operated by a radio remote control or self-contained programmed control device. The unmanned aerial vehicle measurement and control system is an important component of an unmanned aerial vehicle system, is used for realizing remote control, remote measurement, tracking and positioning and image information transmission of the unmanned aerial vehicle, and directly influences the overall performance of the unmanned aerial vehicle, so that the ground measurement and control system plays a key role in the application of the unmanned aerial vehicle.
In the prior art, the unmanned aerial vehicle mainly uses a short-distance omnidirectional antenna as a communication means, so that the measurement and control distance is short, the application is single, and the ground measurement and control point is limited. And to industrial unmanned aerial vehicle, the application of patrolling and examining or patrolling the line is mostly long distance, on a large scale, and the topography and the distance requirement of its flight are hardly satisfied to current communication means.
Disclosure of Invention
The invention aims to solve the problems that an unmanned aerial vehicle in the prior art mainly uses a short-distance omnidirectional antenna as a communication means, has short measurement and control distance, single application and limited ground measurement and control points, and is difficult to meet the requirements of the terrain and distance for flying of an industrial unmanned aerial vehicle, and provides a ground measurement and control system for the industrial unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a ground system of observing and controling for industrial grade unmanned aerial vehicle which characterized in that:
the system comprises a directional panel antenna, a ground data link terminal, a servo tracking rotary table, a ground measurement and control station and a satellite positioning module;
the directional panel antenna is arranged on the servo tracking rotary table and used for receiving the position information, the telemetering information and the image information of the unmanned aerial vehicle sent by the unmanned aerial vehicle and sending the received information to the ground measurement and control station through the ground data link terminal and the servo tracking rotary table;
the satellite positioning module is arranged on the ground measurement and control station and used for acquiring position information of the ground measurement and control station and sending the position information to the ground measurement and control station;
the ground measurement and control station is used for displaying and monitoring position information, remote measurement information and image information of the unmanned aerial vehicle, and calculating a rotation angle of the servo tracking rotary table according to the position information of the unmanned aerial vehicle and the position information of the ground measurement and control station, so that the servo tracking rotary table is controlled to rotate, and meanwhile, remote control information is sent to the unmanned aerial vehicle through the servo tracking rotary table, the ground data link terminal and the directional panel antenna.
Further, the directional panel antenna communicates with the ground data link terminal through a radio frequency interface.
Furthermore, the ground data chain terminal is communicated with the servo tracking rotary table through a serial port and a network port.
Furthermore, the servo tracking rotary table is communicated with the ground measurement and control station through a network port.
Furthermore, the satellite positioning module is communicated with the ground measurement and control station through a serial port.
Furthermore, the servo tracking rotary table is a two-dimensional servo tracking rotary table and can rotate along the horizontal direction and the vertical direction.
Further, the ground data link terminal is fixedly installed on the back of the directional panel antenna.
Furthermore, the ground measurement and control station supplies power to the servo tracking rotary table and the ground data chain terminal.
Further, a tripod is included;
the servo tracking turntable is mounted on a tripod.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the ground measurement and control system for the industrial-grade unmanned aerial vehicle, the servo tracking rotary table is controlled to rotate through the ground measurement and control station, so that the directional panel antenna is aligned to the real-time position of the unmanned aerial vehicle, remote control information is sent, position information, remote control information, image information and the like of the unmanned aerial vehicle are received, the performance of the directional panel antenna is fully exerted, tracking and measurement and control of the unmanned aerial vehicle at any position are realized, the problem that the flight of the industrial-grade unmanned aerial vehicle is limited by terrain and distance is effectively solved, and the system is simple in structure and high in mobility;
(2) in the invention, the ground data link terminal is fixedly arranged on the back of the directional panel antenna and is connected through the radio frequency cable, so that the system volume can be effectively reduced, and the installation and the disassembly are more convenient;
(3) the system can be arranged on the ground, a mobile vehicle or a mobile ship, and effectively solves the problem of limitation of ground measurement and control points.
Drawings
FIG. 1 is an architecture diagram of a ground measurement and control system for an industrial-grade drone according to the present invention;
FIG. 2 is a signal flow diagram of one embodiment of the present invention;
fig. 3 is a schematic diagram of an installation structure of a servo tracking turntable, a directional panel antenna, a ground data link terminal and a tripod in the embodiment of the invention.
The reference numbers in the figures are respectively: 1-directional panel antenna, 2-ground data link terminal, 3-servo tracking turntable, 4-tripod.
Detailed Description
In order to make the objects, advantages and features of the present invention clearer, a ground measurement and control system for an industrial-grade unmanned aerial vehicle according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, 2, and 3, the ground measurement and control system for an industrial-grade unmanned aerial vehicle includes a directional panel antenna 1, a ground data link terminal 2, a servo tracking turntable 3, a ground measurement and control station, and a satellite positioning module. The directional panel antenna 1 is installed on the servo tracking rotary table 3, the ground data terminal 2 is installed on the back face of the directional panel antenna 1, and the servo tracking rotary table 3 is a two-dimensional servo tracking rotary table and can rotate in the horizontal direction and the vertical direction, so that the horizontal direction and the pitching angle of the directional panel antenna 1 are adjusted.
The directional panel antenna 1 is used for receiving unmanned aerial vehicle position information, telemetering information and image information sent by an unmanned aerial vehicle, the received information is sent to a ground measurement and control station through a ground data link terminal 2 and a servo tracking rotary table 3, and the directional panel antenna 1 can be replaced according to actual requirements so as to achieve the effect of ultra-long distance communication. The satellite positioning module is arranged on the ground measurement and control station and used for acquiring position information of the ground measurement and control station and sending the position information to the ground measurement and control station. The ground measurement and control station is used for displaying and monitoring the position information of the unmanned aerial vehicle, the remote measurement information and the image information, and the rotating angle of the servo tracking rotary table 3 is calculated according to the position information of the unmanned aerial vehicle and the position information of the ground measurement and control station, so that the servo tracking rotary table 3 is controlled to rotate, the directional panel antenna 1 is aligned to the real-time position of the unmanned aerial vehicle, and meanwhile, the remote control information is sent to the unmanned aerial vehicle through the servo tracking rotary table 3, the ground data link terminal 2 and the directional panel antenna 1.
The information transmission process is mainly completed through the following port communication: the directional panel antenna 1 is communicated with the ground data link terminal 2 through a radio frequency interface; the ground data chain terminal 2 and the servo tracking rotary table 3 are communicated through a serial port and a network port, wherein the serial port is an RS-422 serial port; the servo tracking rotary table 3 is communicated with a ground measurement and control station through a network port, wherein the network port is a hundred-million network port; the satellite positioning module is communicated with the ground measurement and control station through a serial port.
In the system, the servo tracking rotary table 3 can be regarded as a bidirectional pipeline, has the functions of a network port and a serial port, and is only used for finishing the work of information transmission and rotation.
When the system works, the directional panel antenna 1 sends the received position information, the remote measuring information and the image information of the unmanned aerial vehicle to the ground data link terminal 2 through the radio frequency interface, the ground data link terminal 2 sends the information to the servo tracking rotary table 3 through the network port, the servo tracking rotary table 3 sends the information to the ground measurement and control station through the network port, and the ground measurement and control station displays and monitors the information.
Meanwhile, the satellite positioning module also sends the acquired position information of the ground measurement and control station to the ground measurement and control station, and the ground measurement and control station calculates the rotation angle of the servo tracking rotary table 3 according to the position information of the unmanned aerial vehicle and the position information of the ground measurement and control station. Specifically, the ground measurement and control station position information comprises the current longitude, latitude and altitude of the ground measurement and control station, the unmanned aerial vehicle position information comprises the current longitude, latitude and altitude of the unmanned aerial vehicle, and the ground measurement and control station calculates the azimuth angle and the pitch angle of the current unmanned aerial vehicle relative to the ground measurement and control station according to the two information, so that the servo tracking rotary table 3 is controlled to rotate to track the real-time azimuth of the unmanned aerial vehicle.
The ground measurement and control station sends a control signal to the servo tracking rotary table 3 and remote control information to the unmanned aerial vehicle to the servo tracking rotary table 3 through the network port, the servo tracking rotary table 3 sends the information to the ground data link terminal 2 through the network port, the ground data link terminal 2 decomposes the received data, then sends the control signal to the servo tracking rotary table 3 through the serial port, and the servo tracking rotary table 3 rotates according to the control signal, so that the directional plate antenna 1 is aligned to the real-time position of the unmanned aerial vehicle; meanwhile, the ground data link terminal 2 sends the remote control information of the unmanned aerial vehicle to the directional panel antenna 1 through the radio frequency interface, and the directional panel antenna 1 sends the remote control information to the unmanned aerial vehicle through radio communication. The above process may be performed by the relevant hardware being instructed by a computer program, which may be stored in a computer-readable storage medium.
In the working process, the ground measurement and control station supplies power to the servo tracking rotary table 3 and the ground data chain terminal 2.
During actual installation, the ground data link terminal 2 is fixedly installed on the back of the directional panel antenna 1, so that the system volume can be effectively reduced, and the use amount of radio frequency cables is reduced. The servo tracking turntable 3 is mounted on a tripod 4 to increase the height of the directional panel antenna 1 and to make the servo tracking turntable 3 more stable.
The system can be arranged on the ground, a mobile vehicle or a mobile ship to meet the measurement and control requirements of the unmanned aerial vehicle in different environments.
Claims (9)
1. The utility model provides a ground system of observing and controling for industrial grade unmanned aerial vehicle which characterized in that:
the system comprises a directional panel antenna (1), a ground data link terminal (2), a servo tracking rotary table (3), a ground measurement and control station and a satellite positioning module;
the directional panel antenna (1) is arranged on the servo tracking rotary table (3) and used for receiving unmanned aerial vehicle position information, telemetering information and image information sent by the unmanned aerial vehicle and sending the received information to the ground measurement and control station through the ground data link terminal (2) and the servo tracking rotary table (3);
the satellite positioning module is arranged on the ground measurement and control station and used for acquiring position information of the ground measurement and control station and sending the position information to the ground measurement and control station;
the ground measurement and control station is used for displaying and monitoring position information, remote measurement information and image information of the unmanned aerial vehicle, and calculating a rotation angle of the servo tracking rotary table (3) according to the position information of the unmanned aerial vehicle and the position information of the ground measurement and control station, so that the servo tracking rotary table (3) is controlled to rotate, and meanwhile, remote control information is sent to the unmanned aerial vehicle through the servo tracking rotary table (3), the ground data link terminal (2) and the directional panel antenna (1).
2. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 1, characterized in that:
the directional panel antenna (1) is communicated with the ground data link terminal (2) through a radio frequency interface.
3. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 1, characterized in that:
and the ground data chain terminal (2) is communicated with the servo tracking rotary table (3) through a serial port and a network port.
4. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 1, characterized in that:
and the servo tracking rotary table (3) is communicated with the ground measurement and control station through a network port.
5. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 1, characterized in that:
and the satellite positioning module is communicated with the ground measurement and control station through a serial port.
6. The ground measurement and control system for industrial-grade unmanned aerial vehicles of any one of claims 1 to 5, characterized in that:
the servo tracking rotary table (3) is a two-dimensional servo tracking rotary table and can rotate in the horizontal direction and the vertical direction.
7. The ground measurement and control system for industrial-grade unmanned aerial vehicle of claim 6, characterized in that:
and the ground data link terminal (2) is fixedly arranged on the back of the directional panel antenna (1).
8. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 7, wherein:
and the ground measurement and control station supplies power to the servo tracking rotary table (3) and the ground data chain terminal (2).
9. The ground measurement and control system for industrial-grade unmanned aerial vehicles of claim 8, wherein:
also comprises a tripod (4);
the servo tracking rotary table (3) is arranged on a tripod (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676062.XA CN111930151A (en) | 2020-07-14 | 2020-07-14 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010676062.XA CN111930151A (en) | 2020-07-14 | 2020-07-14 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111930151A true CN111930151A (en) | 2020-11-13 |
Family
ID=73312923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010676062.XA Pending CN111930151A (en) | 2020-07-14 | 2020-07-14 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111930151A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113535259A (en) * | 2021-06-28 | 2021-10-22 | 北京国科华路航天科技有限公司 | Configuration method and device for aerospace measurement and control station |
| CN115576355A (en) * | 2022-10-25 | 2023-01-06 | 四川一电航空技术有限公司 | Unmanned aerial vehicle data transmission system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1356561A (en) * | 2001-12-29 | 2002-07-03 | 北京航空航天大学 | Antenna tracking device for robot helicopter and its operation method |
| US20150260824A1 (en) * | 2014-03-13 | 2015-09-17 | Chester Charles Malveaux | Unmanned aerial system drone situational awareness flight safety and tracking system |
| CN206696708U (en) * | 2017-04-06 | 2017-12-01 | 南京继航科技有限公司 | Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA |
| CN108475076A (en) * | 2017-04-21 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Antenna alignment method and ground control terminal |
| CN110085966A (en) * | 2019-04-29 | 2019-08-02 | 西安爱生无人机技术有限公司 | A kind of ground telemetering and remote-control integral antenna and platform |
| CN110928334A (en) * | 2019-12-17 | 2020-03-27 | 上海电力大学 | Automatic tracking antenna holder system and method based on Beidou positioning |
-
2020
- 2020-07-14 CN CN202010676062.XA patent/CN111930151A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1356561A (en) * | 2001-12-29 | 2002-07-03 | 北京航空航天大学 | Antenna tracking device for robot helicopter and its operation method |
| US20150260824A1 (en) * | 2014-03-13 | 2015-09-17 | Chester Charles Malveaux | Unmanned aerial system drone situational awareness flight safety and tracking system |
| CN206696708U (en) * | 2017-04-06 | 2017-12-01 | 南京继航科技有限公司 | Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA |
| CN108475076A (en) * | 2017-04-21 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Antenna alignment method and ground control terminal |
| CN110085966A (en) * | 2019-04-29 | 2019-08-02 | 西安爱生无人机技术有限公司 | A kind of ground telemetering and remote-control integral antenna and platform |
| CN110928334A (en) * | 2019-12-17 | 2020-03-27 | 上海电力大学 | Automatic tracking antenna holder system and method based on Beidou positioning |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113535259A (en) * | 2021-06-28 | 2021-10-22 | 北京国科华路航天科技有限公司 | Configuration method and device for aerospace measurement and control station |
| CN115576355A (en) * | 2022-10-25 | 2023-01-06 | 四川一电航空技术有限公司 | Unmanned aerial vehicle data transmission system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202904922U (en) | Driving test automation device based on global positioning system | |
| CN201717865U (en) | Wideband mobile satellite communication system with plate slot phased array antenna | |
| CN201522787U (en) | Ship pilotage system | |
| CN103303452B (en) | A kind of unmanned boat automatically walking boat without rudder | |
| CN105425208A (en) | Positioning system and method used for accurate navigation of unmanned aerial vehicle | |
| CN106299725B (en) | It is a kind of based on the communication vehicle carried station antenna of Beidou dual-mode terminal to Barebone | |
| CN209804898U (en) | Directional tracking antenna capable of searching signal | |
| CN111930151A (en) | Ground measurement and control system for industrial-grade unmanned aerial vehicle | |
| CN104467947A (en) | Helicopter platform satellite communication terminal | |
| CN108227754A (en) | A kind of twin shaft holder automatic tracking method and system | |
| CN203117728U (en) | Unmanned-plane individual-soldier portable ground control station system | |
| CN107329160A (en) | A kind of unmanned plane antenna direction tracing system positioned based on the Big Dipper | |
| CN113526349B (en) | Detection method and detection system for diagonal pulling of heavy crane hook | |
| CN105870603A (en) | Antenna control method for high-speed rail broadband private network high-dynamic conversion system | |
| CN202084642U (en) | Directional tracking system control device for antenna of pilotless aircraft | |
| CN207459193U (en) | A kind of antenna for satellite communication in motion system | |
| CN105301621A (en) | Vehicle positioning device and intelligent driving exam system | |
| CN204391277U (en) | The quick satellite-finding device of a kind of small-bore satellite antenna of mobile model | |
| CN108919184A (en) | A kind of method for positioning mobile robot based on wireless signal | |
| CN202395385U (en) | Sag observation remote control travelling trolley based on global positioning system (GPS) positioning technique | |
| CN207339850U (en) | A kind of UAV system that earth station's function is realized based on mobile equipment | |
| CN212932967U (en) | Intelligent guide system of pile machine | |
| CN112217580B (en) | Radio aerial monitoring system and method based on unmanned aerial vehicle | |
| CN204832531U (en) | Accurate positioning system of bucket wheel machine | |
| CN205265671U (en) | Float empty wireless signal transceiver and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201113 |
|
| RJ01 | Rejection of invention patent application after publication |