CN113280815B - Unmanned aerial vehicle bee colony room-entering positioning system - Google Patents
Unmanned aerial vehicle bee colony room-entering positioning system Download PDFInfo
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- 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
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses an unmanned aerial vehicle swarm indoor positioning system which comprises a base station type unmanned aerial vehicle, a beacon type unmanned aerial vehicle and a swarm ground control station. By the technical scheme, the problem that the UWB base station cannot be deployed in advance for indoor positioning in the indoor environment of an operation scene in advance can be solved, seamless positioning mode switching in the indoor and outdoor environments can be achieved, the indoor operation positioning capacity of the unmanned aerial vehicle swarm is improved, and accurate position information is provided for reconnaissance, control and attack of the unmanned aerial vehicle swarm.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle swarm battle, and particularly relates to an unmanned aerial vehicle swarm indoor positioning system based on combination of UWB (ultra wide band), GPS (global positioning system) and inertial navigation.
Background
In recent years, with the wide application of artificial intelligence technology, the unmanned aerial vehicle swarm battle technology and equipment development of a new concept of unmanned aerial vehicle swarm battle are rapidly developed, wherein the unmanned aerial vehicle swarm battle technology is composed of a large number of unmanned aerial vehicles, and the technical tactic and equipment is supported by the cooperative interaction capacity between the unmanned aerial vehicles and is centered on swarm intelligence. In the future urban battle, the novel urban battle can replace fighters to carry out various high-risk battle tasks and become an important supplement for manned battles.
In urban operations, indoor operations are important operation scenes, and unmanned aerial vehicle bee colony needs to have the capacity of indoor operations and can transfer a battlefield from outdoors to indoors. The positioning technology plays an important role in the operation of the unmanned aerial vehicle swarm, can provide battlefield position information for tasks such as information investigation, air route planning, target striking, situation analysis and the like, and can also provide accurate, reliable and real-time relative positioning information for the flight control of the unmanned aerial vehicle in the swarm.
The unmanned aerial vehicle usually adopts Global Positioning System (GPS) to fix a position outdoors, and when the unmanned aerial vehicle is indoors, because the signal shelters from, the unmanned aerial vehicle can't receive the GPS signal, needs to adopt indoor technique. Currently, widely used indoor positioning technologies are inertial navigation technology and Ultra Wide Band (UWB) positioning technology. The Inertial navigation technology integrates angular velocity and acceleration provided by an Inertial Measurement Unit (IMU) to obtain coordinates of the unmanned aerial vehicle relative to an initial position, and the method has the characteristics that short-time positioning is accurate, but long-time errors are large due to accumulation of positioning errors; the UWB positioning technology carries out three-dimensional positioning according to the distances between the beacons and the base stations, and the mode has the characteristics that positioning errors are not accumulated and long-term errors are stable. However, the unmanned plane swarm indoor combat is a continuous process of turning from outdoor to indoor, so that various indoor and outdoor positioning technologies need to be fused, and continuous accurate positioning is provided for the unmanned plane in the whole combat process.
The patent with the publication number of CN109283565A and the name of indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation solves the problem that the indoor and outdoor positioning by using the same system and the difficult connection of mode switching between UWB and GPS can not be satisfied at the same time, and realizes dynamic accurate positioning and complete data acquisition of target users in different indoor and outdoor environments by using UWB technology and inertial navigation. In the method, a UWB base station subsystem consists of a plurality of base stations, the base stations are fixed at different indoor positions, and each independent indoor target area at least needs to be fixed with four base stations for positioning a positioning device entering the area, so that the indoor area where the base stations are not deployed in advance cannot be applied.
According to the patent with the publication number of CN111103611A and the name of UWB and GPS integrated positioning method and system, UWB positioning, GPS positioning and UWB + GPS positioning method selection and switching are carried out according to whether the UWB base station is searched and the received information sent by the server is received, thereby enhancing the deployment flexibility of the UWB base station, solving the problems that the positioning deviation of a transition area is large or positioning cannot be carried out, and the transmission success rate of GPS positioning data return through a remote communication module is low, so that the positioning is stuck or positioning data does not exist. The method mainly aims at a transition area with poor GPS signals in a use scene, adopts UWB to perform auxiliary positioning, needs to analyze the address of the transition area in advance and deploy a UWB base station in advance, and can not realize positioning in an unknown area.
The disclosure number is CN108089180A, entitled "positioning method of suspended rail car for correcting GPS and inertial navigation system based on UWB sensor as rail beacon", which installs GPS positioning system, inertial navigation system and UWB positioning system on rail car, when GPS signal is invalid, positioning result is obtained by weighting positioning information of UWB and inertial navigation, when GPS signal is valid, particle filter is used to fuse multiple positioning modes, thereby overcoming the disadvantage of single positioning mode. In this method, the precondition that the UWB base station needs to be deployed in advance cannot be avoided.
In summary, the indoor and outdoor integrated navigation method in the prior art is based on that UWB deployed in advance performs indoor positioning and conversion and calibration of a preset coordinate system, thereby completing the connection of indoor and outdoor positioning modes. However, in the unmanned aerial vehicle swarm battle scene, the UWB base station cannot be deployed in advance in the indoor battle area, and the fusion of the UWB coordinate system and the GPS coordinate system cannot be designed in advance, so that the existing method cannot meet the application requirements of the urban battle dynamic scene.
Disclosure of Invention
In order to solve the not enough of above-mentioned prior art existence, indoor outer accurate positioning's urgent demand under the dynamic operation environment to swarm unmanned aerial vehicle, it is different to synthesize indoor outer positioning mode of considering, under the condition that the positioning mode switches over the linkage problem, propose one kind based on UWB, unmanned aerial vehicle swarm positioning system that enters the room of GPS and inertial navigation combination, solve and can't deploy the UWB basic station in advance under the indoor environment of operation scene in advance and carry out the problem of indoor location, realize that can seamless linkage's positioning mode switch under indoor outer environment, promote unmanned aerial vehicle swarm indoor operation positioning capability, reconnoiter for unmanned aerial vehicle swarm, control and strike and provide accurate positional information. The specific technical scheme of the invention is as follows:
an unmanned aerial vehicle bee colony room-entering positioning system, comprising: a base station type unmanned aerial vehicle, a beacon type unmanned aerial vehicle and a swarm ground control station, wherein,
the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle are formed by the same hardware and respectively comprise a positioning system and a flying platform; the positioning system comprises a GPS positioning module, an inertial navigation module and a role configurable UWB module; the flight platform comprises a flight control computer, a combat load, a power system and a link module;
the GPS positioning module is respectively used for positioning the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle outdoors; the inertial navigation module of the base station type unmanned aerial vehicle is used for positioning the base station type unmanned aerial vehicle in the room entering process; the inertial navigation module of the beacon type unmanned aerial vehicle is used for positioning when a GPS signal of the beacon type unmanned aerial vehicle fails and a positioning signal of a UWB base station is not received in the process of entering a room;
the base station type unmanned aerial vehicle needs to configure the role-configurable UWB module into a base station mode, and the base station type unmanned aerial vehicle serves as a UWB base station in a system and provides an indoor positioning signal; the beacon-type unmanned aerial vehicle needs to configure the role-configurable UWB module into a beacon mode, acquire the position of the unmanned aerial vehicle by using a positioning signal provided by a UWB base station, and provide navigation and control for executing a predetermined combat task;
the flight control computer is used for receiving the positioning data of the base station type unmanned aerial vehicle and carrying out navigation and control of flight; the combat load is used for providing image reconnaissance and firepower hitting capacity; the power system is used for providing flight power and performing flight action under the control instruction of the flight control computer; the link module is used for data transmission between the unmanned aerial vehicle and the swarm ground control station;
the bee colony ground control station is used for the operating personnel to the whole flight control management and control of unmanned aerial vehicle bee colony system, shows all unmanned aerial vehicle's type, state, position in real time, and operating personnel passes through bee colony ground control station plans base station type unmanned aerial vehicle's circuit of registering one's residence and landing point, and will after it falls the role can be joined in marriage UWB module configuration and become the basic station mode, opens UWB basic station function, and operating personnel passes through bee colony ground control station carries out a key basic station mutual positioning and marks and GPS/UWB coordinate system conversion is markd, accomplishes and marks the back, and operating personnel passes through bee colony ground control station commander beacon type unmanned aerial vehicle registers and carries out the task.
Further, the positioning mode of the base station type unmanned aerial vehicle is as follows: positioning outdoors by adopting the GPS positioning module, and sending positioning data to the flight control computer for navigation and control; in the indoor process, when a GPS signal fails and satellite positioning cannot be carried out, the inertial navigation module of the base station type unmanned aerial vehicle is adopted for positioning, then the unmanned aerial vehicle flies to a bound target waypoint and lands, the UWB base station function is started, and the link module is utilized for broadcasting the state of the unmanned aerial vehicle; and when all the base station type unmanned aerial vehicles or more than 4 base station type unmanned aerial vehicles reach the target waypoints, starting base station mutual positioning calibration, performing GPS/UWB coordinate system conversion calibration after the calibration is finished, and broadcasting the conversion result to all the beacon type unmanned aerial vehicles and the swarm ground control station through the link module.
Furthermore, in the unmanned aerial vehicle swarm indoor positioning system, at least 4 base station type unmanned aerial vehicles are needed to ensure that the beacon type unmanned aerial vehicles realize accurate positioning.
Further, the positioning mode of the beacon-type drone is: positioning outdoors by adopting the GPS positioning module; after the base station type unmanned aerial vehicle enters the room and is calibrated, the unmanned aerial vehicle enters the room and is positioned by using the base station; the beacon type unmanned aerial vehicle is positioned indoors by using a UWB base station, the corresponding GPS coordinate is calculated according to the coordinate system conversion calibration information, navigation and control are carried out by using the converted GPS coordinate, and the GPS coordinate is broadcasted to other beacon type unmanned aerial vehicles and the swarm ground control station in real time through the link module.
A positioning method of an unmanned aerial vehicle swarm indoor positioning system is divided into three stages: the first stage is the configuration of the base station type unmanned aerial vehicle; the second stage is the calibration of the base station type unmanned aerial vehicle; a third phase is deployment of the beacon-type drone; after the three stages are completed, the unmanned aerial vehicle swarm starts to carry out the combat mission according to the command of the swarm ground control station and the carried load capacity, operators carry out the combat command on all the unmanned aerial vehicles in real time through the swarm ground control station according to the mission requirements and the battlefield situation, and the beacon type unmanned aerial vehicle executes the combat mission according to the configured mission mode and the real-time control instruction of the swarm ground control station.
Further, the configuration process of the base station type unmanned aerial vehicle is as follows:
a1: an operator selects an unmanned aerial vehicle ID number as a base station type unmanned aerial vehicle through a swarm ground control station, and sends a configuration instruction to the unmanned aerial vehicle;
a2: after receiving the instruction, the unmanned aerial vehicle configures the role configurable UWB module into a base station mode;
a3: sending a configuration completion state response to the swarm ground control station;
a4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step A1 is returned;
a5: binding an entry route and a drop point by an operator through a swarm ground control station;
a6: the unmanned aerial vehicle receives the binding instruction, and the flight control computer is installed in a flight line and a landing point;
a7: the unmanned aerial vehicle finishes binding and sends a binding state response to the swarm ground control station;
a8: entering a route mode, and switching the unmanned aerial vehicle into an inertial navigation module for positioning after a GPS signal fails in the indoor flight process;
a9: executing a landing operation after reaching a preset landing point;
a10: closing the power device, returning the current state to the swarm ground control station, and completing the configuration process of the machine;
a11: and after the swarm ground control station receives the returned landing state, the configuration process of the current unmanned aerial vehicle is completed, and the configuration of the unmanned aerial vehicle for the next frame is carried out or the second-stage working process is entered according to the requirement.
Further, the calibration process of the base station type unmanned aerial vehicle is as follows:
b1: an operator broadcasts a base station calibration instruction to all base station type unmanned aerial vehicles which reach the landing point through a swarm ground control station;
b2: the base station type unmanned aerial vehicle enters a calibration mode after receiving the calibration instruction;
b3: the base station type unmanned aerial vehicle sends a calibration starting state response to the swarm ground control station;
b4: the swarm ground control station enters the next step to wait for calibration information when receiving the calibration starting state responses of all the base station type unmanned aerial vehicles, and otherwise, returns to the step B1;
b5: distributed ranging is carried out, and distance information among the distributed ranging is obtained;
b6: calibrating a coordinate system;
b7: sending the calibration information to a swarm ground control station to finish unmanned aerial vehicle calibration;
b8: if the swarm ground control station receives the calibration information, the next step is carried out, otherwise, the swarm ground control station continues to wait for the calibration information;
b9: and recording the calibration parameters by the swarm ground control station, completing the calibration process of the swarm ground control station, and entering the third stage of working process.
Further, the calibration process of the coordinate system of the base station type unmanned aerial vehicle in the step B6 is as follows:
b6-1: determining a UWB coordinate system O1X1Y1Z1Wherein, the unmanned plane with the smallest ID number is selected as the origin unmanned plane, and the position thereof is used as the origin O of the coordinate system1Selecting the unmanned plane with the small ID number as the pointing unmanned plane and the position as Y1Direction, taken vertically as Z1Direction based on Y1And Z1Direction estimate X1Direction;
b6-2: calculating the positions of all base station type unmanned aerial vehicles under a UWB coordinate system according to the inter-machine distance information;
b6-3: calculating O based on the GPS coordinates obtained by the inertial navigation module based on the origin unmanned aerial vehicle and the pointing unmanned aerial vehicle1Y1Deviation angle theta of coordinate axes relative to true north;
b6-4: and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin unmanned aerial vehicle and the north deviation angle theta.
Further, the deployment of the beacon type unmanned aerial vehicle comprises the following specific processes:
c1: an operator sends coordinate system calibration parameters to the base station type unmanned aerial vehicle through the swarm ground control station;
c2: the beacon type unmanned aerial vehicle receives the calibration parameters of the coordinate system and then configures the calibration parameters;
c3: the beacon type unmanned aerial vehicle sends a configuration completion response to the swarm ground control station;
c4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C1 is returned;
c5: an operator plans an inbound route and deploys tasks through a swarm ground control station;
c6: the beacon type unmanned aerial vehicle binds air routes and configures a task mode after receiving a planning instruction;
c7: the beacon type unmanned aerial vehicle sends a mission planning state response to the swarm ground control station;
c8: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C5 is returned;
c9: an operator sends a task instruction through the swarm ground control station, the swarm ground control station completes a deployment process and enters an operational task process;
c10: the beacon type unmanned aerial vehicle enters a flight line after receiving a task instruction, the unmanned aerial vehicle is switched to an inertial navigation module for positioning after a GPS signal fails in the indoor flight process, then is switched to a UWB positioning mode after receiving the UWB signal, and converts UWB positioning information into GPS positioning information for navigation and control of flight according to coordinate system calibration parameters;
c11: the beacon type unmanned aerial vehicle completes the deployment process of the unmanned aerial vehicle, and then enters the battle task process.
The invention has the beneficial effects that:
1. the number advantage of the unmanned plane swarm system is utilized to provide two unmanned plane roles of a base station type and a beacon type. The base station type unmanned aerial vehicle is used for deploying a UWB base station and providing a positioning signal; beacon type drones use UWB to locate and provide precise navigation and control for performing scheduled combat missions.
2. Aiming at the positioning requirement of indoor operation, the base station type unmanned aerial vehicle is dispatched to quickly enter the room to a specified position by utilizing the characteristic of high short-time precision of inertial navigation, and then the field calibration of the UWB base station is carried out, so that the positioning system is quickly deployed under the unknown operation scene.
3. Through the mode that the role can be configured to the UWB module, the usable ground control station of operating personnel carries out the role configuration to the unmanned aerial vehicle of coming into the room operation, carries out follow-up unmanned aerial vehicle UWB module's role selection according to the situation information of returning after getting into the room, possesses the flexibility that the battlefield was used.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
fig. 1 is an overall system schematic diagram of an unmanned aerial vehicle swarm room-entering positioning system;
fig. 2 is a schematic diagram of a stand-alone structure of the unmanned aerial vehicle swarm room-entering positioning system;
fig. 3 is a stage workflow of an unmanned aerial vehicle colony-entering positioning process;
fig. 4 is a two-stage workflow of the drone swarm indoor location process;
fig. 5 is a three-stage workflow of the drone swarm room location process.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The existing indoor and outdoor integrated positioning system of the unmanned aerial vehicle generally adopts a mechanism of utilizing GPS positioning outdoors and UWB positioning indoors, and seamless connection of indoor and outdoor behaviors can be realized. However, this approach has the following disadvantages:
unmanned aerial vehicle gets into indoor UWB of adopting and fixes a position, need deploy UWB basic station in advance for unmanned aerial vehicle gets into the room and loses behind the GPS signal, can receive UWB basic station signal immediately and fix a position. However, UWB base stations cannot be deployed in advance in combat indoor areas in actual combat;
when the unmanned aerial vehicle is transferred from the outdoor to the indoor for switching the positioning mode, the stability of the flight control of the unmanned aerial vehicle is realized, and seamless connection is needed between the modes. For GPS and UWB positioning modes adopting different coordinate systems, the connection can be realized only by loading coordinate system conversion parameters, and the parameters can not be obtained by calibrating the coordinate system before the UWB base station is deployed.
The invention relates to an unmanned aerial vehicle swarm indoor positioning system based on combination of UWB, GPS and inertial navigation, and provides a solution for the defects of the traditional indoor and outdoor fusion positioning system.
As shown in fig. 1-2, an unmanned aerial vehicle swarm room-entering positioning system comprises: a base station type unmanned aerial vehicle, a beacon type unmanned aerial vehicle and a swarm ground control station, wherein,
the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle are formed by the same hardware and respectively comprise a positioning system and a flight platform; the positioning system comprises a GPS positioning module, an inertial navigation module and a role configurable UWB module; the flight platform comprises a flight control computer, a combat load, a power system and a link module;
the GPS positioning module is respectively used for positioning the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle outdoors; the inertial navigation module of the base station type unmanned aerial vehicle is used for positioning the base station type unmanned aerial vehicle in the room entering process; the inertial navigation module of the beacon type unmanned aerial vehicle is used for positioning when a GPS signal of the beacon type unmanned aerial vehicle fails and a positioning signal of a UWB base station is not received in the process of entering a room;
the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle are different in that a role can be configured with the configuration of a UWB module, the role can be defaulted to be in a beacon mode after the UWB module is powered on, after a configuration instruction is received, the base station type unmanned aerial vehicle needs to configure the role can be configured with the UWB module to be in a base station mode, and the base station type unmanned aerial vehicle serves as a UWB base station in a system and provides an indoor positioning signal; the beacon-type unmanned aerial vehicle needs to configure a role-configurable UWB module into a beacon mode, acquire the position of the unmanned aerial vehicle by using a positioning signal provided by a UWB base station, and provide navigation and control for executing a predetermined combat task;
the flight control computer is used for receiving the positioning data of the base station type unmanned aerial vehicle and carrying out navigation and control of flight; the combat load is used for providing image reconnaissance and firepower hitting capability; the power system is used for providing flight power and performing flight action under the control instruction of the flight control computer; the link module is used for data transmission between the unmanned aerial vehicle and the cluster control station;
the bee colony ground control station is used for the whole flight control management and control of operating personnel to unmanned aerial vehicle bee colony system, show all unmanned aerial vehicle's type in real time, the state, the position, operating personnel plans the route of registering one's residence and the landing point of base station type unmanned aerial vehicle through bee colony ground control station, and can join in marriage the UWB module configuration with the role and configure into the base station mode after its landing, open UWB base station function, operating personnel carries out a key basic station mutual positioning calibration and GPS/UWB coordinate system conversion calibration through bee colony ground control station, accomplish and mark the back, operating personnel commands beacon type unmanned aerial vehicle to register the residence through bee colony ground control station and carries out the task.
In some embodiments, the positioning mode of the base station type drone is: positioning outdoors by adopting a GPS positioning module, sending the positioning data to a flight control computer, and then navigating and controlling; in the indoor process, when the GPS signal is invalid and satellite positioning cannot be carried out, the inertial navigation module of the base station type unmanned aerial vehicle is adopted for positioning, then the unmanned aerial vehicle flies to a bound target waypoint and lands, the UWB base station function is started, and the link module is utilized for broadcasting the state of the unmanned aerial vehicle; and when all the base station type unmanned aerial vehicles or more than 4 base station type unmanned aerial vehicles reach the target waypoints, starting base station mutual positioning calibration, performing GPS/UWB coordinate system conversion calibration after the calibration is completed, and broadcasting the conversion result to all the beacon type unmanned aerial vehicles and the swarm ground control station through the link module.
In some embodiments, in the drone swarm indoor positioning system, at least 4 base station type drones are needed to ensure that the beacon type drones achieve accurate positioning.
In some embodiments, the positioning mode of the beacon-type drone is: positioning outdoors by adopting a GPS positioning module; after the base station type unmanned aerial vehicle enters the room and is calibrated, the unmanned aerial vehicle enters the room and is positioned by the base station; the beacon type unmanned aerial vehicle is positioned indoors by using a UWB base station, the corresponding GPS coordinate is calculated according to the coordinate system conversion calibration information, navigation and control are carried out by using the converted GPS coordinate, and the GPS coordinate is broadcasted to other beacon type unmanned aerial vehicles and the swarm ground control station in real time through the link module.
In some embodiments, the positioning method of the drone swarm room positioning system is divided into three phases: the first stage is the configuration of a base station type unmanned aerial vehicle; the second stage is the calibration of the base station type unmanned aerial vehicle; the third stage is the deployment of beacon type unmanned aerial vehicles; after the three stages are completed, the unmanned aerial vehicle swarm starts to carry out the combat mission according to the command of the swarm ground control station and the carrying load capacity, an operator carries out real-time combat command on all unmanned aerial vehicles through the swarm ground control station according to the mission requirement and the battlefield situation, and the beacon type unmanned aerial vehicle executes the combat mission according to the configured mission mode and the real-time control command of the swarm ground control station.
As shown in fig. 3, the configuration flow of the base station type drone is as follows:
a1: an operator selects an unmanned aerial vehicle ID number as a base station type unmanned aerial vehicle through a swarm ground control station, and sends a configuration instruction to the unmanned aerial vehicle;
a2: after receiving the instruction, the unmanned aerial vehicle configures the role configurable UWB module into a base station mode;
a3: sending a configuration completion state response to the swarm ground control station;
a4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step A1 is returned;
a5: binding an entry route and a drop point by an operator through a swarm ground control station;
a6: the unmanned aerial vehicle receives the binding instruction, and the flight control computer is installed in a flight line and a landing point;
a7: the unmanned aerial vehicle finishes binding and sends a binding state response to the swarm ground control station;
a8: entering a route mode, and switching the unmanned aerial vehicle into an inertial navigation module for positioning after a GPS signal fails in the indoor flight process;
a9: executing a landing operation after reaching a preset landing point;
a10: closing the power device, returning the current state to the swarm ground control station, and completing the configuration process of the machine;
a11: and after the swarm ground control station receives the returned landing state, the configuration process of the current unmanned aerial vehicle is completed, and the configuration of the unmanned aerial vehicle for the next frame is carried out or the second-stage working process is entered according to the requirement.
As shown in fig. 4, the calibration process of the base station type drone is as follows:
b1: an operator broadcasts a base station calibration instruction to all base station type unmanned aerial vehicles which reach the landing point through a swarm ground control station;
b2: the base station type unmanned aerial vehicle enters a calibration mode after receiving the calibration instruction;
b3: the base station type unmanned aerial vehicle sends a calibration starting state response to the swarm ground control station;
b4: the swarm ground control station enters the next step to wait for calibration information when receiving the calibration starting state responses of all the base station type unmanned aerial vehicles, and otherwise, returns to the step B1;
b5: distributed ranging is carried out, and distance information among the distributed ranging is obtained;
b6: calibrating a coordinate system;
b7: sending the calibration information to a swarm ground control station to finish unmanned aerial vehicle calibration;
b8: if the swarm ground control station receives the calibration information, the next step is carried out, otherwise, the swarm ground control station continues to wait for the calibration information;
b9: and recording the calibration parameters by the swarm ground control station, completing the calibration process of the swarm ground control station, and entering the third stage of working process.
In some embodiments, the calibration process of the coordinate system of the base station type drone in step B6 is as follows:
b6-1: determining a UWB coordinate system O1X1Y1Z1Wherein, the unmanned plane with the smallest ID number is selected as the origin unmanned plane, and the position thereof is used as the origin O of the coordinate system1Selecting the unmanned plane with the small ID number as the pointing unmanned plane and the position as Y1Direction, taken vertically as Z1Direction based on Y1And Z1Direction estimate X1Direction;
b6-2: calculating the positions of all base station type unmanned aerial vehicles under a UWB coordinate system according to the inter-machine distance information;
b6-3: calculating O based on the GPS coordinates obtained by the inertial navigation module based on the origin unmanned aerial vehicle and the pointing unmanned aerial vehicle1Y1Deviation angle theta of coordinate axes relative to true north;
b6-4: and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin unmanned aerial vehicle and the north deviation angle theta.
As shown in fig. 5, the specific flow of deployment of beacon-type drones is as follows:
c1: an operator sends coordinate system calibration parameters to the base station type unmanned aerial vehicle through the swarm ground control station;
c2: the beacon type unmanned aerial vehicle receives the calibration parameters of the coordinate system and then configures the calibration parameters;
c3: the beacon type unmanned aerial vehicle sends a configuration completion response to the swarm ground control station;
c4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C1 is returned;
c5: an operator plans an inbound route and deploys tasks through a swarm ground control station;
c6: the beacon type unmanned aerial vehicle binds air routes and configures a task mode after receiving a planning instruction;
c7: the beacon type unmanned aerial vehicle sends a mission planning state response to the swarm ground control station;
c8: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C5 is returned;
c9: an operator sends a task instruction through the swarm ground control station, the swarm ground control station completes a deployment process and enters an operational task process;
c10: the beacon type unmanned aerial vehicle enters a flight line after receiving a task instruction, the unmanned aerial vehicle is switched to an inertial navigation module for positioning after a GPS signal fails in the indoor flight process, then is switched to a UWB positioning mode after receiving the UWB signal, and converts UWB positioning information into GPS positioning information for navigation and control of flight according to coordinate system calibration parameters;
c11: the beacon type unmanned aerial vehicle completes the deployment process of the unmanned aerial vehicle, and then enters the battle task process.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an unmanned aerial vehicle bee colony room-entering positioning system which characterized in that includes: a base station type unmanned aerial vehicle, a beacon type unmanned aerial vehicle and a swarm ground control station, wherein,
the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle are formed by the same hardware and respectively comprise a positioning system and a flying platform; the positioning system comprises a GPS positioning module, an inertial navigation module and a role configurable UWB module; the flight platform comprises a flight control computer, a combat load, a power system and a link module;
the GPS positioning module is respectively used for positioning the base station type unmanned aerial vehicle and the beacon type unmanned aerial vehicle outdoors; the inertial navigation module of the base station type unmanned aerial vehicle is used for positioning the base station type unmanned aerial vehicle in the room entering process; the inertial navigation module of the beacon type unmanned aerial vehicle is used for positioning when a GPS signal of the beacon type unmanned aerial vehicle fails and a positioning signal of a UWB base station is not received in the process of entering a room;
the base station type unmanned aerial vehicle needs to configure the role-configurable UWB module into a base station mode, and the base station type unmanned aerial vehicle serves as a UWB base station in a system and provides an indoor positioning signal; the beacon-type unmanned aerial vehicle needs to configure the role-configurable UWB module into a beacon mode, acquire the position of the unmanned aerial vehicle by using a positioning signal provided by a UWB base station, and provide navigation and control for executing a predetermined combat task;
the flight control computer is used for receiving the positioning data of the base station type unmanned aerial vehicle and carrying out navigation and control of flight; the combat load is used for providing image reconnaissance and firepower hitting capacity; the power system is used for providing flight power and performing flight action under the control instruction of the flight control computer; the link module is used for data transmission between the unmanned aerial vehicle and the swarm ground control station;
the swarm ground control station is used for the operator to carry out integral flight control management and control on an unmanned plane swarm room-entering positioning system, the types, states and positions of all unmanned planes are displayed in real time, the operator plans a room-entering line and a landing point of the base station type unmanned plane through the swarm ground control station, and configures the role-configurable UWB module into a base station mode after the landing of the base station type unmanned plane, the UWB base station function is started, the operator carries out one-key base station mutual positioning calibration and GPS/UWB coordinate system conversion calibration through the swarm ground control station, and after the calibration is completed, the operator commands the beacon type unmanned plane room-entering execution task through the swarm ground control station;
the positioning mode of the base station type unmanned aerial vehicle is as follows: positioning outdoors by adopting the GPS positioning module, and sending positioning data to the flight control computer for navigation and control; in the indoor process, when a GPS signal fails and satellite positioning cannot be carried out, the inertial navigation module of the base station type unmanned aerial vehicle is adopted for positioning, then the unmanned aerial vehicle flies to a bound target waypoint and lands, the UWB base station function is started, and the link module is utilized for broadcasting the state of the unmanned aerial vehicle; when all the base station type unmanned aerial vehicles or more than 4 base station type unmanned aerial vehicles reach a target waypoint, starting base station mutual positioning calibration, performing GPS/UWB coordinate system conversion calibration after the calibration is completed, and broadcasting the conversion result to all the beacon type unmanned aerial vehicles and the swarm ground control station through the link module;
the beacon type unmanned aerial vehicle is characterized in that the positioning modes are as follows: positioning outdoors by adopting the GPS positioning module; after the base station type unmanned aerial vehicle enters the room and is calibrated, the unmanned aerial vehicle enters the room and is positioned by using the base station; the beacon type unmanned aerial vehicle is positioned indoors by using a UWB base station, the corresponding GPS coordinate is calculated according to the coordinate system conversion calibration information, navigation and control are carried out by using the converted GPS coordinate, and the GPS coordinate is broadcasted to other beacon type unmanned aerial vehicles and the swarm ground control station in real time through the link module.
2. An unmanned aerial vehicle swarm room positioning system as claimed in claim 1, wherein at least 4 base station type unmanned aerial vehicles are required in the unmanned aerial vehicle swarm room positioning system to ensure accurate positioning of the beacon type unmanned aerial vehicle.
3. A method for locating a drone swarm room location system according to claim 1, characterized in that it comprises the following phases: the first stage is the configuration of the base station type unmanned aerial vehicle; the second stage is the calibration of the base station type unmanned aerial vehicle; a third phase is deployment of the beacon-type drone; after the three stages are completed, the unmanned aerial vehicle swarm starts to carry out the combat mission according to the command of the swarm ground control station and the carried load capacity, operators carry out the combat command on all the unmanned aerial vehicles in real time through the swarm ground control station according to the mission requirements and the battlefield situation, and the beacon type unmanned aerial vehicle executes the combat mission according to the configured mission mode and the real-time control instruction of the swarm ground control station.
4. The method of claim 3, wherein the base station type drone is configured by the following steps:
a1: an operator selects an unmanned aerial vehicle ID number as a base station type unmanned aerial vehicle through a swarm ground control station, and sends a configuration instruction to the unmanned aerial vehicle;
a2: after receiving the instruction, the unmanned aerial vehicle configures the role configurable UWB module into a base station mode;
a3: sending a configuration completion state response to the swarm ground control station;
a4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step A1 is returned;
a5: binding an entry route and a drop point by an operator through a swarm ground control station;
a6: the unmanned aerial vehicle receives the binding instruction, and the flight control computer is installed in a flight line and a landing point;
a7: the unmanned aerial vehicle finishes binding and sends a binding state response to the swarm ground control station;
a8: entering a route mode, and switching the unmanned aerial vehicle into an inertial navigation module for positioning after a GPS signal fails in the indoor flight process;
a9: executing a landing operation after reaching a preset landing point;
a10: closing the power device, returning the current state to the swarm ground control station, and completing the configuration process of the machine;
a11: and after the swarm ground control station receives the returned landing state, the configuration process of the current unmanned aerial vehicle is completed, and the configuration of the unmanned aerial vehicle for the next frame is carried out or the second-stage working process is entered according to the requirement.
5. The method of claim 3, wherein the calibration process of the base station type drone is as follows:
b1: an operator broadcasts a base station calibration instruction to all base station type unmanned aerial vehicles which reach the landing point through a swarm ground control station;
b2: the base station type unmanned aerial vehicle enters a calibration mode after receiving the calibration instruction;
b3: the base station type unmanned aerial vehicle sends a calibration starting state response to the swarm ground control station;
b4: the swarm ground control station enters the next step to wait for calibration information when receiving the calibration starting state responses of all the base station type unmanned aerial vehicles, and otherwise, returns to the step B1;
b5: distributed ranging is carried out, and distance information among the distributed ranging is obtained;
b6: calibrating a coordinate system;
b7: sending the calibration information to a swarm ground control station to finish unmanned aerial vehicle calibration;
b8: if the swarm ground control station receives the calibration information, the next step is carried out, otherwise, the swarm ground control station continues to wait for the calibration information;
b9: and recording the calibration parameters by the swarm ground control station, completing the calibration process of the swarm ground control station, and entering the third stage of working process.
6. The method of claim 5, wherein the calibration process of the coordinate system of the base station type drone in step B6 is as follows:
b6-1: determining a UWB coordinate system O1X1Y1Z1Wherein, the unmanned plane with the smallest ID number is selected as the origin unmanned plane, and the position thereof is used as the origin O of the coordinate system1Selecting the unmanned plane with the small ID number as the pointing unmanned plane and the position as Y1Direction, taken vertically as Z1Direction based on Y1And Z1Direction estimate X1Direction;
b6-2: calculating the positions of all base station type unmanned aerial vehicles under a UWB coordinate system according to the inter-machine distance information;
b6-3: calculating O based on the GPS coordinates obtained by the inertial navigation module based on the origin unmanned aerial vehicle and the pointing unmanned aerial vehicle1Y1Deviation angle theta of coordinate axes relative to true north;
b6-4: and calculating all parameters in a conversion matrix from the UWB coordinate system to the GPS coordinate system according to the GPS coordinate of the origin unmanned aerial vehicle and the north deviation angle theta.
7. The method according to claim 3, wherein the deployment of beacon-type drones is performed by the following steps:
c1: an operator sends coordinate system calibration parameters to the beacon type unmanned aerial vehicle through the swarm ground control station;
c2: the beacon type unmanned aerial vehicle receives the calibration parameters of the coordinate system and then configures the calibration parameters;
c3: the beacon type unmanned aerial vehicle sends a configuration completion response to the swarm ground control station;
c4: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C1 is returned;
c5: an operator plans an inbound route and deploys tasks through a swarm ground control station;
c6: the beacon type unmanned aerial vehicle binds air routes and configures a task mode after receiving a planning instruction;
c7: the beacon type unmanned aerial vehicle sends a mission planning state response to the swarm ground control station;
c8: if the swarm ground control station receives the response packet, the next step is carried out, otherwise, the step C5 is returned;
c9: an operator sends a task instruction through the swarm ground control station, the swarm ground control station completes a deployment process and enters an operational task process;
c10: the beacon type unmanned aerial vehicle enters a flight line after receiving a task instruction, the unmanned aerial vehicle is switched to an inertial navigation module for positioning after a GPS signal fails in the indoor flight process, then is switched to a UWB positioning mode after receiving the UWB signal, and converts UWB positioning information into GPS positioning information for navigation and control of flight according to coordinate system calibration parameters;
c11: the beacon type unmanned aerial vehicle completes the deployment process of the unmanned aerial vehicle, and then enters the battle task process.
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