CN204631621U - Aircraft precision positioning anchorage system - Google Patents
Aircraft precision positioning anchorage system Download PDFInfo
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- CN204631621U CN204631621U CN201520248651.2U CN201520248651U CN204631621U CN 204631621 U CN204631621 U CN 204631621U CN 201520248651 U CN201520248651 U CN 201520248651U CN 204631621 U CN204631621 U CN 204631621U
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Abstract
The utility model discloses a kind of aircraft precision positioning anchorage system, this system comprises base station and aircraft, base station comprises level point and at least three signal emitting-source for utilizing emitted light signal or wireless signal, aircraft is provided with at least three sensors for receiving optical signals or wireless signal, at least three signal emitting-sources and described at least three sensor one_to_one corresponding, and the pattern that both are formed is consistent; Each sensor receives at least three light signals or wireless signal, and compares the light signal of reception or the signal power of wireless signal; Aircraft adjusts position voluntarily, make each sensor receive correspondence position signal emitting-source launch light signal or wireless signal be better than other signal emitting-sources launch light signal or wireless signal, then aircraft is in directly over level point, aircraft sends locking signal, base station is followed, with grappling or drop on level point with locking.The utility model can realize aircraft and accurately locate, with satisfied flight demand.
Description
Technical field
The utility model relates to technical field of navigation and positioning, particularly relates to aircraft precision positioning anchorage system.
Background technology
Along with popularizing of unmanned vehicle, increasing unmanned vehicle navigation feature needs positional information to support, i.e. so-called location-based information service (LBS), therefore location technology develops into the gordian technique that unmanned vehicle navigation field has supportive.Current Aerial vehicle position anchorage system can be applicable to aircraft carry out the energy supplement need locate grappling landing when, when also can be applied in other needs landing, current Aerial vehicle position anchorage system positioning accurate density difference, the accurate grappling of aircraft can not be made or drop on energy supply base station or other predeterminated positions, affecting carrying out smoothly of its follow-up work.
Utility model content
The technical problems to be solved in the utility model is, for the defect of prior art, and the aircraft precision positioning anchorage system providing Position location accuracy high.
The utility model solves the technical scheme that its technical matters adopts: a kind of aircraft precision positioning anchorage system, comprise base station and aircraft, described base station comprises level point and is distributed in around described level point at least three signal emitting-sources for utilizing emitted light signal or wireless signal, described aircraft is provided with at least three for receiving the sensor of described light signal or wireless signal, described at least three signal emitting-sources and described at least three sensor one_to_one corresponding, and the pattern that both are formed is consistent; Described light signal or wireless signal carry signal emitting-source identification number;
The light signal of at least three signal emitting-source transmittings described in each sensor receives or wireless signal, and compare the light signal of reception or the signal power of wireless signal;
Described aircraft adjusts position voluntarily, make each sensor receive correspondence position signal emitting-source launch light signal or wireless signal be better than other signal emitting-sources launch light signal or wireless signal, then described aircraft is in directly over described level point, described aircraft sends locking signal, described base station is followed, with grappling or drop on described level point with locking.
Preferably, described signal emitting-source and described sensor all arrange three, setting triangular in shape.
Preferably, one in described three sensors is on the axis of described aircraft head and the tail, and two other axis along described aircraft head and the tail is symmetrical arranged.
Preferably, described signal emitting-source and described sensor are equilateral triangle distribution.
Preferably, described level point is arranged on the barycenter oftriangle of three signal emitting-sources formation.
Preferably, described base station arranges on the mobile apparatus and can follow described mobile device and moves.
Preferably, described mobile device comprises boats and ships, aircraft or automobile.
The utility model compared with prior art tool has the following advantages: implement the utility model, by arranging at least three signal emitting-sources in base station, and correspondence arranges at least three sensors on board the aircraft, the light signal of three signal emitting-sources transmittings received according to each sensor or the intensity of wireless signal, be in directly over level point with aircraft, accurately locate object to reach, its anchoring process is simple and convenient, registration, effectively can meet the demand of aircraft precision positioning.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the schematic diagram of aircraft precision positioning anchorage system in the utility model one embodiment.
Fig. 2 is the process flow diagram of the location anchorage method of aircraft precision positioning anchorage system in the utility model one embodiment.
Embodiment
In order to there be understanding clearly to technical characteristic of the present utility model, object and effect, now contrast accompanying drawing and describe embodiment of the present utility model in detail.
Fig. 1 illustrates the aircraft precision positioning anchorage system in the utility model one embodiment.This aircraft precision positioning anchorage system comprises base station and aircraft, understandably, this base station can be energy supply base station, carries out the energy supplement for aircraft, and this aircraft precision positioning anchorage system can make aircraft accurately navigate to energy supply base station to carry out the energy to supplement.
Particularly, base station comprises level point and is distributed in around level point at least three signal emitting-sources for utilizing emitted light signal or wireless signal, aircraft is provided with at least three sensors for receiving optical signals or wireless signal, at least three signal emitting-sources and at least three sensor one_to_one corresponding, and the pattern that both are formed is consistent.Light signal or wireless signal carry signal emitting-source identification number.Understandably, base station can be arranged on the mobile devices such as boats and ships, aircraft, automobile and can to follow mobile device and move, and aircraft follows base station movement and grappling or drop on level point.
In the present embodiment, signal emitting-source and sensor all arrange three, setting triangular in shape.One in three sensors is on the axis of aircraft head and the tail, and two other axis along aircraft head and the tail is symmetrical arranged (namely arranging in isosceles triangle).As shown in Figure 1, this aircraft can be quadrotor, and base station is provided with the 1# signal emitting-source for utilizing emitted light signal or wireless signal of level point and setting triangular in shape, 2# signal emitting-source and 3# signal emitting-source; Aircraft is provided with the 1# sensor for receiving optical signals or wireless signal of setting triangular in shape, 2# sensor and 3# sensor, three signal emitting-sources and three sensor one_to_one corresponding, and the triangle that formed of three signal emitting-sources and three sensors formed triangular shaped consistent.Particularly, light signal or wireless signal carry Base Station Identification number and signal emitting-source identification number, to identify the signal emitting-source on the base station of this light signal or wireless signal and base station respectively.Understandably, the light signal that signal emitting-source is launched or wireless signal have certain scattering angle, and have audio range frequency, to avoid signal disturbing.
Each sensor receives light signal or the wireless signal of at least three signal emitting-sources transmittings, and compares the light signal of reception or the signal power of wireless signal.Understandably, the power of the light signal that receives of each sensor or wireless signal depends on the distance with signal emitting-source distance.I.e. 1# sensor, 2# sensor and 3# sensor all can receive 1# signal emitting-source, the light signal that 2# signal emitting-source and 3# signal emitting-source are launched or wireless signal, this light signal or wireless signal carry Base Station Identification number and signal emitting-source identification number, as being bordering on 2# signal emitting-source and 3# signal emitting-source when the distance of the 1# signal emitting-source on 1# sensor distance 1# base station, then 1# sensor receives light signal that 1# signal emitting-source on 1# base station launches or wireless signal is better than the light signal or wireless signal that 2# signal emitting-source is sent out and 3# signal emitting-source is launched.
Aircraft adjusts position voluntarily, make each sensor receive correspondence position signal emitting-source launch light signal or wireless signal be better than other signal emitting-sources launch light signal or wireless signal, be in directly over level point to make aircraft.Understandably, the signal that aircraft can receive according to it is strong and weak, make its grappling and within the level point preset height scope hovering over base station, especially when carrying out the energy and supplementing, control aircraft within the preset height scope of level point, the aircraft energy can be made to supplement stable, avoid the energy to supplement instability and even interrupt.
In the present embodiment, aircraft is from himself position of Row sum-equal matrix, 1# sensor is received light signal that 1# signal emitting-source launches or wireless signal are better than the light signal or wireless signal that 2# signal emitting-source and 3# signal emitting-source launch, meanwhile, 2# sensor receives light signal that 2# signal emitting-source launches or wireless signal and is better than the light signal or wireless signal that 1# signal emitting-source and 3# signal emitting-source launch; And 3# sensor receives light signal that 3# signal emitting-source launches or wireless signal and is better than the light signal or wireless signal that 1# signal emitting-source and 2# signal emitting-source launch, now aircraft is on base station directly over level point, to reach the object of accurately location.Understandably, when aircraft to be on base station directly over level point, aircraft can be controlled and hover over directly over level point or control unmanned vehicle and drop on level point; Also can send locking signal, follow base station to lock aircraft, to make aircraft grappling or to drop on the level point of base station, when avoiding base station movement, aircraft precision positioning grappling operation need be re-started.
In the present embodiment, 1# signal emitting-source, 2# signal emitting-source and 3# signal emitting-source are that equilateral triangle is arranged, level point is arranged in the center of gravity of equilateral triangle, namely level point is identical to the distance of three signal emitting-sources, meanwhile, 1# sensor, 2# sensor and 3# sensor are also arranged in equilateral triangle, time above aircraft flight to level point, the intensity of the strongest aerial signal that three sensors receive is consistent, to improve accuracy and the accuracy of its location.
As Fig. 2 and shown in composition graphs 1, the location anchorage method of this aircraft precision positioning anchorage system, the method comprises the steps:
S1: each sensor of aircraft receives light signal or the wireless signal of at least three signal emitting-sources transmittings, and compare the light signal of reception or the signal power of wireless signal.Understandably, each sensor of aircraft can be arranged a Signal reception point, receive the identical light signal of frequency range or wireless signal for timesharing, or the wireless signal that real-time reception frequency range is not identical, compare to carry out signal power.Or each covers disposed on sensor of aircraft puts at least three Signal reception points with signal emitting-source data consistent, for timesharing or the identical or different light signal of real-time reception frequency range or wireless signal.Understandably, for the light signal that frequency is not identical, can only each covers disposed on sensor put at least three Signal reception points in real time or timesharing receive.
S2: aircraft is strong and weak according to the signal of the light signal received or wireless signal, adjust position voluntarily, make each sensor receive correspondence position signal emitting-source launch light signal or wireless signal be better than other signal emitting-sources launch light signal or wireless signal, be in directly over level point to make aircraft.
S3: control unmanned vehicle and hover over directly over described level point, or control unmanned vehicle drops on level point.Understandably, the signal that aircraft can receive according to it is strong and weak, make its grappling and within the level point preset height scope hovering over base station, especially when carrying out the energy and supplementing, control aircraft within the preset height scope of level point, the aircraft energy can be made to supplement stable, avoid the energy to supplement instability and even interrupt.
Also comprise step S4: when aircraft is in directly over level point, locking aircraft and described base station, when being arranged on the mobile devices such as boats and ships, aircraft, automobile to make base station, can closely follow mobile device to move, follow base station movement to make aircraft and grappling or drop on level point with avoid base station follow mobile device move time, need re-start aircraft precision positioning grappling operation.
Understandably, the location anchorage method of aircraft precision positioning anchorage system is simple and convenient, registration, effectively can meet the demand of aircraft precision positioning.
The utility model is described by several specific embodiment, it will be appreciated by those skilled in the art that, when not departing from the utility model scope, can also carry out various conversion and be equal to substituting to the utility model.In addition, for particular condition or concrete condition, various amendment can be made to the utility model, and not depart from scope of the present utility model.Therefore, the utility model is not limited to disclosed specific embodiment, and should comprise the whole embodiments fallen in the utility model right.
Claims (7)
1. an aircraft precision positioning anchorage system, it is characterized in that, comprise base station and aircraft, described base station comprises level point and is distributed in around described level point at least three signal emitting-sources for utilizing emitted light signal or wireless signal, described aircraft is provided with at least three for receiving the sensor of described light signal or wireless signal, described at least three signal emitting-sources and described at least three sensor one_to_one corresponding, and the pattern that both are formed is consistent; Described light signal or wireless signal carry signal emitting-source identification number;
The light signal of at least three signal emitting-source transmittings described in each sensor receives or wireless signal, and compare the light signal of reception or the signal power of wireless signal;
Described aircraft adjusts position voluntarily, make each sensor receive correspondence position signal emitting-source launch light signal or wireless signal be better than other signal emitting-sources launch light signal or wireless signal, then described aircraft is in directly over described level point, described aircraft sends locking signal, described base station is followed, with grappling or drop on described level point with locking.
2. aircraft precision positioning anchorage system according to claim 1, is characterized in that, described signal emitting-source and described sensor all arrange three, setting triangular in shape.
3. aircraft precision positioning anchorage system according to claim 2, is characterized in that, one in described three sensors is on the axis of described aircraft head and the tail, and two other axis along described aircraft head and the tail is symmetrical arranged.
4. aircraft precision positioning anchorage system according to claim 3, is characterized in that, described signal emitting-source and described sensor are equilateral triangle distribution.
5. aircraft precision positioning anchorage system according to claim 2, is characterized in that, described level point is arranged on the barycenter oftriangle of three signal emitting-sources formation.
6. the aircraft precision positioning anchorage system according to any one of claim 1-5, is characterized in that, described base station arranges on the mobile apparatus and can follow described mobile device and moves.
7. aircraft precision positioning anchorage system according to claim 6, it is characterized in that, described mobile device comprises boats and ships, aircraft or automobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520248651.2U CN204631621U (en) | 2015-04-22 | 2015-04-22 | Aircraft precision positioning anchorage system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520248651.2U CN204631621U (en) | 2015-04-22 | 2015-04-22 | Aircraft precision positioning anchorage system |
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| CN204631621U true CN204631621U (en) | 2015-09-09 |
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| CN201520248651.2U Expired - Fee Related CN204631621U (en) | 2015-04-22 | 2015-04-22 | Aircraft precision positioning anchorage system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107200143A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院半导体研究所 | A kind of vertically taking off and landing flyer blind landing system based on VLC |
| CN109923492A (en) * | 2016-11-14 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Flight path determines |
| CN110111060A (en) * | 2019-05-17 | 2019-08-09 | 曹恩源 | A kind of unmanned plane cargo conveyor system and its method |
-
2015
- 2015-04-22 CN CN201520248651.2U patent/CN204631621U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109923492A (en) * | 2016-11-14 | 2019-06-21 | 深圳市大疆创新科技有限公司 | Flight path determines |
| US11868131B2 (en) | 2016-11-14 | 2024-01-09 | SZ DJI Technology Co., Ltd. | Flight path determination |
| CN107200143A (en) * | 2017-06-08 | 2017-09-26 | 中国科学院半导体研究所 | A kind of vertically taking off and landing flyer blind landing system based on VLC |
| CN110111060A (en) * | 2019-05-17 | 2019-08-09 | 曹恩源 | A kind of unmanned plane cargo conveyor system and its method |
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Effective date of registration: 20151019 Address after: 518101 Guangdong Province, Baoan District Xixiang Street on the south side of Shenzhen City Tian Yi Lu Bao Xing Hong Technology Park plant A plant on the south side of 04 Patentee after: Shenzhen Crystal Video Technology Co., Ltd. Address before: 518101 Guangdong Province, Baoan District Xixiang Street on the south side of Shenzhen City Tian Yi Lu Bao Xing Hong Technology Park plant A plant on the south side of 04 Patentee before: Shenzhen Crystal Video Technology Co., Ltd. Patentee before: SHENZHEN SHIJING FIGURE TRANSMISSION TECHNOLOGY CO., LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150909 Termination date: 20180422 |