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CN120803008A - Accurate positioning control method and device for vehicle-mounted unmanned aerial vehicle - Google Patents

Accurate positioning control method and device for vehicle-mounted unmanned aerial vehicle

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Publication number
CN120803008A
CN120803008A CN202510852446.5A CN202510852446A CN120803008A CN 120803008 A CN120803008 A CN 120803008A CN 202510852446 A CN202510852446 A CN 202510852446A CN 120803008 A CN120803008 A CN 120803008A
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CN
China
Prior art keywords
vehicle
real
time
uav
unmanned aerial
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
Application number
CN202510852446.5A
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Chinese (zh)
Inventor
李健
林德兴
瞿嵌
高硕�
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Suzhou Lanzhong Technology Co ltd
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Suzhou Lanzhong Technology Co ltd
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Application filed by Suzhou Lanzhong Technology Co ltd filed Critical Suzhou Lanzhong Technology Co ltd
Priority to CN202510852446.5A priority Critical patent/CN120803008A/en
Publication of CN120803008A publication Critical patent/CN120803008A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明提供一种车载无人机精准定位控制方法及装置，车载无人机精准定位控制方法包括：当确定无人机端脱离储运箱执行飞行任务时，获取无人机端的机端实时位置和机端实时速度，对机端实时位置进行RTK差分处理以获取无人机端的机端定位位置；根据时间差、重力加速度、车载端的实时加速度矢量、车载端的实时姿态矩阵矢量、机端定位位置及机端实时速度，计算获取无人机端的实际精准位置。本发明车载无人机精准定位控制方法能够对无人机端的机端实时位置进行RTK差分处理以及定位补偿，以获取无人机端的实际精准位置，从而精准导航无人机端精准降落至车载端的储运箱内。

The present invention provides a method and device for accurately positioning a vehicle-mounted UAV. The method comprises: obtaining the real-time position of the UAV when determining that the UAV is separated from the storage and transportation box to perform a flight mission; and real-time speed on the machine side , real-time location of the machine Perform RTK differential processing to obtain the drone's end-to-end positioning position ; Based on the time difference , gravitational acceleration , real-time acceleration vector of the vehicle , real-time posture matrix vector of the vehicle terminal , machine end positioning position And the real-time speed of the machine , calculate and obtain the actual precise position of the drone The vehicle-mounted UAV precise positioning control method of the present invention can accurately position the UAV in real time. Perform RTK differential processing and positioning compensation to obtain the actual precise position of the drone , thereby accurately navigating the drone to land precisely in the storage and transportation box on the vehicle.

Description

Accurate positioning control method and device for vehicle-mounted unmanned aerial vehicle
Technical Field
The invention relates to the technical field of vehicle-mounted unmanned aerial vehicles, in particular to a vehicle-mounted unmanned aerial vehicle accurate positioning control method and a vehicle-mounted unmanned aerial vehicle accurate positioning control device.
Background
Unmanned aerial vehicles, abbreviated as "unmanned aerial vehicles", abbreviated as "UAVs", are unmanned aerial vehicles that are operated by a radio remote control device and a self-contained programming device, or are operated autonomously, either entirely or intermittently, by an onboard computer. Because unmanned aerial vehicle need not personnel to drive and small in size, can regard as reconnaissance machine, target drone to use in the military aspect, in civil aspect, take photo by plane, agriculture, plant protection, miniature self-timer, express delivery transportation, disaster rescue, observe wild animal, monitor infectious disease, survey and drawing, news report, electric power inspection, relief of disaster, film and television shooting etc. the field wide application.
In order to further expand the application range of the unmanned aerial vehicle, the vehicle and the unmanned aerial vehicle are combined together to form a vehicle-mounted unmanned aerial vehicle system, namely, the vehicle-mounted unmanned aerial vehicle takes the vehicle as a working platform of the unmanned aerial vehicle, and the autonomous take-off and landing operation of the unmanned aerial vehicle is realized by carrying the modularized unmanned aerial vehicle on the vehicle and moving an airport. When the unmanned aerial vehicle has low electric quantity or a user sends a return instruction, the unmanned aerial vehicle can follow the moving vehicle-mounted platform to complete autonomous tracking, positioning and landing. The vehicle-mounted unmanned aerial vehicle system has the advantages of unmanned aerial vehicle activity and long-distance movement of a command vehicle, can well supplement the defects of short duration and small flight radius of the current unmanned aerial vehicle, and simultaneously greatly saves the operation time.
The existing vehicle-mounted unmanned aerial vehicle system detects and positions the vehicle-mounted platform through a visual positioning module carried on the unmanned aerial vehicle in the process that the unmanned aerial vehicle falls to the vehicle-mounted platform, so that the positioning navigation unmanned aerial vehicle falls to the vehicle-mounted platform independently. However, the detection result of the visual positioning module for positioning the vehicle-mounted platform is affected by illumination change, space shielding and other environments, so that the accuracy of visual positioning is reduced, the phenomenon that targets are easy to lose in visual positioning is caused, and the success rate of the unmanned aerial vehicle falling to the vehicle-mounted platform is reduced.
Disclosure of Invention
The invention provides a vehicle-mounted unmanned aerial vehicle accurate positioning control method, which can perform RTK differential processing and positioning compensation on the real-time position of an unmanned aerial vehicle end, so that the actual accurate position of the unmanned aerial vehicle end is accurately positioned, the unmanned aerial vehicle end is accurately navigated to fall into a storage and transportation box of the vehicle-mounted end, and the autonomous falling accuracy of the vehicle-mounted unmanned aerial vehicle is further improved.
The invention provides a vehicle-mounted unmanned aerial vehicle accurate positioning control device, which can perform RTK differential processing and positioning compensation on the real-time position of the unmanned aerial vehicle end, so that the actual accurate position of the unmanned aerial vehicle end is accurately positioned, the unmanned aerial vehicle end is accurately navigated to fall into a storage and transportation box of the vehicle-mounted end, and the autonomous falling accuracy of the vehicle-mounted unmanned aerial vehicle is further improved.
In order to achieve the first aim of the invention, the invention provides a vehicle-mounted unmanned aerial vehicle accurate positioning control method, which comprises the steps that when the unmanned aerial vehicle is determined to be separated from the storage and transportation box to execute a flight task, the real-time position of the unmanned aerial vehicle is obtainedReal-time speed of machine endReal-time position of machine endRTK differential processing is carried out to obtain the positioning position of the unmanned aerial vehicle terminalAccording to the time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted endReal-time attitude matrix vector of vehicle-mounted terminalPositioning position of machine endReal-time speed of machine endCalculating to obtain actual accurate position of unmanned aerial vehicle endTime differenceAnd the time difference is the time difference for the unmanned aerial vehicle terminal to receive the data information of the vehicle-mounted terminal.
From the scheme, the vehicle-mounted unmanned aerial vehicle accurate positioning control method firstly carries out real-time position on the unmanned aerial vehicle endRTK differential processing is carried out to obtain the positioning position of the unmanned aerial vehicle terminalSo that the unmanned aerial vehicle end positions the unmanned aerial vehicle endAchieving centimeter-level precision positioning according to time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted endReal-time attitude matrix vector of vehicle-mounted terminalPositioning position of machine endReal-time speed of machine endCalculating to obtain actual accurate position of unmanned aerial vehicleNamely, the time difference of receiving the data information of the vehicle-mounted terminal by the unmanned aerial vehicle terminalVehicle-mounted end driving dynamics and unmanned aerial vehicle end flying dynamics position unmanned aerial vehicle end machine end positioning positionPerforming positioning compensation calculation to obtain actual accurate position of unmanned aerial vehicleFurther enable the actual accurate position of the unmanned plane endThe positioning device can achieve 1-2 cm-level precision positioning, and provides guarantee for the unmanned aerial vehicle end to accurately fall into the storage and transportation box of the vehicle-mounted end. Therefore, the vehicle-mounted unmanned aerial vehicle accurate positioning control method can be used for positioning the unmanned aerial vehicle end in real timeRTK differential processing and positioning compensation are carried out, so that the actual accurate position of the unmanned aerial vehicle terminal is accurately positionedThe unmanned aerial vehicle is accurately landed in the storage and transportation box of the vehicle-mounted end, so that the autonomous landing accuracy of the vehicle-mounted unmanned aerial vehicle is improved.
A preferred embodiment is that the actual precise position。
The further scheme is that after the unmanned aerial vehicle end is determined to be separated from the storage and transportation box to execute a flight task, a magnetic device at the unmanned aerial vehicle end is started, and/or when the unmanned aerial vehicle end is determined to be positioned in the storage and transportation box, the magnetic device at the unmanned aerial vehicle end is closed, and the magnetic device is used for positioning the direction of the unmanned aerial vehicle end.
According to the scheme, after the unmanned aerial vehicle end is determined to be separated from the storage and transportation box to execute the flight task, the magnetic device at the unmanned aerial vehicle end is started, so that the magnetic device at the unmanned aerial vehicle end performs positioning navigation, and the unmanned aerial vehicle end performs autonomous positioning navigation to execute the flight task. When it is determined that the unmanned aerial vehicle end is located the storage and transportation box, the magnetic device of the unmanned aerial vehicle end is closed, so that data acquisition and transmission between the vehicle-mounted end and the unmanned aerial vehicle end are prevented from being subjected to strong magnetic interference generated by opening of the magnetic sensor, and further data acquisition and transmission can be performed rapidly, and the unmanned aerial vehicle end can be guaranteed to take off normally and rapidly.
In a further scheme, the accurate positioning control method of the vehicle-mounted unmanned aerial vehicle further comprises the steps of obtaining the real-time position of the vehicle at the vehicle-mounted endReal-time speed of vehicleWhen the storage and transportation box is determined to be opened and the unmanned aerial vehicle end is ready to take off, the unmanned aerial vehicle end executes initialization operation to obtain an initialization position of the unmanned aerial vehicle endInitialization speedInitializing course information and simultaneously acquiring an initialized pitch angle of the unmanned aerial vehicle endAnd initializing roll angleSubsequently, the unmanned aerial vehicle end is based on the initialized positionInitialization speedInitializing course information, initializing pitch angleAnd initializing roll angleTake-off to disengage the storage and transportation box, initializing operation including locating the current vehicle in real timeAs an initialization position for the drone sideReal-time speed of current vehicleAs an initialization speed for the unmanned aerial vehicleAnd taking the current real-time heading information of the vehicle as the initialized heading information of the unmanned aerial vehicle terminal.
In a further scheme, when the fact that the storage and transportation box is opened and the unmanned aerial vehicle end is ready to take off is determined, the unmanned aerial vehicle end obtains real-time ephemeris information and real-time observation information of the vehicle-mounted end, so that the unmanned aerial vehicle end is in a hot start state.
According to the scheme, the unmanned aerial vehicle terminal acquires the current real-time ephemeris information and real-time observation information of the vehicle-mounted terminal, so that the unmanned aerial vehicle terminal is in a hot start state, the unmanned aerial vehicle terminal does not need to perform self-search star operation, the current real-time ephemeris information and real-time observation information are directly acquired from the vehicle-mounted terminal, the unmanned aerial vehicle terminal can rapidly search the star to acquire the current real-time ephemeris information and real-time observation information, and therefore the unmanned aerial vehicle terminal can be rapidly positioned, and a rapid take-off function is realized.
In order to achieve the second object of the invention, the invention provides a vehicle-mounted unmanned aerial vehicle accurate positioning control device, which comprises a vehicle-mounted unmanned aerial vehicle system, wherein the vehicle-mounted unmanned aerial vehicle system comprises a vehicle-mounted end and an unmanned aerial vehicle end, the vehicle-mounted end is provided with a storage and transportation box, a dual-antenna GNSS device and a vehicle-end IMU device, the unmanned aerial vehicle end can be positioned in the storage and transportation box, the unmanned aerial vehicle end is provided with an organic-end GNSS device, data information is mutually transmitted between the organic-end GNSS device and the dual-antenna GNSS device, and when the unmanned aerial vehicle end is determined to deviate from the storage and transportation box to execute a flight task, the organic-end GNSS device acquires the real-time position of the unmanned aerial vehicle endReal-time speed of machine endRTK module of unmanned aerial vehicle end is to real-time position of machine endRTK differential processing is carried out to obtain the positioning position of the unmanned aerial vehicle terminalAccording to the time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted endReal-time attitude matrix vector of vehicle-mounted terminalPositioning position of machine endReal-time speed of machine endThe vehicle end IMU device calculates and acquires the actual accurate position of the unmanned aerial vehicle endWherein the vehicle-end IMU device is used for acquiring the real-time acceleration vectorAnd real-time pose matrix vectorsThe difference module of the unmanned aerial vehicle side obtains the time difference of receiving the data information of the double-antenna GNSS device by the GNSS device at the unmanned aerial vehicle side。
From the scheme, the vehicle-mounted unmanned aerial vehicle accurate positioning control device firstly performs real-time position on the unmanned aerial vehicle endRTK differential processing is carried out to obtain the positioning position of the unmanned aerial vehicle terminalSo that the unmanned aerial vehicle end positions the unmanned aerial vehicle endAchieving centimeter-level precision positioning according to time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted endReal-time attitude matrix vector of vehicle-mounted terminalPositioning position of machine endReal-time speed of machine endCalculating to obtain actual accurate position of unmanned aerial vehicleNamely, the time difference of receiving the data information of the vehicle-mounted terminal by the unmanned aerial vehicle terminalVehicle-mounted end driving dynamics and unmanned aerial vehicle end flying dynamics position unmanned aerial vehicle end machine end positioning positionPerforming positioning compensation calculation to obtain actual accurate position of unmanned aerial vehicleFurther enable the actual accurate position of the unmanned plane endThe positioning device can achieve 1-2 cm-level precision positioning, and provides guarantee for the unmanned aerial vehicle end to accurately fall into the storage and transportation box of the vehicle-mounted end. Therefore, the vehicle-mounted unmanned aerial vehicle accurate positioning control device can position the unmanned aerial vehicle end in real timeRTK differential processing and positioning compensation are carried out, so that the actual accurate position of the unmanned aerial vehicle terminal is accurately positionedThe unmanned aerial vehicle is accurately landed in the storage and transportation box of the vehicle-mounted end, so that the autonomous landing accuracy of the vehicle-mounted unmanned aerial vehicle is improved.
Further, the actual accurate position。
The unmanned aerial vehicle is further provided with a magnetic sensor for positioning the unmanned aerial vehicle, and the magnetic sensor is started when the unmanned aerial vehicle is determined to be separated from the storage and transportation box to execute a flight task, and/or is stopped when the unmanned aerial vehicle is determined to be positioned in the storage and transportation box.
According to the scheme, after the unmanned aerial vehicle end is determined to be separated from the storage and transportation box to execute the flight task, the magnetic device at the unmanned aerial vehicle end is started, so that the magnetic device at the unmanned aerial vehicle end, the GNSS device at the unmanned aerial vehicle end and the IMU device at the unmanned aerial vehicle end form the integrated navigation system, and the unmanned aerial vehicle end can autonomously position and navigate to execute the flight task. When the unmanned aerial vehicle end is located the storage and transportation case, the magnetic tool at the unmanned aerial vehicle end is closed, so that data acquisition and transmission between the double-antenna GNSS device at the vehicle-mounted end and the machine-end GNSS device at the unmanned aerial vehicle end are prevented from being interfered by strong magnetism generated by opening of the magnetic sensor, and further data acquisition and transmission can be performed rapidly, and the unmanned aerial vehicle end can be ensured to take off normally and rapidly.
The unmanned aerial vehicle is further provided with an organic IMU device, and the dual-antenna GNSS device acquires the real-time position of the vehicle at the vehicle-mounted endReal-time speed of vehicleWhen the storage and transportation box is determined to be opened and the unmanned aerial vehicle end is ready to take off, the GNSS device at the unmanned aerial vehicle end executes initialization operation to acquire the initialization position of the unmanned aerial vehicle endInitialization speedAnd initializing course information, and acquiring an initialized pitch angle of the unmanned aerial vehicle end by the IMU device at the same time endAnd initializing roll angleSubsequently, the flight control system of the unmanned aerial vehicle end is based on the initialized positionInitialization speedInitializing course information, initializing pitch angleAnd initializing roll angleControlling the take-off of the unmanned aerial vehicle end to be separated from the storage and transportation box, and initializing operation comprises the following steps of positioning the current vehicle in real timeAs an initialization position for the drone sideReal-time speed of current vehicleAs an initialization speed for the unmanned aerial vehicleAnd taking the current real-time heading information of the vehicle as the initialized heading information of the unmanned aerial vehicle terminal.
In a further scheme, when the fact that the storage and transportation box is opened and the unmanned aerial vehicle end is ready to take off is determined, the unmanned aerial vehicle end GNSS device acquires real-time ephemeris information and real-time observation information of the dual-antenna GNSS device, so that the unmanned aerial vehicle end is in a hot start state.
According to the scheme, the unmanned aerial vehicle-side GNSS device acquires the current real-time ephemeris information and real-time observation information of the vehicle-mounted dual-antenna GNSS device, so that the unmanned aerial vehicle-side GNSS device is in a hot start state, the unmanned aerial vehicle-side GNSS device does not need to perform self-search operation, the current real-time ephemeris information and real-time observation information are directly acquired from the vehicle-mounted dual-antenna GNSS device, the unmanned aerial vehicle-side GNSS device can quickly search for the satellites to acquire the current real-time ephemeris information and real-time observation information, and the unmanned aerial vehicle-side GNSS device can be quickly positioned to realize a quick take-off function.
Drawings
Fig. 1 is a schematic structural diagram of the vehicle-mounted unmanned aerial vehicle system of the present invention.
Fig. 2 is a schematic structural diagram of a vehicle-mounted end in the vehicle-mounted unmanned aerial vehicle system of the present invention.
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle end in the vehicle-mounted unmanned aerial vehicle system of the present invention.
Fig. 4 is a flowchart of an embodiment of a method for controlling accurate positioning of a vehicle-mounted unmanned aerial vehicle according to the present invention.
The invention is further described below with reference to the drawings and examples.
Detailed Description
An embodiment of a vehicle-mounted unmanned aerial vehicle accurate positioning control method:
Referring to fig. 1 to 3, the vehicle-mounted unmanned aerial vehicle system of the present embodiment includes a vehicle-mounted end 1 and an unmanned aerial vehicle end 3, the vehicle-mounted end 1 is provided with a storage and transportation box 2, a central control system 11, a dual-antenna GNSS device 12 and a vehicle-end IMU device 13, the unmanned aerial vehicle end 3 may be located in the storage and transportation box 2, and the unmanned aerial vehicle end 3 is provided with a flight control system 31, a vehicle-end GNSS device 32, a magnetic sensor 33 and a vehicle-end IMU device 34.
The central control system 11 of the vehicle-mounted terminal 1 of the present embodiment is configured to control the vehicle-mounted terminal 1 to travel and perform information interaction with the flight control system 31 of the unmanned aerial vehicle terminal 3, and the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 is configured to obtain a real-time vehicle position of the vehicle-mounted terminal 1Real-time speed of vehicleReal-time heading information, real-time ephemeris information and real-time observation information of the vehicle, and information interaction can be performed between the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 and the terminal GNSS device 32 of the unmanned aerial vehicle terminal 3, and the terminal IMU device 34 of the vehicle-mounted terminal 1 is used for acquiring the real-time acceleration vector of the vehicle-mounted terminal 1And real-time pose matrix vectors. Specifically, the device side GNSS device 32 of the unmanned aerial vehicle side 3 and the dual-antenna GNSS device 12 of the vehicle side 1 mutually transmit data information through a wireless communication technology, and the transmitted data information includes, but is not limited to, real-time position, real-time speed, real-time heading information, real-time ephemeris information, real-time observation information and the like.
Moreover, the flight control system 31 of the unmanned aerial vehicle end 3 in this embodiment is used for controlling the unmanned aerial vehicle end 3 to fly and interact with the central control system 11 of the vehicle-mounted end 1, and the unmanned aerial vehicle end 3 end GNSS device 32 is used for acquiring the real-time position of the unmanned aerial vehicle end 3Real-time speed of machine endThe unmanned aerial vehicle end 3's machine end IMU device 34 acquires unmanned aerial vehicle end 3's pitch angleAnd roll angleAnd the difference module of the unmanned aerial vehicle end 3 of this embodiment can be integrated in the flight control system 31 of the unmanned aerial vehicle end 3 or in the machine-end GNSS device 32, and the RTK module of the unmanned aerial vehicle end 3 can be integrated in the flight control system 31 of the unmanned aerial vehicle end 3 or in the machine-end GNSS device 32.
Specifically, the GNSS device is a global navigation satellite system, including one or more satellite constellations and an augmentation system required for supporting specific works, is an air-based radio navigation positioning system capable of providing all-weather three-dimensional coordinates and speed and time information for users at any place on the surface of the earth or near-earth space, and is a generic term for satellite navigation systems capable of realizing global coverage.
The IMU device is an inertial measurement device and is used for measuring three-axis attitude angles (or angular rates) and accelerations of an object, generally, one IMU device comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of the object on independent three axes of a carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, the angular velocities and accelerations of the object in a three-dimensional space are measured, and the attitude of the object is calculated according to the angular velocity signals and the accelerations.
The magnetic sensor 33, also called geomagnetism and magnetometer, can be used for testing the intensity and direction of a magnetic field, and the principle of the magnetic sensor 33 is similar to that of a compass, so that the included angle between the current device and the four directions of the north, south, east and west can be measured.
The RTK module is a differential method for processing the observed quantity of the carrier phases of two measuring stations in real time by utilizing a real-time dynamic carrier phase differential technology, and sends the carrier phases acquired by a reference station to a receiver for solving the difference to calculate coordinates, which is a new common satellite positioning measuring method, the previous static, quick static and dynamic measurement needs to be solved afterwards to obtain the centimeter-level precision, and the RTK is a measuring method capable of obtaining the centimeter-level positioning precision in real time in the wild, and the RTK module adopts the carrier phase dynamic real-time differential method.
Referring to fig. 4, a flowchart of a method for controlling accurate positioning of a vehicle-mounted unmanned aerial vehicle is provided, and specific steps of the method for controlling accurate positioning of a vehicle-mounted unmanned aerial vehicle in this embodiment are as follows.
Step S11 is executed, before taking off, the unmanned aerial vehicle 3 is located in the storage and transportation box 2 of the vehicle-mounted terminal 1, and the dual-antenna GNSS device 12 obtains the real-time position of the vehicle-mounted terminal 1Real-time speed of vehicleReal-time heading information, real-time ephemeris information and real-time observation information of the vehicle, and a vehicle-end IMU device 13 of the vehicle-mounted end 1 acquires a real-time acceleration vector of the vehicle-mounted end 1And real-time pose matrix vectorsAt this time, the unmanned aerial vehicle end 3 in the storage and transportation box 2 of the vehicle-mounted end 1 can be in a storage and transportation state or a charging state, and then the machine-end GNSS device 32, the magnetic sensor 33 and the machine-end IMU device 34 of the unmanned aerial vehicle end 3 are all in a closed state, so that the strong magnetic interference generated by the opening of the magnetic sensor 33 is avoided from data acquisition and transmission of the dual-antenna GNSS device 12 and the vehicle-end IMU device 13 of the vehicle-mounted end 1, and further the accuracy and stability of data acquisition and transmission of the dual-antenna GNSS device 12 and the vehicle-end IMU device 13 of the vehicle-mounted end 1 are ensured.
Specifically, the ephemeris information is ephemeris information of the satellite 4, also called as Two-row orbit data (TLE, two-Line Orbital Element), which is an expression for describing the position and speed of the space flying body, namely a Two-row orbit data system, and each parameter such as time, coordinate, azimuth, speed, etc. of the flying body is determined by using the mathematical relationship among 6 orbit parameters of kepler law, so that the operation states such as time, position, speed, etc. of the satellite 4 and the flying body can be accurately calculated, predicted, depicted and tracked. And, the observation information includes the observation information of pseudo-range measurement, carrier phase measurement, and doppler measurement.
Step S12 is executed, the storage and transportation box 2 is opened and the unmanned aerial vehicle end 3 is ready to take off, at this time, the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 and the unmanned aerial vehicle end IMU device 34 are opened, then the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 acquires the current real-time ephemeris information and real-time observation information of the dual-antenna GNSS device 12 of the vehicle end 1, so that the unmanned aerial vehicle end 3 is in a hot start state, and the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 does not need to perform a self-search operation, and directly acquires the current real-time ephemeris information and real-time observation information from the dual-antenna GNSS device 12 of the vehicle end 1, so that the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 can quickly search for satellites to acquire the current real-time ephemeris information and real-time observation information, and thus the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 can quickly locate, and realize a quick take off function.
When the storage and transportation box 2 is opened and the unmanned aerial vehicle end 3 is ready to take off, namely the unmanned aerial vehicle end 3 is still positioned in the storage and transportation box 2 of the vehicle-mounted end 1, the magnetic sensor 33 of the unmanned aerial vehicle end 3 is still in a closed state at the moment, so that the data acquisition and transmission between the double-antenna GNSS device 12 of the vehicle-mounted end 1 and the plane-end GNSS device 32 of the unmanned aerial vehicle end 3 are prevented from being subjected to strong magnetic interference generated by the opening of the magnetic sensor 33, and the data acquisition and transmission can be rapidly carried out, so that the normal and rapid take-off of the unmanned aerial vehicle end 3 is ensured.
And, when the storage and transportation box 2 is opened and the unmanned aerial vehicle 3 is ready to take off, the unmanned aerial vehicle GNSS device 32 of the unmanned aerial vehicle 3 performs an initialization operation to obtain an initialization position of the unmanned aerial vehicle 3Initialization speedAnd initializing heading information. Simultaneously, the plane end IMU device 34 of the plane end 3 acquires the initialized pitch angle of the plane end 3And initializing roll angle。
Specifically, when the on-board GNSS device 32 of the unmanned aerial vehicle 3 of the present embodiment performs the initialization operation, the initialization operation includes the steps of locating the current vehicle in real timeAs an initialization position for the drone end 3Real-time speed of current vehicleAs an initialization speed of the drone side 3And taking the current real-time heading information of the vehicle as the initialized heading information of the unmanned aerial vehicle terminal 3.
Synchronously, when the end-of-flight GNSS device 32 of the unmanned aerial vehicle 3 is turned on, the differential module of the unmanned aerial vehicle 3 can acquire the time difference of the end-of-flight GNSS device 32 receiving the data information of the dual-antenna GNSS device 12. Since the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 generates a certain time difference due to transmission delay in the process of transmitting data information to the machine-side GNSS device 32 of the unmanned aerial vehicle terminal 3 through the wireless transmission technologyThis time differenceThe time difference between the PPS second pulse of the unmanned aerial vehicle end 3 and the received data information of the unmanned aerial vehicle end 3 can be calculated.
Step S13 is executed, wherein the flight control system 31 of the unmanned aerial vehicle 3 is based on the initialization positionInitialization speedInitializing course information, initializing pitch angleAnd initializing roll angleThe unmanned aerial vehicle 3 is controlled to take off so as to be separated from the storage and transportation box 2.
Step S14 is executed, where the unmanned aerial vehicle end 3 is separated from the storage and transportation box 2 of the vehicle-mounted end 1 to execute a flight task, and then the magnetic device of the unmanned aerial vehicle end 3 is controlled to be turned on, so that the magnetic device of the unmanned aerial vehicle end 3, the machine-end GNSS device 32 and the machine-end IMU device 34 form a combined navigation system, and the unmanned aerial vehicle end 3 performs autonomous positioning navigation to execute the flight task.
Simultaneously, the unmanned aerial vehicle end 3's machine end GNSS device 32 acquires the unmanned aerial vehicle end 3's machine end real-time positionReal-time speed of machine endReal-time position of RTK module opposite terminal of unmanned aerial vehicle terminal 3RTK differential processing is carried out to obtain the machine end positioning position of the unmanned plane end 3. Specifically, the RTK module of the unmanned aerial vehicle 3 forms a mobile base station mode by using the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 and the terminal GNSS device 32 of the unmanned aerial vehicle 3 to perform differential solution, so as to obtain the terminal positioning position of the unmanned aerial vehicle 3 with centimeter-level positioning accuracy in real time。
At the unmanned aerial vehicle end 3's of real-time acquisition centimetre level positioning accuracy machine end position locationThen according to the time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted terminal 1Real-time attitude matrix vector of vehicle-mounted terminal 1Positioning position of machine endReal-time speed of machine endThe vehicle-end IMU device 13 of the vehicle-mounted end 1 calculates and acquires the actual accurate position of the unmanned aerial vehicle end 3。
Specifically, the actual accurate position of the unmanned aerial vehicle end 3 in this embodimentThe calculation formula of (2) is as follows:
。
Wherein the acceleration of gravity 9.80M/s2.
Since the vehicle-mounted terminal 1 and the unmanned aerial vehicle terminal 3 are both positioned in the three-dimensional space, the vehicle-mounted terminal 1 has XYZ axis vectors, the unmanned aerial vehicle terminal 3 also has XYZ axis vectors, and the positions of the XYZ axis in each axis direction correspondingly acquire the same-axis related vector data, and the actual accurate position of the unmanned aerial vehicle terminal 3 in the axis direction can be acquired by corresponding calculation through the formula。
The vehicle-mounted unmanned aerial vehicle accurate positioning control method of the embodiment firstly carries out real-time position on the machine end of the unmanned aerial vehicle end 3RTK differential processing is carried out to obtain the machine end positioning position of the unmanned plane end 3So that the unmanned aerial vehicle end 3 can position the unmanned aerial vehicle endAchieving centimeter-level precision positioning according to time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted terminal 1Real-time attitude matrix vector of vehicle-mounted terminal 1Positioning position of machine endReal-time speed of machine endCalculating to obtain actual accurate position of unmanned aerial vehicle end 3Namely, the time difference of receiving the data information of the vehicle-mounted terminal 1 by the unmanned aerial vehicle terminal 3The vehicle-mounted terminal 1 running dynamic and the unmanned aerial vehicle terminal 3 flying dynamic position the unmanned aerial vehicle terminal 3Performing positioning compensation calculation to obtain actual accurate position of the unmanned aerial vehicle 3Further enabling the actual accurate position of the unmanned aerial vehicle end 3The precision positioning of 1-2 cm level can be achieved, and a guarantee is provided for the unmanned aerial vehicle end 3 to accurately fall into the storage and transportation box 2 of the vehicle-mounted end 1.
Step S14 is executed, and the unmanned aerial vehicle 3 executes a return landing instruction, so that the actual accurate position of the unmanned aerial vehicle 3 is basedThereby controlling the unmanned aerial vehicle end 3 to accurately drop into the storage and transportation box 2 of the vehicle-mounted end 1.
Therefore, the vehicle-mounted unmanned aerial vehicle accurate positioning control method can be used for positioning the unmanned aerial vehicle end 3 in real timeRTK differential processing and positioning compensation are carried out, so that the actual accurate position of the unmanned aerial vehicle end 3 is accurately positionedThe unmanned aerial vehicle terminal 3 accurately drops into the storage and transportation box 2 of the vehicle-mounted terminal 1, and then the autonomous dropping accuracy of the vehicle-mounted unmanned aerial vehicle is improved.
An embodiment of a vehicle-mounted unmanned aerial vehicle accurate positioning control device:
Referring to fig. 1 to 3, the vehicle-mounted unmanned aerial vehicle accurate positioning control device of the embodiment comprises a vehicle-mounted unmanned aerial vehicle system, the vehicle-mounted unmanned aerial vehicle system comprises a vehicle-mounted end 1 and an unmanned aerial vehicle end 3, the vehicle-mounted end 1 is provided with a storage and transportation box 2, a central control system 11, a dual-antenna GNSS device 12 and a vehicle-end IMU device 13, the unmanned aerial vehicle end 3 can be located in the storage and transportation box 2, and the unmanned aerial vehicle end 3 is provided with a flight control system 31, a vehicle-end GNSS device 32, a magnetic sensor 33 and a vehicle-end IMU device 34.
The central control system 11 of the vehicle-mounted terminal 1 of the present embodiment is configured to control the vehicle-mounted terminal 1 to travel and perform information interaction with the flight control system 31 of the unmanned aerial vehicle terminal 3, and the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 is configured to obtain a real-time vehicle position of the vehicle-mounted terminal 1Real-time speed of vehicleReal-time heading information, real-time ephemeris information and real-time observation information of the vehicle, and information interaction can be performed between the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 and the terminal GNSS device 32 of the unmanned aerial vehicle terminal 3, and the terminal IMU device 34 of the vehicle-mounted terminal 1 is used for acquiring the real-time acceleration vector of the vehicle-mounted terminal 1And real-time pose matrix vectors. Specifically, the device side GNSS device 32 of the unmanned aerial vehicle side 3 and the dual-antenna GNSS device 12 of the vehicle side 1 mutually transmit data information through a wireless communication technology, and the transmitted data information includes, but is not limited to, real-time position, real-time speed, real-time heading information, real-time ephemeris information, real-time observation information and the like.
Moreover, the flight control system 31 of the unmanned aerial vehicle end 3 in this embodiment is used for controlling the unmanned aerial vehicle end 3 to fly and interact with the central control system 11 of the vehicle-mounted end 1, and the unmanned aerial vehicle end 3 end GNSS device 32 is used for acquiring the real-time position of the unmanned aerial vehicle end 3Real-time speed of machine endThe unmanned aerial vehicle end 3's machine end IMU device 34 acquires unmanned aerial vehicle end 3's pitch angleAnd roll angleAnd the difference module of the unmanned aerial vehicle end 3 of this embodiment can be integrated in the flight control system 31 of the unmanned aerial vehicle end 3 or in the machine-end GNSS device 32, and the RTK module of the unmanned aerial vehicle end 3 can be integrated in the flight control system 31 of the unmanned aerial vehicle end 3 or in the machine-end GNSS device 32.
Specifically, the GNSS device is a global navigation satellite system, including one or more satellite constellations and an augmentation system required for supporting specific works, is an air-based radio navigation positioning system capable of providing all-weather three-dimensional coordinates and speed and time information for users at any place on the surface of the earth or near-earth space, and is a generic term for satellite navigation systems capable of realizing global coverage.
The IMU device is an inertial measurement device and is used for measuring three-axis attitude angles (or angular rates) and accelerations of an object, generally, one IMU device comprises three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of the object on independent three axes of a carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, the angular velocities and accelerations of the object in a three-dimensional space are measured, and the attitude of the object is calculated according to the angular velocity signals and the accelerations.
The magnetic sensor 33, also called geomagnetism and magnetometer, can be used for testing the intensity and direction of a magnetic field, and the principle of the magnetic sensor 33 is similar to that of a compass, so that the included angle between the current device and the four directions of the north, south, east and west can be measured.
The RTK module is a differential method for processing the observed quantity of the carrier phases of two measuring stations in real time by utilizing a real-time dynamic carrier phase differential technology, and sends the carrier phases acquired by a reference station to a receiver for solving the difference to calculate coordinates, which is a new common satellite positioning measuring method, the previous static, quick static and dynamic measurement needs to be solved afterwards to obtain the centimeter-level precision, and the RTK is a measuring method capable of obtaining the centimeter-level positioning precision in real time in the wild, and the RTK module adopts the carrier phase dynamic real-time differential method.
Referring to fig. 4, the accurate positioning control device of the vehicle-mounted unmanned aerial vehicle of the embodiment can execute the following method steps.
Step S11 is executed, before taking off, the unmanned aerial vehicle 3 is located in the storage and transportation box 2 of the vehicle-mounted terminal 1, and the dual-antenna GNSS device 12 obtains the real-time position of the vehicle-mounted terminal 1Real-time speed of vehicleReal-time heading information, real-time ephemeris information and real-time observation information of the vehicle, and a vehicle-end IMU device 13 of the vehicle-mounted end 1 acquires a real-time acceleration vector of the vehicle-mounted end 1And real-time pose matrix vectorsAt this time, the unmanned aerial vehicle end 3 in the storage and transportation box 2 of the vehicle-mounted end 1 can be in a storage and transportation state or a charging state, and then the machine-end GNSS device 32, the magnetic sensor 33 and the machine-end IMU device 34 of the unmanned aerial vehicle end 3 are all in a closed state, so that the strong magnetic interference generated by the opening of the magnetic sensor 33 is avoided from data acquisition and transmission of the dual-antenna GNSS device 12 and the vehicle-end IMU device 13 of the vehicle-mounted end 1, and further the accuracy and stability of data acquisition and transmission of the dual-antenna GNSS device 12 and the vehicle-end IMU device 13 of the vehicle-mounted end 1 are ensured.
Specifically, the ephemeris information is ephemeris information of the satellite 4, also called as Two-row orbit data (TLE, two-Line Orbital Element), which is an expression for describing the position and speed of the space flying body, namely a Two-row orbit data system, and each parameter such as time, coordinate, azimuth, speed, etc. of the flying body is determined by using the mathematical relationship among 6 orbit parameters of kepler law, so that the operation states such as time, position, speed, etc. of the satellite 4 and the flying body can be accurately calculated, predicted, depicted and tracked. And, the observation information includes the observation information of pseudo-range measurement, carrier phase measurement, and doppler measurement.
Step S12 is executed, the storage and transportation box 2 is opened and the unmanned aerial vehicle end 3 is ready to take off, at this time, the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 and the unmanned aerial vehicle end IMU device 34 are opened, then the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 acquires the current real-time ephemeris information and real-time observation information of the dual-antenna GNSS device 12 of the vehicle end 1, so that the unmanned aerial vehicle end 3 is in a hot start state, and the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 does not need to perform a self-search operation, and directly acquires the current real-time ephemeris information and real-time observation information from the dual-antenna GNSS device 12 of the vehicle end 1, so that the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 can quickly search for satellites to acquire the current real-time ephemeris information and real-time observation information, and thus the unmanned aerial vehicle end 3 ' S machine end GNSS device 32 can quickly locate, and realize a quick take off function.
When the storage and transportation box 2 is opened and the unmanned aerial vehicle end 3 is ready to take off, namely the unmanned aerial vehicle end 3 is still positioned in the storage and transportation box 2 of the vehicle-mounted end 1, the magnetic sensor 33 of the unmanned aerial vehicle end 3 is still in a closed state at the moment, so that the data acquisition and transmission between the double-antenna GNSS device 12 of the vehicle-mounted end 1 and the plane-end GNSS device 32 of the unmanned aerial vehicle end 3 are prevented from being subjected to strong magnetic interference generated by the opening of the magnetic sensor 33, and the data acquisition and transmission can be rapidly carried out, so that the normal and rapid take-off of the unmanned aerial vehicle end 3 is ensured.
And, when the storage and transportation box 2 is opened and the unmanned aerial vehicle 3 is ready to take off, the unmanned aerial vehicle GNSS device 32 of the unmanned aerial vehicle 3 performs an initialization operation to obtain an initialization position of the unmanned aerial vehicle 3Initialization speedAnd initializing heading information. Simultaneously, the plane end IMU device 34 of the plane end 3 acquires the initialized pitch angle of the plane end 3And initializing roll angle。
Specifically, when the on-board GNSS device 32 of the unmanned aerial vehicle 3 of the present embodiment performs the initialization operation, the initialization operation includes the steps of locating the current vehicle in real timeAs an initialization position for the drone end 3Real-time speed of current vehicleAs an initialization speed of the drone side 3And taking the current real-time heading information of the vehicle as the initialized heading information of the unmanned aerial vehicle terminal 3.
Synchronously, when the end-of-flight GNSS device 32 of the unmanned aerial vehicle 3 is turned on, the differential module of the unmanned aerial vehicle 3 can acquire the time difference of the end-of-flight GNSS device 32 receiving the data information of the dual-antenna GNSS device 12. Since the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 generates a certain time difference due to transmission delay in the process of transmitting data information to the machine-side GNSS device 32 of the unmanned aerial vehicle terminal 3 through the wireless transmission technologyThis time differenceThe time difference between the PPS second pulse of the unmanned aerial vehicle end 3 and the received data information of the unmanned aerial vehicle end 3 can be calculated.
Step S13 is executed, wherein the flight control system 31 of the unmanned aerial vehicle 3 is based on the initialization positionInitialization speedInitializing course information, initializing pitch angleAnd initializing roll angleThe unmanned aerial vehicle 3 is controlled to take off so as to be separated from the storage and transportation box 2.
Step S14 is executed, where the unmanned aerial vehicle end 3 is separated from the storage and transportation box 2 of the vehicle-mounted end 1 to execute a flight task, and then the magnetic device of the unmanned aerial vehicle end 3 is controlled to be turned on, so that the magnetic device of the unmanned aerial vehicle end 3, the machine-end GNSS device 32 and the machine-end IMU device 34 form a combined navigation system, and the unmanned aerial vehicle end 3 performs autonomous positioning navigation to execute the flight task.
Simultaneously, the unmanned aerial vehicle end 3's machine end GNSS device 32 acquires the unmanned aerial vehicle end 3's machine end real-time positionReal-time speed of machine endReal-time position of RTK module opposite terminal of unmanned aerial vehicle terminal 3RTK differential processing is carried out to obtain the machine end positioning position of the unmanned plane end 3. Specifically, the RTK module of the unmanned aerial vehicle 3 forms a mobile base station mode by using the dual-antenna GNSS device 12 of the vehicle-mounted terminal 1 and the terminal GNSS device 32 of the unmanned aerial vehicle 3 to perform differential solution, so as to obtain the terminal positioning position of the unmanned aerial vehicle 3 with centimeter-level positioning accuracy in real time。
At the unmanned aerial vehicle end 3's of real-time acquisition centimetre level positioning accuracy machine end position locationThen according to the time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted terminal 1Real-time attitude matrix vector of vehicle-mounted terminal 1Positioning position of machine endReal-time speed of machine endThe vehicle-end IMU device 13 of the vehicle-mounted end 1 calculates and acquires the actual accurate position of the unmanned aerial vehicle end 3。
Specifically, the actual accurate position of the unmanned aerial vehicle end 3 in this embodimentThe calculation formula of (2) is as follows:
。
Wherein the acceleration of gravity 9.80M/s2.
Since the vehicle-mounted terminal 1 and the unmanned aerial vehicle terminal 3 are both positioned in the three-dimensional space, the vehicle-mounted terminal 1 has XYZ axis vectors, the unmanned aerial vehicle terminal 3 also has XYZ axis vectors, and the positions of the XYZ axis in each axis direction correspondingly acquire the same-axis related vector data, and the actual accurate position of the unmanned aerial vehicle terminal 3 in the axis direction can be acquired by corresponding calculation through the formula。
The vehicle-mounted unmanned aerial vehicle accurate positioning control device of the embodiment firstly passes through the real-time position of the machine end of the unmanned aerial vehicle end 3RTK differential processing is carried out to obtain the machine end positioning position of the unmanned plane end 3So that the unmanned aerial vehicle end 3 can position the unmanned aerial vehicle endAchieving centimeter-level precision positioning according to time differenceAcceleration of gravityReal-time acceleration vector of vehicle-mounted terminal 1Real-time attitude matrix vector of vehicle-mounted terminal 1Positioning position of machine endReal-time speed of machine endCalculating to obtain actual accurate position of unmanned aerial vehicle end 3Namely, the time difference of receiving the data information of the vehicle-mounted terminal 1 by the unmanned aerial vehicle terminal 3The vehicle-mounted terminal 1 running dynamic and the unmanned aerial vehicle terminal 3 flying dynamic position the unmanned aerial vehicle terminal 3Performing positioning compensation calculation to obtain actual accurate position of the unmanned aerial vehicle 3Further enabling the actual accurate position of the unmanned aerial vehicle end 3The precision positioning of 1-2 cm level can be achieved, and a guarantee is provided for the unmanned aerial vehicle end 3 to accurately fall into the storage and transportation box 2 of the vehicle-mounted end 1.
Step S14 is executed, and the unmanned aerial vehicle 3 executes a return landing instruction, so that the actual accurate position of the unmanned aerial vehicle 3 is basedThereby controlling the unmanned aerial vehicle end 3 to accurately drop into the storage and transportation box 2 of the vehicle-mounted end 1.
Therefore, the vehicle-mounted unmanned aerial vehicle accurate positioning control device of the embodiment can position the machine end of the unmanned aerial vehicle end 3 in real timeRTK differential processing and positioning compensation are carried out, so that the actual accurate position of the unmanned aerial vehicle end 3 is accurately positionedThe unmanned aerial vehicle terminal 3 accurately drops into the storage and transportation box 2 of the vehicle-mounted terminal 1, and then the autonomous dropping accuracy of the vehicle-mounted unmanned aerial vehicle is improved.
The above embodiments are only preferred examples of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications made according to the construction, characteristics and principles of the present invention shall be included in the scope of the present invention.

Claims (10)

1.车载无人机精准定位控制方法，车载无人机系统包括车载端和无人机端，其特征在于：1. A vehicle-mounted UAV precise positioning control method, wherein the vehicle-mounted UAV system includes a vehicle-mounted terminal and a UAV terminal, and is characterized by: 所述车载端设置有储运箱，所述无人机端可位于所述储运箱内；The vehicle-mounted end is provided with a storage and transportation box, and the drone end can be located in the storage and transportation box; 所述车载无人机精准定位控制方法包括：The vehicle-mounted UAV precise positioning control method includes: 当确定所述无人机端脱离所述储运箱执行飞行任务时，获取所述无人机端的机端实时位置和机端实时速度，对所述机端实时位置进行RTK差分处理以获取所述无人机端的机端定位位置；When it is determined that the UAV has left the storage box to perform a flight mission, the real-time position of the UAV is obtained. and real-time speed on the machine side , the real-time location of the terminal Perform RTK differential processing to obtain the positioning position of the UAV end ; 根据时间差、重力加速度、所述车载端的实时加速度矢量、所述车载端的实时姿态矩阵矢量、所述机端定位位置及所述机端实时速度，计算获取所述无人机端的实际精准位置；According to the time difference , gravitational acceleration , the real-time acceleration vector of the vehicle-mounted terminal 、The real-time posture matrix vector of the vehicle terminal , the terminal positioning position And the real-time speed of the machine end , calculate and obtain the actual precise position of the drone ; 所述时间差为所述无人机端接收所述车载端的数据信息的时间差。The time difference It is the time difference between the UAV end and the vehicle-mounted end. 2.根据权利要求1所述的车载无人机精准定位控制方法，其特征在于：2. The precise positioning control method for a vehicle-mounted UAV according to claim 1, characterized in that: 所述实际精准位置 。The actual precise location . 3.根据权利要求1所述的车载无人机精准定位控制方法，其特征在于：3. The precise positioning control method for a vehicle-mounted UAV according to claim 1, characterized in that: 当确定所述无人机端脱离所述储运箱执行飞行任务后，所述无人机端的磁力器开启；When it is determined that the drone is separated from the storage and transportation box to perform a flight mission, the magnet of the drone is turned on; 和/或，当确定所述无人机端位于所述储运箱内时，所述无人机端的磁力器关闭；and/or, when it is determined that the drone end is located in the storage and transportation box, the magnetizer of the drone end is turned off; 所述磁力器用于定位所述无人机端的方位。The magnetometer is used to locate the orientation of the drone end. 4.根据权利要求1至3任一项所述的车载无人机精准定位控制方法，其特征在于：4. The method for precise positioning of a vehicle-mounted UAV according to any one of claims 1 to 3, characterized in that: 所述车载无人机精准定位控制方法还包括：The vehicle-mounted UAV precise positioning control method further includes: 获取所述车载端的车辆实时位置、车辆实时速度和车辆实时航向信息；Get the real-time location of the vehicle on the vehicle terminal , real-time vehicle speed and vehicle real-time heading information; 当确定所述储运箱打开且所述无人机端准备起飞时，所述无人机端执行初始化操作，以获取所述无人机端的初始化位置、初始化速度和初始化航向信息，同时获取所述无人机端的初始化俯仰角和初始化横滚角，随后所述无人机端基于所述初始化位置、所述初始化速度、所述初始化航向信息、所述初始化俯仰角和所述初始化横滚角起飞以脱离所述储运箱；When it is determined that the storage box is opened and the drone is ready to take off, the drone performs an initialization operation to obtain the initialization position of the drone. , initialization speed And initialize the heading information, and at the same time obtain the initialization pitch angle of the drone end and initialize the roll angle Then the UAV end is based on the initialization position , the initialization speed , the initialization heading information, the initialization pitch angle and the initialization roll angle Taking off to detach from the storage and transportation box; 所述初始化操作包括：将当前所述车辆实时位置作为所述无人机端的所述初始化位置，将当前所述车辆实时速度作为所述无人机端的所述初始化速度，将当前所述车辆实时航向信息作为所述无人机端的所述初始化航向信息。The initialization operation includes: As the initialization position of the drone end , the current real-time speed of the vehicle As the initialization speed of the drone , using the current real-time heading information of the vehicle as the initialization heading information of the UAV end. 5.根据权利要求4所述的车载无人机精准定位控制方法，其特征在于：5. The precise positioning control method for a vehicle-mounted UAV according to claim 4, characterized in that: 当确定所述储运箱打开且所述无人机端准备起飞时，所述无人机端获取所述车载端的实时星历信息和实时观测信息，以使得所述无人机端处于热启动状态。When it is determined that the storage and transportation box is opened and the UAV end is ready to take off, the UAV end obtains the real-time ephemeris information and real-time observation information of the vehicle-mounted end, so that the UAV end is in a hot start state. 6.车载无人机精准定位控制装置，包括车载无人机系统，所述车载无人机系统包括车载端和无人机端，其特征在于：6. A vehicle-mounted UAV precise positioning control device, comprising a vehicle-mounted UAV system, wherein the vehicle-mounted UAV system comprises a vehicle-mounted terminal and a UAV terminal, characterized in that: 所述车载端设置有储运箱、双天线GNSS装置和车端IMU装置，所述无人机端可位于所述储运箱内，且所述无人机端设置有机端GNSS装置，所述机端GNSS装置与所述双天线GNSS装置之间相互传输数据信息；The vehicle-mounted end is provided with a storage and transportation box, a dual-antenna GNSS device and a vehicle-end IMU device. The drone end can be located in the storage and transportation box, and the drone end is provided with an aircraft-end GNSS device. The aircraft-end GNSS device and the dual-antenna GNSS device transmit data information to each other. 当确定所述无人机端脱离所述储运箱执行飞行任务时，所述机端GNSS装置获取所述无人机端的机端实时位置和机端实时速度，所述无人机端的RTK模块对所述机端实时位置进行RTK差分处理以获取所述无人机端的机端定位位置；When it is determined that the UAV is separated from the storage box to perform a flight mission, the GNSS device on the UAV obtains the real-time position of the UAV and real-time speed on the machine side The RTK module on the UAV side measures the real-time position of the UAV side. Perform RTK differential processing to obtain the positioning position of the UAV end ; 根据时间差、重力加速度、所述车载端的实时加速度矢量、所述车载端的实时姿态矩阵矢量、所述机端定位位置及所述机端实时速度，所述车端IMU装置计算获取所述无人机端的实际精准位置；According to the time difference , gravitational acceleration , the real-time acceleration vector of the vehicle-mounted terminal 、The real-time posture matrix vector of the vehicle terminal , the terminal positioning position And the real-time speed of the machine end The vehicle-side IMU device calculates and obtains the actual precise position of the drone-side ; 其中，所述车端IMU装置用于获取所述实时加速度矢量和所述实时姿态矩阵矢量，所述无人机端的差分模块获取所述机端GNSS装置接收所述双天线GNSS装置的数据信息的所述时间差。The vehicle-side IMU device is used to obtain the real-time acceleration vector and the real-time posture matrix vector The differential module on the UAV side obtains the time difference of the UAV side GNSS device receiving the data information of the dual-antenna GNSS device. . 7.根据权利要求6所述的车载无人机精准定位控制装置，其特征在于：7. The vehicle-mounted UAV precise positioning control device according to claim 6, characterized in that: 所述实际精准位置 。The actual precise location . 8.根据权利要求6所述的车载无人机精准定位控制装置，其特征在于：8. The vehicle-mounted UAV precise positioning control device according to claim 6, characterized in that: 所述无人机端还设置有磁感器，所述磁感器用于定位所述无人机端的方位；The drone end is also provided with a magnetic sensor, which is used to locate the orientation of the drone end; 当确定所述无人机端脱离所述储运箱执行飞行任务后，所述磁力器开启；When it is determined that the UAV has separated from the storage and transportation box to perform a flight mission, the magnetizer is turned on; 和/或，当确定所述无人机端位于所述储运箱内时，所述无人机端的磁力器关闭。And/or, when it is determined that the drone end is located in the storage and transportation box, the magnetizer of the drone end is turned off. 9.根据权利要求6至8任一项所述的车载无人机精准定位控制装置，其特征在于：9. The vehicle-mounted UAV precise positioning control device according to any one of claims 6 to 8, characterized in that: 所述无人机端还设置有机端IMU装置；The drone is also provided with an organic IMU device; 所述双天线GNSS装置获取所述车载端的车辆实时位置、车辆实时速度和车辆实时航向信息；The dual-antenna GNSS device obtains the real-time position of the vehicle on the vehicle side , real-time vehicle speed and vehicle real-time heading information; 当确定所述储运箱打开且所述无人机端准备起飞时，所述机端GNSS装置执行初始化操作，以获取所述无人机端的初始化位置、初始化速度和初始化航向信息，同时所述机端IMU装置获取所述无人机端的初始化俯仰角和初始化横滚角，随后所述无人机端的飞控系统基于所述初始化位置、所述初始化速度、所述初始化航向信息、所述初始化俯仰角和所述初始化横滚角控制所述无人机端起飞以脱离所述储运箱；When it is determined that the storage box is opened and the UAV is ready to take off, the GNSS device on the UAV performs an initialization operation to obtain the initialization position of the UAV. , initialization speed And initialize the heading information, and at the same time the IMU device on the aircraft side obtains the initialization pitch angle of the drone side and initialize the roll angle Then the flight control system of the UAV is based on the initialization position , the initialization speed , the initialization heading information, the initialization pitch angle and the initialization roll angle Controlling the UAV to take off and detach from the storage and transportation box; 所述初始化操作包括：将当前所述车辆实时位置作为所述无人机端的所述初始化位置，将当前所述车辆实时速度作为所述无人机端的所述初始化速度，将当前所述车辆实时航向信息作为所述无人机端的所述初始化航向信息。The initialization operation includes: As the initialization position of the drone end , the current real-time speed of the vehicle As the initialization speed of the drone , using the current real-time heading information of the vehicle as the initialization heading information of the UAV end. 10.根据权利要求9所述的车载无人机精准定位控制装置，其特征在于：10. The vehicle-mounted UAV precise positioning control device according to claim 9, characterized in that: 当确定所述储运箱打开且所述无人机端准备起飞时，所述机端GNSS装置获取所述双天线GNSS装置的实时星历信息和实时观测信息，以使得所述无人机端处于热启动状态。When it is determined that the storage box is opened and the UAV is ready to take off, the UAV GNSS device obtains the real-time ephemeris information and real-time observation information of the dual-antenna GNSS device, so that the UAV is in a hot start state.
CN202510852446.5A 2025-06-24 2025-06-24 Accurate positioning control method and device for vehicle-mounted unmanned aerial vehicle Pending CN120803008A (en)

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