Method and system for improving landing positioning accuracy of unmanned aerial vehicle based on power inspection
阅读说明：本技术 一种基于电力巡检提高无人机降落定位精度的方法及系统 (Method and system for improving landing positioning accuracy of unmanned aerial vehicle based on power inspection ) 是由 金昭 夏国华 姚斌 高志勇 蔡得志 韩振 王澜 甘林 李伟 李凡 郭建军 于 2019-11-06 设计创作，主要内容包括：本发明属于无人机定位技术领域,公开了一种基于电力巡检提高无人机降落定位精度的方法及系统,使用无几何距离组合法对载波周跳进行检测和修复,得到连续可用的载波相位测量值；然后结合站间星间双差观测方程,忽略整周模糊度的整数约束,用最小二乘法求得基线向量R<Sub>n</Sub>和模糊度浮点解<Image he="78" wi="69" file="DDA0002262681780000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>并由得到的浮点解<Image he="71" wi="46" file="DDA0002262681780000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>使用逐级模糊度确定法固定整周模糊度；由整周模糊度的最优解,得到基线向量的最优解,在基准站已知位置的条件下,得到移动基站的精确位置。本发明对无人机北斗导航系统采用RTK技术进行高精度定位提出了改进方法,能够满足无人机巡检的工程需求,能为北斗导航定位系统优化性能提供参考。(The invention belongs to the technical field of unmanned aerial vehicle positioning, and discloses a method and a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power inspection.A carrier cycle slip is detected and repaired by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square method n Sum ambiguity float solution And from the resulting floating point solution Fixing whole-cycle ambiguities using step-by-step ambiguity determinationDegree; and obtaining the optimal solution of the baseline vector by the optimal solution of the integer ambiguity, and obtaining the accurate position of the mobile base station under the condition that the position of the reference station is known. The invention provides an improved method for carrying out high-precision positioning on the unmanned aerial vehicle Beidou navigation system by adopting an RTK technology, can meet the engineering requirements of unmanned aerial vehicle routing inspection, and can provide reference for optimizing the performance of the unmanned aerial vehicle Beidou navigation positioning system.)
1. The utility model provides a method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection, which is characterized in that, the method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection includes:
detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;
then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
and calculating an optimal solution according to the obtained integer ambiguity, acquiring the optimal solution of the baseline vector according to the obtained integer ambiguity optimal solution, and acquiring the accurate position of the mobile base station under the condition that the position of the reference station is known.
2. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 1, wherein the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection comprises the following steps:
step one, performing single difference processing on satellites i and j respectively by a mobile station u and a reference station z to obtain a single difference carrier phase measured value, and constructing a double difference carrier phase measured value by the single difference measured value;
step two, detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;
step three, solving a baseline vector R by using a least square methodnSum ambiguity float solution
Step four, based on the obtained floating point solution
calculating to obtain an integer solution with the optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the steering is fixed in the sixth steering step; if not, turning to the third step;
and step six, determining the accurate position of the mobile base station by using the known unknown of the reference station.
3. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the calculation method of the single-difference carrier phase measurement specifically comprises the following steps:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
4. the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the double-difference carrier phase measurement value construction method comprises the following steps:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
5. the method for improving unmanned aerial vehicle landing positioning accuracy based on power inspection according to claim 2, wherein the integer ambiguity confirming method specifically comprises:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
6. An information data processing terminal for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.
7. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method for improving the accuracy of drone landing location based on power routing inspection according to any one of claims 1 to 5.
8. The system for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection, which is used for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5, is characterized by comprising the following steps:
the double-difference carrier phase measurement value construction module is used for respectively carrying out single-difference processing on the satellite by the mobile station and the reference station to obtain a single-difference carrier phase measurement value and constructing the double-difference carrier phase measurement value by the single-difference measurement value;
the continuous available carrier phase measurement value acquisition module is used for detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuous available carrier phase measurement value;
the base line vector and ambiguity floating solution acquisition module is used for solving a base line vector and ambiguity floating solution by using a least square method;
integer ambiguity acquisition module for obtaining floating point solution based on the obtained integer ambiguity
the integer ambiguity confirming module is used for calculating to obtain an integer solution with the optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not;
and the mobile base station accurate position determining module determines the accurate position of the mobile base station by using the known unknown of the reference station.
9. An unmanned aerial vehicle wireless charging device for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.
10. An inspection unmanned aerial vehicle for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to any one of claims 1-5.
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle positioning, and particularly relates to a method and a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power inspection.
Background
Currently, the current state of the art commonly used in the industry is such that:
in 12/27/2012, the beidou navigation formally provides positioning, navigation and other services for asia-pacific regions, in 11/5/2017, beidou three in China is launched to the air, which marks that China starts to build a global navigation positioning system, and in about 2010, China will build a beidou satellite navigation system covering the whole world, so as to provide open and free high-quality services for global users. With the gradual development and improvement of Beidou navigation, the Beidou navigation satellite system is widely applied to many fields. Unmanned aerial vehicle patrols and examines as the high-efficient means of electric power system high tension transmission line, plays very important effect to high tension transmission line's maintenance. In-process such as unmanned aerial vehicle patrols and examines the aerial photograph, high-voltage tower landing charging, all require the big dipper navigation system of self carrying on can realize high accuracy, location. Especially when unmanned aerial vehicle adopts wireless charging mode at high voltage transmission line electricity tower platform, the positioning accuracy of navigation will still exert an influence to unmanned aerial vehicle's wireless charging efficiency.
Along with the wide application of unmanned aerial vehicle in electric power system high voltage transmission line patrols and examines, also higher to unmanned aerial vehicle's positioning accuracy requirement.
Because big dipper navigation system is at the precision limit of civilian field, traditional single point location precision is at the meter level or more than ten meters level, and the positioning accuracy of pseudo-range difference is the decimeter level, obviously can't reach unmanned aerial vehicle and patrol and examine high voltage transmission line's required precision. In order to meet the requirement of high-precision positioning landing of the unmanned aerial vehicle in the inspection process, an RTK technology capable of achieving centimeter-level positioning precision must be used. However, in practical application, the influence of the charging contact area on the charging efficiency is considered when the unmanned aerial vehicle is wirelessly charged, and the RTK technology needs to be improved to optimize the positioning accuracy.
In summary, the problems of the prior art are as follows:
to the requirement of precision when current positioning accuracy can't satisfy unmanned aerial vehicle and charge, inaccurate location still can influence unmanned aerial vehicle's wireless charging efficiency simultaneously.
The positioning accuracy of the existing civil Beidou navigation and positioning system is on the meter level or the ten-meter level, and when the unmanned aerial vehicle is charged wirelessly, the contact area with the induction coil influences the wireless charging efficiency.
The difficulty of solving the technical problems is as follows:
the existing civil Beidou navigation and positioning accuracy is in a meter level or even a ten meter level, and the unmanned aerial vehicle needs to realize high-efficiency wireless charging and must control the landing positioning accuracy in a centimeter level or even a millimeter level. Under the current civilian big dipper navigation positioning accuracy, obviously can't realize.
The significance of solving the technical problems is as follows:
add the RTK technique, can promote unmanned aerial vehicle descending positioning accuracy to centimetre or even millimeter level, improve wireless charging efficiency, and then improve the efficiency that unmanned aerial vehicle electric power patrolled and examined, practice thrift cost such as the manpower of patrolling and examining the system, time, expenditure.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection.
The invention is realized in such a way that a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection comprises the following steps:
detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
Further, the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol comprises the following steps:
step one, the mobile station u and the reference station z respectively carry out single difference processing on the satellites i and j to obtain a single difference carrier phase measured value, and a double difference carrier phase measured value is constructed by the single difference measured value.
And step two, detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value.
In the actual positioning process, there is a case of jump or interruption of the whole cycle count caused by the loss of lock of the satellite signal, so correctly detecting and recovering the carrier cycle slip is one of the very important and necessary problems in the carrier phase measurement. The geometric-distance-free method has the advantages of simplicity and high efficiency, so the method is used for detecting the repair cycle slip.
Step three, solving a baseline vector R by using a least square methodnSum ambiguity float solutionAnd (4) solving a baseline vector and a ambiguity floating solution by using a least square method for the continuous available carrier phase value obtained in the step two.
Step four, based on the obtained floating point solution
Calculating to obtain an integer solution with the optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the steering is fixed in the sixth steering step; if not, turning to the third step; the integer ambiguity is obtained by carrying out adjustment calculation on the continuous available carrier phase value, and the integer ambiguity is not an integer but a real number, and the real number solution is rounded to obtain an optimal integer solution.
And step six, determining the accurate position of the mobile base station by using the known unknown of the reference station.
Further, in the first step, the method for calculating the single-difference carrier phase measurement specifically includes:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
further, in the first step, the method for constructing the double-difference carrier phase measurement value includes:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
further, the integer ambiguity confirming method specifically includes:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
The invention also aims to provide an information data processing terminal for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the method for improving the landing location accuracy of an unmanned aerial vehicle based on power patrol.
Another object of the present invention is to provide a system for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol, which implements the method for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol, and the system for improving landing positioning accuracy of an unmanned aerial vehicle based on power patrol comprises:
and the double-difference carrier phase measurement value construction module is used for respectively carrying out single-difference processing on the satellite by the mobile station and the reference station to obtain a single-difference carrier phase measurement value and constructing the double-difference carrier phase measurement value by the single-difference measurement value.
And the continuously available carrier phase measured value acquisition module is used for detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measured value.
And the base line vector and ambiguity floating solution acquisition module is used for solving the base line vector and ambiguity floating solution by using a least square method.
Integer ambiguity acquisition module for obtaining floating point solution based on the obtained integer ambiguity
The integer ambiguity confirming module is used for calculating to obtain an integer solution with the optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; and confirming the ambiguity of the whole circle and judging whether the ambiguity is fixed or not.
And the mobile base station accurate position determining module determines the accurate position of the mobile base station by using the known unknown of the reference station.
The invention also aims to provide the unmanned aerial vehicle wireless charging device for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol.
The invention also aims to provide the inspection unmanned aerial vehicle for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection.
In summary, the advantages and positive effects of the invention are:
the invention provides an improved method for carrying out high-precision positioning on the unmanned aerial vehicle Beidou navigation system by adopting an RTK technology, can meet the engineering requirements of unmanned aerial vehicle routing inspection, and can provide reference for optimizing the performance of the unmanned aerial vehicle Beidou navigation positioning system. Through a large number of unmanned aerial vehicle flight positioning experiments, the positioning accuracy of the improved RTK algorithm is compared with that of other traditional positioning algorithms, and experimental results show that the improved RTK algorithm optimizes the positioning accuracy of the Beidou navigation system. Can realize unmanned aerial vehicle's quick accurate location.
The invention passes the single difference measurement value
The invention solves the ambiguity from the widest lane to the narrowest lane step by utilizing a step-by-step ambiguity determination method according to the combined measurement values of different wavelengths, is irrelevant to the motion state of a user receiver and is not easy to be influenced by ionosphere delay and troposphere delay, the algorithm complexity is greatly simplified compared with a geometric correlation algorithm, the resolving efficiency is obviously improved, and even the RTK positioning accuracy can be improved from centimeter level to millimeter level, so that the positioning landing performance of the unmanned aerial vehicle is optimized.
Compared with the prior art, the invention has the advantages that:
the comparison of the accuracy of the single-point positioning and the pseudo-range differential positioning is shown in the table 2 of the invention
TABLE 2 comparison of positioning accuracy test data
As can be seen from table 2, in the single-point positioning mode, the positioning error in the horizontal direction is about 4.5m, and the positioning error in the vertical direction is about 5.3 m; in a pseudo-range differential positioning mode, the positioning error in the horizontal direction is about 0.6m, and the positioning error in the vertical direction is about 1.8 m; in the RTK mode, the horizontal positioning error is 0.0087m, and the vertical positioning error is 0.0189 m. Compared with the traditional two positioning modes, the carrier phase differential mode has great improvement on the positioning accuracy and reaches centimeter level or even millimeter level.
Drawings
Fig. 1 is a flowchart of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power routing inspection according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a differential technique provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram of a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by the embodiment of the invention.
In the figure: 1. a double difference carrier phase measurement value construction module; 2. a continuously available carrier phase measurement value acquisition module; 3. a baseline vector and ambiguity floating solution acquisition module; 4. a whole-cycle ambiguity acquisition module; 5. a whole-cycle ambiguity confirming module; 6. and a mobile base station accurate position determination module.
Fig. 5 is a diagram illustrating a result of a positioning error experiment in the RTK technique in the horizontal direction according to an embodiment of the present invention.
Fig. 6 is a diagram illustrating experimental results of positioning errors in the vertical RTK technique according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical scheme and the technical effect of the invention are explained in detail in the following with the accompanying drawings.
The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol provided by the embodiment of the invention comprises the following steps:
using a geometry-free distance combination method to carrier wavesDetecting and repairing cycle slip to obtain a continuously available carrier phase measurement value; then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
As shown in fig. 1-2, the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on power inspection provided by the embodiment of the invention comprises the following steps:
s101, the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j to obtain single difference carrier phase measurement values, and double difference carrier phase measurement values are constructed through the single difference measurement values.
And S102, detecting and repairing the carrier cycle slip by using a non-geometric distance combination method to obtain a continuously usable carrier phase measurement value.
S103, obtaining a baseline vector R by using a least square methodnSum ambiguity float solution
S104, based on the obtained floating point solutionThe integer ambiguity is fixed using a step-by-step ambiguity determination.
S105, calculating to obtain an integer solution with optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the step is fixed at the turning step S106; if not, the process goes to step S103.
And S106, determining the accurate position of the mobile base station by using the known unknown of the reference station.
In step S101, the method for calculating a single difference carrier phase measurement value provided in the embodiment of the present invention specifically includes:
the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:
in the formula:
in step S101, the method for constructing a double-difference carrier phase measurement value provided in the embodiment of the present invention includes:
and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:
in the formula:
the integer ambiguity confirming method provided by the embodiment of the invention specifically comprises the following steps:
and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.
The present invention will be further described with reference to the following specific examples.
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