阅读说明：本技术 一种基于北斗差分定位的无人机跟瞄通信系统及方法 (Unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning ) 是由 宋昌林 苟科磊 郑雅文 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种基于北斗差分定位的无人机跟瞄通信系统,包括主机单元、电源系统和云台单元；主机单元分别与电源系统和云台单元相连接；主机单元包括主控模块、光纤通信单元、数传电台和RF模块,光纤通信单元通过网口与主控模块相连接,数传电台和RF模块分别通过串口与主控模块相连接；电源系统包括充电控制器、太阳能板和蓄电池,太阳能板和蓄电池分别与充电控制器相连接；云台单元包括云台系统、北斗差分定位模块和微波基站,微波基站通过网线与云台系统连接,北斗差分定位模块通过串口与云台系统连接。本发明解决无人机巡检高清视频实时回传问题,1套跟瞄系统可以实现半径20公里的信号定向区域覆盖,经济效益高。(The invention discloses an unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning, which comprises a host unit, a power supply system and a holder unit; the main machine unit is respectively connected with the power supply system and the holder unit; the host unit comprises a main control module, an optical fiber communication unit, a data transmission radio and an RF module, wherein the optical fiber communication unit is connected with the main control module through a network port, and the data transmission radio and the RF module are respectively connected with the main control module through serial ports; the power supply system comprises a charging controller, a solar panel and a storage battery, wherein the solar panel and the storage battery are respectively connected with the charging controller; the holder unit comprises a holder system, a Beidou differential positioning module and a microwave base station, wherein the microwave base station is connected with the holder system through a network cable, and the Beidou differential positioning module is connected with the holder system through a serial port. The invention solves the problem of real-time return of high-definition videos in the unmanned aerial vehicle inspection process, 1 set of tracking and aiming system can realize signal orientation area coverage with the radius of 20 kilometers, and the economic benefit is high.)

1. An unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning is characterized by comprising a host unit, a power supply system and a holder unit; the main unit is respectively connected with the power supply system and the holder unit; the host unit comprises a main control module, an optical fiber communication unit, a data transmission radio and an RF module, wherein the optical fiber communication unit is connected with the main control module through a network port, and the data transmission radio and the RF module are respectively connected with the main control module through serial ports; the power supply system comprises a charging controller, a solar panel and a storage battery, wherein the solar panel and the storage battery are respectively connected with the charging controller; the holder unit comprises a holder system, a Beidou differential positioning module and a microwave base station, wherein the microwave base station is connected with the holder system through a network cable, and the Beidou differential positioning module is connected with the holder system through a serial port.

2. The unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning according to claim 1, wherein the host unit further comprises a 5G communication unit, and the 5G communication unit is connected with the main control module through a USB interface.

3. The unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning is characterized by comprising the following specific steps of:

the method comprises the following steps: establishing a working coordinate system of a tracking and aiming system;

step two: based on the Beidou differential positioning principle, calculating the accurate position coordinates of the holder unit, and then calculating a conversion matrix from the geographical position information of the holder unit to a working coordinate system by the main control module;

step three: converting real-time geographical position information of the unmanned aerial vehicle into working coordinate information in a working coordinate system of a tracking and pointing system;

step four: the main control module calculates rotation data of the microwave base station aiming at the flight area of the unmanned aerial vehicle according to the real-time working coordinate information of the unmanned aerial vehicle, controls the rotation of the cradle head system through a network and dynamically adjusts the attitude of the cradle head system in real time;

step five: the unmanned aerial vehicle passes back the high-definition real-time video to the host unit of the tracking and aiming system through the coverage of the wireless broadband network provided by the tracking and aiming system, and the host unit of the tracking and aiming system then passes back to the background of the unmanned aerial vehicle through the optical fiber communication unit.

4. The unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning according to claim 3, wherein the first step specifically comprises: and (3) establishing a working coordinate system by taking the coordinate position of the holder unit as the coordinate origin (0, 0, 0), taking the north direction as the Y axis and the east direction as the X axis, wherein the Z axis accords with the left-hand coordinate system rule.

5. The unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning according to claim 3, wherein the second step specifically comprises: the tracking and aiming system acquires the geographic position information of the holder unit through the Beidou differential positioning module, acquires high-precision positioning differential data of the area from a position service provider through a data transmission radio station, corrects and resolves the acquired geographic position information by using the differential data to obtain the high-precision position information of the holder unit, and then calculates a conversion matrix from the geographic position information of the holder unit to a working coordinate system through the main control module.

6. The unmanned aerial vehicle tracking communication method based on Beidou differential positioning according to claim 5, wherein the geographical position information comprises longitude, latitude and elevation coordinates.

7. The unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning according to claim 3, wherein the third step specifically comprises: unmanned aerial vehicle acquires unmanned aerial vehicle's geographical position information in real time through the big dipper difference orientation module of self-carrying to acquire the difference orientation data from the tracking system host system through the RF module, solve through the correction and obtain unmanned aerial vehicle's high accuracy geographical position information, substitute the transformation matrix, obtain unmanned aerial vehicle in the tracking system work coordinate information.

Technical Field

The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning.

Background

Along with the development of economy and technology, unmanned aerial vehicle flying platforms are increasingly applied, mainly a high-resolution CCD camera system is used for obtaining remote sensing images in the technical field of unmanned aerial vehicle inspection, automatic shooting and obtaining of the images are realized through an air and ground control system, functions of flight path planning and monitoring, information data compression and automatic transmission, image preprocessing and the like are realized, and the unmanned aerial vehicle flying platform can be widely applied to national ecological environment protection, aerial photography, surveying and mapping, mineral resource exploration, disaster monitoring, road bridge construction, traffic patrol, electric power patrol, public security monitoring, emergency disaster reduction, emergency command, artificial rainfall, national defense safety, national and soil resource exploration, town planning, earthquake investigation, environmental monitoring, forest fire prevention, crop estimation, wild animal monitoring in a protected area, atmospheric sampling, marine reconnaissance, border vision, poison banned reconnaissance, fire control reconnaissance, The method comprises the following fields of ecological environment protection, marine environment monitoring, land utilization investigation, water resource development, crop growth monitoring and yield estimation, agricultural operation, natural disaster monitoring and evaluation, city planning and municipal management, forest pest protection and monitoring, digital cities and the like.

In the process of power grid overhead transmission line inspection, the inspection efficiency of the unmanned aerial vehicle is greatly improved, the line operation condition is reflected visually and accurately, and the unmanned aerial vehicle inspection method becomes an important inspection means of the transmission line. But also faces the communication problem of real-time return of high-definition video. The patent (application number is CN 201410792210.9) relates to an autonomous flight quadrotor unmanned aerial vehicle road and bridge construction inspection system, which comprises an autonomous flight quadrotor unmanned aerial vehicle and a processor, wherein a flight controller is arranged on the autonomous flight quadrotor unmanned aerial vehicle, the main body of the flight controller consists of the processor, a plurality of brushless motors, a Beidou module, a data transmission radio station, an air pressure altimeter, an AHRS module, an obstacle avoidance sensor, an image transmission module and a camera, the processor is connected with the plurality of brushless motors, a power supply, a cradle head, the Beidou module, the data transmission radio station, the air pressure altimeter, the AHRS module, the obstacle avoidance sensor and the image transmission module, the cradle head is connected with the camera, the AHRS module is a course attitude reference system of the flight controller, and a three-axis gyroscope, an accelerometer and a three-axis magnetic resistance meter are arranged in the AHRS module; the Beidou module is in wireless connection with a satellite navigation system. The positioning precision of the method is to be improved, and the definition of the returned video is not enough.

At present, the industry mainly adopts video recording to return analysis or adopts a communication transmission scheme of a wireless public network in a place with a wireless operator network (the video quality is not high, the time delay is larger, and most of power transmission lines are distributed in a place with wide area and rare people, so that the problem of unstable wireless network signals exists).

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning.

The purpose of the invention is realized by the following technical scheme:

an unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning comprises a host unit, a power supply system and a holder unit; the main unit is respectively connected with the power supply system and the holder unit; the host unit comprises a main control module, an optical fiber communication unit, a data transmission radio and an RF module, wherein the optical fiber communication unit is connected with the main control module through a network port, and the data transmission radio and the RF module are respectively connected with the main control module through serial ports; the power supply system comprises a charging controller, a solar panel and a storage battery, wherein the solar panel and the storage battery are respectively connected with the charging controller; the holder unit comprises a holder system, a Beidou differential positioning module and a microwave base station, wherein the microwave base station is connected with the holder system through a network cable, and the Beidou differential positioning module is connected with the holder system through a serial port.

The host unit further comprises a 5G communication unit, and the 5G communication unit is connected with the main control module through a USB interface.

An unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning comprises the following specific steps:

the method comprises the following steps: establishing a working coordinate system of a tracking and aiming system;

step two: based on the Beidou differential positioning principle, calculating the accurate position coordinates of the holder unit, and then calculating a conversion matrix from the geographical position information of the holder unit to a working coordinate system by the main control module;

step three: converting real-time geographical position information of the unmanned aerial vehicle into working coordinate information in a working coordinate system of a tracking and pointing system;

step four: the main control module calculates rotation data of the microwave base station aiming at the flight area of the unmanned aerial vehicle according to the real-time working coordinate information of the unmanned aerial vehicle, controls the rotation of the cradle head system through a network and dynamically adjusts the attitude of the cradle head system in real time;

step five: the unmanned aerial vehicle passes back the high-definition real-time video to the host unit of the tracking and aiming system through the coverage of the wireless broadband network provided by the tracking and aiming system, and the host unit of the tracking and aiming system then passes back to the background of the unmanned aerial vehicle.

The first step specifically comprises: and (3) establishing a working coordinate system by taking the coordinate position of the holder unit as the coordinate origin (0, 0, 0), taking the north direction as the Y axis and the east direction as the X axis, wherein the Z axis accords with the left-hand coordinate system rule.

The second step specifically comprises: the tracking and aiming system acquires the geographic position information of the holder unit through the Beidou differential positioning module, acquires high-precision positioning differential data of the area from a position service provider through a data transmission radio station, corrects and resolves the acquired geographic position information by using the differential data to obtain the high-precision position information of the holder unit, and then calculates a conversion matrix from the geographic position information of the holder unit to a working coordinate system through the main control module.

The geographic location information includes longitude, latitude, and elevation coordinates.

The third step specifically comprises: unmanned aerial vehicle acquires unmanned aerial vehicle's geographical position information in real time through the big dipper difference orientation module of self-carrying to acquire the difference orientation data from the tracking system host system through the RF module, solve through the correction and obtain unmanned aerial vehicle's high accuracy geographical position information, substitute the transformation matrix, obtain unmanned aerial vehicle in the tracking system work coordinate information.

The invention has the beneficial effects that:

1. the invention solves the problem of real-time return of high-definition video in the unmanned aerial vehicle routing inspection, 1 set of tracking and aiming system can realize signal orientation area coverage with the radius of 20 kilometers, and the economic benefit is high;

2. the invention acquires the positions of the unmanned aerial vehicle and the tracking and aiming host based on the Beidou differential positioning principle, and has high positioning precision, fast dynamic response of the cradle head, strong real-time tracking and aiming performance and high reliability;

3. the invention provides network signal coverage through the microwave base station, and has high transmission bandwidth and small time delay.

4. The scheme that the tracking and aiming system returns to the background server network supports OPGW optical fiber wired transmission or 5G communication transmission, and the transmission bandwidth is high, stable and reliable.

5. The invention establishes a working coordinate system of the tracking and pointing system, converts the geographical position of the unmanned aerial vehicle into a coordinate position in the working coordinate system, and can dynamically calculate the rotation angle of the cloud deck of the microwave base station aiming at the flight area of the unmanned aerial vehicle in real time.

Drawings

FIG. 1 is a system connection block diagram of the present invention;

FIG. 2 is a flow chart of the operation of the present invention;

FIG. 3 is a schematic diagram of the system of the present invention;

fig. 4 is a schematic view of the communication between the pan-tilt unit and the unmanned aerial vehicle of the present invention.

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

In order to solve the problems that in the prior art, the video image quality is not high, the time delay is large, most of power transmission lines are distributed in places with wide areas and sparse people, and wireless network signals are unstable, the invention provides the unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning.

Establishing a working coordinate system of a tracking and aiming system, converting the real-time GPS position coordinate of the unmanned aerial vehicle into a coordinate in the working coordinate system of the tracking and aiming system, calculating the angle of a cradle head unit microwave base station aiming at the flight area of the unmanned aerial vehicle, wherein the cradle head needs to rotate, and adjusting the posture of the cradle head in real time, so that the microwave base station can cover the directional signal of the flight area of the unmanned aerial vehicle, and the real-time tracking and aiming and providing of wireless broadband signals are realized.

The invention discloses an unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning, which comprises a host unit, a power supply system and a holder unit; the main unit is respectively connected with the power supply system and the holder unit; the host unit comprises a main control module, an optical fiber communication unit, a data transmission radio and an RF module, wherein the optical fiber communication unit is connected with the main control module through a network port, and the data transmission radio and the RF module are respectively connected with the main control module through serial ports; the power supply system comprises a charging controller, a solar panel and a storage battery, wherein the solar panel and the storage battery are respectively connected with the charging controller; the holder unit comprises a holder system, a Beidou differential positioning module and a microwave base station, wherein the microwave base station is connected with the holder system through a network cable, and the Beidou differential positioning module is connected with the holder system through a serial port.

The host unit further comprises a 5G communication unit, and the 5G communication unit is connected with the main control module through a USB interface.

An unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning comprises the following specific steps:

the method comprises the following steps: establishing a working coordinate system of a tracking and aiming system;

step two: based on the Beidou differential positioning principle, calculating the accurate position coordinates of the holder unit, and then calculating a conversion matrix from the geographical position information of the holder unit to a working coordinate system by the main control module;

step three: converting real-time geographical position information of the unmanned aerial vehicle into working coordinate information in a working coordinate system of a tracking and pointing system;

step four: the main control module calculates rotation data of the microwave base station aiming at the flight area of the unmanned aerial vehicle according to the real-time working coordinate information of the unmanned aerial vehicle, controls the rotation of the cradle head system through a network and dynamically adjusts the attitude of the cradle head system in real time;

step five: the unmanned aerial vehicle passes back the high-definition real-time video to the host unit of the tracking and aiming system through the coverage of the wireless broadband network provided by the tracking and aiming system, and the host unit of the tracking and aiming system passes back to the background of the unmanned aerial vehicle.

The first step specifically comprises: and (3) establishing a working coordinate system by taking the coordinate position of the holder unit as the coordinate origin (0, 0, 0), taking the north direction as the Y axis and the east direction as the X axis, wherein the Z axis accords with the left-hand coordinate system rule.

The second step specifically comprises: the tracking and aiming system acquires the geographic position information of the holder unit through the Beidou differential positioning module, acquires high-precision positioning differential data of the area from a position service provider through a data transmission radio station, corrects and resolves the acquired geographic position information by using the differential data to obtain the high-precision position information of the holder unit, and then calculates a conversion matrix from the geographic position information of the holder unit to a working coordinate system through the main control module.

The geographic location information includes longitude, latitude, and elevation coordinates.

The third step specifically comprises: unmanned aerial vehicle acquires unmanned aerial vehicle's geographical position information in real time through the big dipper difference orientation module of self-carrying to acquire the difference orientation data from the tracking system host system through the RF module, solve through the correction and obtain unmanned aerial vehicle's high accuracy geographical position information, substitute the transformation matrix, obtain unmanned aerial vehicle in the tracking system work coordinate information.

The tracking and aiming system and the unmanned aerial vehicle are communicated with each other through two wireless channels:

the wireless RF narrow-band data transmission channel is used for position information interaction, differential data interaction and unmanned aerial vehicle control signaling transmission between the tracking control unit and the unmanned aerial vehicle;

and the microwave wireless broadband transmission channel is used for transmitting real-time high-definition video and image data.

For guaranteeing the ultralow power consumption operation of the tracking and aiming system, when the unmanned aerial vehicle does not operate, the microwave wireless broadband transmission channel is closed, the RF narrowband data transmission channel is normally opened, and when the unmanned aerial vehicle starts operating, the tracking and aiming system is informed to open the microwave wireless broadband transmission channel through the RF narrowband data transmission channel. The RF narrow-band data transmission channel adopts an omnidirectional antenna, and the microwave wireless wide-band transmission channel adopts a directional antenna for directional aiming.

The directional aiming coverage of the microwave base station to the wireless signals of the flight area of the unmanned aerial vehicle is realized by adjusting the horizontal angle and the pitching angle of the holder unit.

Example 1

As shown in fig. 1, an unmanned aerial vehicle tracking and aiming communication system based on Beidou differential positioning comprises a host unit, a power supply system and a holder unit; the main unit is respectively connected with the power supply system and the holder unit; the host unit comprises a main control module, an optical fiber communication unit, a data transmission radio and an RF module, wherein the optical fiber communication unit is connected with the main control module through a network port, and the data transmission radio and the RF module are respectively connected with the main control module through serial ports; the power supply system comprises a charging controller, a solar panel and a storage battery, wherein the solar panel and the storage battery are respectively connected with the charging controller; the holder unit comprises a holder system, a Beidou differential positioning module and a microwave base station, wherein the microwave base station is connected with the holder system through a network cable, and the Beidou differential positioning module is connected with the holder system through a serial port.

As shown in fig. 2, an unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning includes the following specific steps:

the method comprises the following steps: establishing a working coordinate system of a tracking and aiming system;

step two: based on the Beidou differential positioning principle, calculating the accurate position coordinates of the holder unit, and then calculating a conversion matrix from the geographical position information of the holder unit to a working coordinate system by the main control module;

step three: converting real-time geographical position information of the unmanned aerial vehicle into working coordinate information in a working coordinate system of a tracking and pointing system;

step four: the main control module calculates rotation data of the microwave base station aiming at the flight area of the unmanned aerial vehicle according to the real-time working coordinate information of the unmanned aerial vehicle, controls the rotation of the cradle head system through a network and dynamically adjusts the attitude of the cradle head system in real time;

step five: the unmanned aerial vehicle passes back the high-definition real-time video to the host unit of the tracking and aiming system through the coverage of the wireless broadband network provided by the tracking and aiming system, and the host unit of the tracking and aiming system then passes back to the background of the unmanned aerial vehicle through the optical fiber communication unit.

The first step specifically comprises: and (3) establishing a working coordinate system by taking the coordinate position of the holder unit as the coordinate origin (0, 0, 0), taking the north direction as the Y axis and the east direction as the X axis, wherein the Z axis accords with the left-hand coordinate system rule.

The second step specifically comprises: the tracking and aiming system acquires the geographic position information of the holder unit through the Beidou differential positioning module, acquires high-precision positioning differential data of the area from a position service provider through a data transmission radio station, corrects and resolves the acquired geographic position information by using the differential data to obtain the high-precision position information of the holder unit, and then calculates a conversion matrix from the geographic position information of the holder unit to a working coordinate system through the main control module.

The geographic location information includes longitude, latitude, and elevation coordinates.

The third step specifically comprises: unmanned aerial vehicle acquires unmanned aerial vehicle's geographical position information in real time through the big dipper difference orientation module of self-carrying to acquire the difference orientation data from the tracking system host system through the RF module, solve through the correction and obtain unmanned aerial vehicle's high accuracy geographical position information, substitute the transformation matrix, obtain unmanned aerial vehicle in the tracking system work coordinate information.

The tracking and aiming system and the unmanned aerial vehicle are communicated with each other through two wireless channels:

the wireless RF narrow-band data transmission channel is used for position information interaction, differential data interaction and unmanned aerial vehicle control signaling transmission between the tracking control unit and the unmanned aerial vehicle;

and the microwave wireless broadband transmission channel is used for transmitting real-time high-definition video and image data.

For guaranteeing the ultralow power consumption operation of the tracking and aiming system, when the unmanned aerial vehicle does not operate, the microwave wireless broadband transmission channel is closed, the RF narrowband data transmission channel is normally opened, and when the unmanned aerial vehicle starts operating, the tracking and aiming system is informed to open the microwave wireless broadband transmission channel through the RF narrowband data transmission channel. The RF narrow-band data transmission channel adopts an omnidirectional antenna, and the microwave wireless wide-band transmission channel adopts a directional antenna for directional aiming.

The directional aiming coverage of the microwave base station to the wireless signals of the flight area of the unmanned aerial vehicle is realized by adjusting the horizontal angle and the pitching angle of the holder unit.

The network scheme of the tracking and aiming system for returning to the background server adopts OPGW optical fiber wired transmission, and is stable and reliable. Acquiring accurate geographical position information of a tracking and aiming system and a tracking and aiming target (unmanned aerial vehicle) based on a Beidou differential positioning method; establishing a working coordinate system of a tracking and aiming system, converting the geographic position of the unmanned aerial vehicle into a coordinate position in the working coordinate system, and dynamically calculating the rotation angle of a cloud deck of a microwave base station aiming at the flight area of the unmanned aerial vehicle in real time; based on the principle of signal real-time tracking and aiming, the directional wireless broadband signal coverage of the flight area of the unmanned aerial vehicle is realized, and the real-time return of the high-definition video of the unmanned aerial vehicle is realized; based on a wide-narrow band communication fusion technology, a narrow band is used as a signaling channel and a position information transmission channel, and a wide band is used as a high-definition video real-time return channel.

Example 2

An unmanned aerial vehicle tracking and aiming communication method based on Beidou differential positioning comprises the following specific steps:

the method comprises the following steps: establishing a working coordinate system of a tracking and aiming system;

step two: based on the Beidou differential positioning principle, calculating the accurate position coordinates of the holder unit, and then calculating a conversion matrix from the geographical position information of the holder unit to a working coordinate system by the main control module;

step three: converting real-time geographical position information of the unmanned aerial vehicle into working coordinate information in a working coordinate system of a tracking and pointing system;

step four: the main control module calculates rotation data of the microwave base station aiming at the flight area of the unmanned aerial vehicle according to the real-time working coordinate information of the unmanned aerial vehicle, controls the rotation of the cradle head system through a network and dynamically adjusts the attitude of the cradle head system in real time;

step five: the unmanned aerial vehicle passes through the wireless broadband network coverage that the tracking system provided and passes back the real-time video of high definition to the host computer unit of tracking system, and the host computer unit of tracking system passes through 5G communication unit and passes back to the unmanned aerial vehicle backstage again.

In the embodiment, the network scheme of the tracking and aiming system returning to the background server adopts a 5G communication unit for transmission, so that the transmission bandwidth is high and the reliability is high.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.