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Indoor locating data processing method and apparatus of unmanned aerial vehicle

A data processing device and unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicles, can solve the problems of inaccurate positioning data and high positioning cost.

Active Publication Date: 2017-09-08
武汉星巡智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Based on one or more of the above problems, the present invention provides a method and device for processing indoor positioning data of unmanned aerial vehicles to solve the problems of high positioning cost and inaccurate positioning data of unmanned aerial vehicles existing in the prior art

Method used

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  • Indoor locating data processing method and apparatus of unmanned aerial vehicle
  • Indoor locating data processing method and apparatus of unmanned aerial vehicle
  • Indoor locating data processing method and apparatus of unmanned aerial vehicle

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Experimental program
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Embodiment approach 1

[0059] See figure 1 , the present invention provides a method for processing indoor positioning data of an unmanned aerial vehicle, comprising the following steps:

[0060] S01 Calculate the positioning information of the UAV according to at least three ultrasonic signals received at different positions in the room;

[0061] S02 Calculate the historical positioning information of the components of the unmanned aerial vehicle on the space coordinates X, Y, and Z according to the n consecutive historical positioning information of the unmanned aerial vehicle within a preset time and the corresponding historical predicted position information The actual deviation value from the corresponding historical predicted position information and the historical predicted deviation value of the historical predicted position information, wherein n is an integer greater than or equal to 4;

[0062] S03 According to the actual deviation value, obtain the predicted fuzzy value of the component...

Embodiment approach 2

[0117] like figure 2 As shown, the present invention also provides an indoor positioning data processing device for an unmanned aerial vehicle, and the indoor positioning data processing device for an unmanned aerial vehicle includes:

[0118] The positioning calculation unit 10 is used to calculate the positioning information of the unmanned aerial vehicle according to at least three ultrasonic signals received at different positions in the room;

[0119] The deviation calculation unit 20 is used to calculate the position of the unmanned aerial vehicle on the space coordinates X, Y, and Z axes according to the n consecutive historical positioning information of the unmanned aerial vehicle within a preset time and the corresponding historical predicted position information. The actual deviation value between each historical positioning information of the component and the corresponding historical predicted position information and the historical predicted deviation value of t...

Embodiment approach 3

[0136] like image 3 As shown, the present invention also provides an indoor positioning data processing device for an unmanned aerial vehicle, the unmanned aerial vehicle is provided with an ultrasonic transmitter 300, and at least three ultrasonic receivers are distributed in different positions in the room, such as ultrasonic receiver 1, Ultrasonic receiver 2 and ultrasonic receiver 3, ultrasonic receiver M. The ultrasonic receiver receives the ultrasonic signal transmitted by the ultrasonic transmitter 300, and the UAV also includes: an indoor positioning data processing device for the UAV, and the indoor positioning data processing device for the UAV further includes: a processor 100 and memory 200, the processor invokes the program instructions stored in the memory to implement the following steps:

[0137] S01 Calculate the positioning information of the UAV according to at least three ultrasonic signals received at different positions in the room;

[0138] S02 Calcul...

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Abstract

The invention provides an indoor locating data processing method and apparatus of an unmanned aerial vehicle. The method comprises the following steps: S01, calculating locating information of the unmanned aerial vehicle; S02, calculating actual deviation values between historical locating information and corresponding historical prediction position information of components of the unmanned aerial vehicle on X, Y and Z axes of a space coordinate according to continuous n times of (n is greater than or equal to 4) historical locating information and corresponding historical prediction position information of the unmanned aerial vehicle within a preset time, and historical prediction deviation values of the historical prediction position information; S03, obtaining predicted fuzzy values of the components of the unmanned aerial vehicle on the X, Y and Z axes of the space coordinate at a current moment; S04, calculating a noise deviation; S05, calculating a weighting coefficient of a real locating value at the current moment according to the predicted fuzzy values and the noise deviation; and S06, calculating the real locating value of the unmanned aerial vehicle at the current moment according to the weighting coefficient, the prediction position information at the current moment and the measurement position information of the unmanned aerial vehicle at the current moment.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for processing indoor positioning data of an unmanned aerial vehicle. Background technique [0002] UAV is a powered, controllable, capable of carrying a variety of mission equipment, performing a variety of tasks and reusable aircraft. Unmanned aircraft that can be controlled by wireless remote control equipment and its own control devices, such as unmanned helicopters, unmanned fixed-wing aircraft, unmanned paragliders, etc. The UAV can be used to mount a shooting device for aerial photography, surveying and mapping, reconnaissance and so on. [0003] At present, as the application of drones becomes more and more popular, more unmanned aerial vehicles with faster flying speed, higher flying altitude, more flexible operation and smaller size have emerged. With the continuous increase of flight speed and flight altitude, and the smaller and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00G05D1/10G01S5/26
CPCG01S5/26G05D1/101H04W4/027H04W64/006
Inventor 陈辉王峰
Owner 武汉星巡智能科技有限公司
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