UWB based accurate positioning and spraying control method of agricultural plant protection unmanned aerial vehicle (UAV)

Abstract

The invention discloses a UWB based accurate positioning and spraying control method of an agricultural plant protection UAV. Positioning angle points, the plant protection UAV with a positioning label and a ground navigation station are included. The positioning angle points are distributed in different corners of a farmland, and each positioning angle point comprises a master control chip, and aUWB positioning module, a wireless communication module, a GPS module and a power supply module connected to the master control chip. The ground navigation station serves as a system center, receivesa position coordinate or time information emitted by the positioning label, and transmits a work plan path to the plant protection UAV. The plant protection UAV serves as a mobile node, the positioning label of the plant protection UAV calculates the distances of the label relative to the positioning anchor points in real time and transmits the distances to the ground navigation station wirelessly, and the ground navigation station receives data measured by the positioning label and carries out positioning calculation. 3D coordinates of the plant protection UAV can be calculated rapidly in real time, accurate positioning is realized, the horizontal positioning precision is <=5cm, and the vertical positioning precision is <=10cm.

Description

technical field [0001] The invention belongs to the technical field of positioning control, and in particular relates to a UWB-based control method for precise positioning and spraying of agricultural plant protection drones. Background technique [0002] The existing plant protection unmanned aerial vehicles are mainly composed of three parts: flight platform (fixed wing, single rotor, multi-rotor), flight control system, and spraying mechanism. The spraying operation is realized through ground remote control or GPS flight control system, which can spray chemicals and seeds. , powder, etc. At present, the mainstream plant protection UAVs at home and abroad mainly have two modes of control: remote control and autonomous flight. The remote control mode can be realized by a short-distance manned aircraft in a mixed formation with it or a communication link using a long-distance ground and air command platform; autonomous flight mainly uses GPS signals or GPS / INS for autonomou...

AI Technical Summary

Problems solved by technology

[0003] In actual use, it is found that the above two flight control methods of spraying drones have certain problems. The cost of the remote control mode is relatively low, but under harsh conditions, the reliability of the communication link is not high, and there are potential safety hazards

In particular, the requirements for "pilots" of remote control personnel are relatively high. Due to the long training period for qualified pilots, it is not suitable for the widespread popularization of agricultural drones.

At present, there is a shortage of pilots in the stage of small-scale use of agricultural spraying drones

In addition, due to the wide spraying width of the spraying drone, the "flying hand" missed spraying during remote control operation, and the phenomenon of repeated spraying was serious.

[0004] The main defect of autonomous flight of GPS positioning is that GPS satellite signals are easily interfered or blocked in many situations. When the agricultural terrain is complex, GPS satellite signals may produce multipath effects, causing the same signal to reach the same receiver through multiple paths, thus mess up the data

Moreover, due to the accuracy and stability of GPS, the existing autonomous flying spraying drones in China also have a serious rate of missed spraying and respraying during spraying operations.

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