A UAV formation performance system based on uwb positioning and its implementation method

Abstract

A UWB positioning-based UAV formation performance system and its implementation method, using ultra-wideband wireless communication technology and time-divided TDoA technology to construct a three-dimensional positioning system for indoor and outdoor small areas, using micro quadrocopter formation navigation flight technology Combined with various technologies such as full-color LED dimming technology, it can be used as a performance system for indoor and outdoor small areas. In the three-dimensional positioning area, the aircraft cluster conducts navigation and flight according to the planned trajectory, controls the color change of the dimmable LED lights mounted on multiple micro air vehicles, and constructs various static and dynamic flight patterns, resulting in a stronger visual Effect. Due to the combination of time-sharing TDoA technology based on UWB, computer simulation micro-aircraft cluster flight pattern technology, UAV cluster flight pattern distribution storage technology, PC coordinator synchronization and self-synchronization technology, the price of the entire system can be reduced.

Description

technical field [0001] The present invention relates to UAV formation performances, in particular to a UWB positioning-based UAV formation performance system and its implementation method that can work in indoor and outdoor small area UAV formation performances. Background technique [0002] The micro quadrocopter can freely realize hovering and free movement in space, and has great flexibility. It has the advantages of simple structure, good stability, low cost, and high cost performance. The application of quadcopters in consumer products is mainly concentrated in toys, model airplanes and aerial photography. With the rapid development of the field of micro UAVs, the direction of academic research has shifted to intelligent navigation based on quadcopters and formation control of multi-aircrafts. In the development of UAV technology, "cluster UAVs are the trend" has been recognized by the industry . [0003] In terms of specific applications, the use of drone fleets for ...

AI Technical Summary

Problems solved by technology

[0004] Although the global positioning system (GPS) has been widely used in the positioning of outdoor objects, it is difficult to be suitable for indoor environment applications because its signal cannot penetrate the building materials of the room. In a few meters, it cannot meet the requirements of UAV formation performance; the positioning accuracy of GPS real-time pseudo-range difference (RTD) and real-time phase difference (RTK) technology can reach decimeter level and centimeter level respectively, but these two technologies The cost is high, and the volume is too large to be carried on a micro drone

[0005] In the UAV formation technology, multiple high-speed infrared cameras are used to capture the marking points mounted on the UAV in real time, and then perform image processing and real-time calculation. Although the accuracy can meet the requirements, the defect of this method is that , the number of drones performing in formation is very limited, and the performance area of ​​drones is also limited by the field of view of the infrared camera. At the same time, the price of the positioning system is very high

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