UWB-based unmanned aerial vehicle autonomous positioning navigation system

Abstract

The invention discloses a UWB-based unmanned aerial vehicle autonomous positioning navigation system, which is used for realizing autonomous navigation of an unmanned aerial vehicle, and solves the problem that the unmanned aerial vehicle cannot be autonomously navigated without a GNSS. The UWB-based unmanned aerial vehicle autonomous positioning navigation system comprises an aircraft module, anultra-wideband positioning module, a ground station processing module and an aircraft data transmission module, wherein the aircraft module is used for carrying the unmanned aerial vehicle, and acquiring relative position information of the unmanned aerial vehicle and the ambient environment of the unmanned aerial vehicle; the ultra-wideband positioning module is used for positioning the positioninformation of the aircraft module by adopting an ultra-wideband positioning technology; the ground station processing module is used for processing the relative position information of the unmanned aerial vehicle, and transmitting a control instruction to the aircraft module; and the aircraft data transmission module is used for outputting the relative information of the unmanned aerial vehicle and the position information of the aircraft module to the ground station processing module, and receiving the control instruction. The UWB-based unmanned aerial vehicle autonomous positioning navigation system reduces the probability of collision between the unmanned aerial vehicle and indoor objects, and the use of the unmanned aerial vehicle is not limited in an environment with poor indoor GNSSsignals or without a GNSS signal.

Description

technical field [0001] The invention relates to the field of aircraft, in particular to a UWB-based autonomous positioning and navigation system for unmanned aircraft. Background technique [0002] With the development of science and technology, unmanned aerial vehicles are used more and more widely. Unmanned aerial vehicles are not only widely used outdoors, but also have many applications indoors. The traditional multi-rotor unmanned aerial vehicle platform relies on the global navigation satellite system (Global Navigation Satellite System) Navigation Satellite System, GNSS) receiver for navigation, so as to realize the autonomous flight of UAV. [0003] However, in indoor environments such as basements and high-rise buildings, GNSS signals cannot penetrate walls and other compartments, and there may be situations where GNSS signals are weak or there is no GNSS signal. At this time, the autonomous navigation function of the multi-rotor UAV It will fail, and the multi-rot...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a UWB-based autonomous positioning and navigation system for unmanned aerial vehicles, which aims to solve the problem that the use of unmanned aerial vehicles is limited in the prior art when the indoor GNSS signal is weak or there is no GNSS signal. technical problem

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