A laser sensor suitable for height measurement and attitude determination of UAV and its working method

A laser sensor and unmanned aerial vehicle technology, applied in the field of laser sensors, can solve problems such as high delay in calculation results, large measurement error, and complex algorithm programming, and achieve the effect of small calculation amount, light weight and high calculation accuracy of the algorithm

Active Publication Date: 2020-09-08
南京拓曼思电气科技有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide a laser sensor and its working method suitable for unmanned aerial vehicle height measurement and attitude determination. The advantages of high rate, strong real-time performance and simple algorithm

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  • A laser sensor suitable for height measurement and attitude determination of UAV and its working method
  • A laser sensor suitable for height measurement and attitude determination of UAV and its working method
  • A laser sensor suitable for height measurement and attitude determination of UAV and its working method

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Embodiment Construction

[0050] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0051] combine figure 1 , figure 2 , the present invention proposes a laser sensor suitable for unmanned aerial vehicle height measurement and attitude determination, including a transmitting lens 1, a first pulse laser diode 2, a second pulse laser diode 3, a third pulse laser diode 4, a 3-channel parallel drive circuit 5, Timing control circuit 6, laser echo receiving lens 7, first photoelectric converter 8, second photoelectric converter 9, third photoelectric converter 10, 3-channel parallel signal amplification and identification circuit 11, 3-channel gain control circuit 12, 3-way parallel high-precision time-to-digital conversion circuit 13, altitude calculation and attitude determination module 14, and drone 15. The first pulse laser diode 2, the second pulse laser diode 3 and the third ...

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Abstract

The invention discloses a laser sensor suitable for unmanned aerial vehicle height measurement and attitude determination. The laser sensor comprises a transmitting lens, a first pulsed laser diode, a second pulsed laser diode, a third pulsed laser diode, a three-channel parallel driving circuit, a time sequence control circuit, a laser echo receiving lens, a first photoelectric converter, a second photoelectric converter, a third photoelectric converter, a three-channel parallel signal amplifying and identification circuit, a three-channel parallel high-precision time-digital conversion circuit and a height calculation and attitude determination module. The device is utilized to obtain distance information between an unmanned aerial vehicle and each of three ground reference positions, height and flight attitude information of the unmanned aerial vehicle is obtained through an ad-hoc algorithm based on space geometry and analytic geometry theories, the limitations that in the prior art, the measurement error is large, calculation result delay is long, the hashrate requirement is high, and programming is complicated are overcome, and the device has the advantages of being small, high in stability and instantaneity, high in measurement resolution, low in power consumption, low in hashrate requirement and the like.

Description

technical field [0001] The invention relates to the technical fields of unmanned aerial vehicle control, laser detection, signal processing, and navigation, and in particular relates to a laser sensor suitable for measuring altitude and determining attitude of an unmanned aerial vehicle and a working method thereof. Background technique [0002] In recent years, UAVs have gradually been widely used in military, civilian, scientific research and other fields, especially rotor UAVs, which have the characteristics of small size, simple structure, and convenient control, and can be executed in a small space. complex tasks. [0003] Rotor UAV is a typical underactuated system with multi-variable, strong coupling, nonlinear and other characteristics, and involves many disciplines, a wide range of fields, and complex states during flight. Based on the above problems, it is very difficult to measure the height and determine the attitude of the rotor UAV. [0004] Most of the exist...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/08G01C11/30
CPCG01C11/30G01S17/08
Inventor 田倚和陈志富
Owner 南京拓曼思电气科技有限公司
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