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Airborne RTK central position compensation algorithm

A technology of center position and machine center, which is applied in the field of airborne RTK center position compensation algorithm, can solve the problems of RTK positioning accuracy waste, etc., and achieve the effect of reducing error, avoiding positioning deviation and improving accuracy

Inactive Publication Date: 2019-10-29
HANGZHOU QIFEI INTELLIGENT TECH CO LTD
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Problems solved by technology

[0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or is completely or intermittently operated autonomously by the on-board computer. Among UAVs, RTK The output position of the board is the data of the GNSS1 antenna position, not the center position of the aircraft. This will cause the aircraft to have an error of tens of centimeters, which is directly related to the heading, which is a great waste of RTK positioning accuracy.

Method used

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  • Airborne RTK central position compensation algorithm
  • Airborne RTK central position compensation algorithm
  • Airborne RTK central position compensation algorithm

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the examples.

[0019] The following examples are used to illustrate the present invention, but cannot be used to limit the protection scope of the present invention. The conditions in the embodiment can be further adjusted according to the specific conditions, and the simple improvement of the method of the present invention under the premise of the concept of the present invention belongs to the protection scope of the present invention.

[0020] see figure 1 , the present invention provides a kind of airborne RTK center position compensation algorithm, and this algorithm comprises the steps:

[0021] a) Measure the distance L between the antenna GNSS1 and the antenna GNSS2 according to the installation positions of the antenna GNSS1 and the antenna GNSS2 1 and the distance L between the UAV center and the midpoint of antenna GNSS1 and antenna GNSS2 2 ;

[0022] b) Extract the position infor...

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Abstract

The invention discloses an airborne RTK central position compensation algorithm and belongs to the field of UAV measurement and control and information transmission. The algorithm comprises the stepsof a), according to the installation positions of an antenna GNSS1 and an antenna GNSS2, measuring the distance L1 between the antenna GNSS1 and the antenna GNSS2 and the distance L2 between the center of a UAV and the midpoint of the antenna GNSS1 and the antenna GNSS2; b), extracting the positional information (y, x) and the deflection angle [theta] of the antenna GNSS1 from the received telemetry data transmitted from the UAV; c), calculating the position (y1, x1) of the midpoint of the antenna GNSS1 and the antenna GNSS2 by a geometric principle according to the distance L1 between the antenna GNSS1 and the antenna GNSS2, and the position (y, x) and the deflection angle [theta] of the antenna GNSS1; d), according to the position of the midpoint of the antenna GNSS1 and the antenna GNSS2 (y1, x1), the distance L2 between the center of the UAV, the midpoint of the antenna GNSS1 and the antenna GNSS2, and the deflection angle [theta], calculating the position (y2, x2) of the center ofthe UAV by a geometric principle. The algorithm can effectively calculate the center position of the UAV and reduce the deviation caused by the installation of the antennas on the UAV.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle measurement and control and information transmission, and in particular relates to an airborne RTK center position compensation algorithm. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or is completely or intermittently operated autonomously by the on-board computer. Among UAVs, RTK The output position of the board is the data of the GNSS1 antenna position, not the center position of the aircraft. This will cause the aircraft to have an error of tens of centimeters, which is directly related to the heading, which is a great waste of RTK positioning accuracy. Therefore, a position compensation algorithm is designed here to make up for the bug of positioning deviation caused by the installation of the antenna on the drone. Contents of the inventio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/43
CPCG01S19/43
Inventor 陈玮宇蒋东辰唐勇刘琛郑琛
Owner HANGZHOU QIFEI INTELLIGENT TECH CO LTD
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