• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Unmanned aerial vehicle takeoff, navigation and landing support system. The invention relates to a location support system that can be used in the take-off, navigation and landing stages of unmanned aerial vehicles (1) in environments where GNSS signals are inhibited/not available. To do this, there are prisms (2) attached to the unmanned aerial vehicle (1), capable of 360-degree retroreflective reflection, attached to each other at a 45-degree angle. The theodolite (7), which is a part of the azimuth and position measurement system (3), is optically oriented towards the prisms (2) of the unmanned aerial vehicle (1) and tracks the unmanned aerial vehicle (1), Instantly measures its distance to the UAV (1) and sends it to the processor along with the azimuth and elevation angles of the line of sight relative to its axis. The processor calculates the absolute position of the unmanned aerial vehicle (1) using the data from the theodolite (7) and the inertial navigation system (8). The ground measurement system (3) instantly sends the calculated position information to the unmanned aerial vehicle (1). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2849625A1
    申请号:ES202130135
    申请日:2021-02-19
    公开日:2021-08-19
    发明作者:Rauf Levent Güner Dünya
    申请人:Aselsan Elektronik Sanayi ve Ticaret AS；
    IPC主号:
    专利说明:

    [0001] TAKE-OFF SUPPORT SYSTEM. NAVIGATION AND LANDING OF VEHICLES
    [0003] Technical field
    [0005] The invention relates to a location support system that can be used in the take-off, navigation and landing stages in environments where GNSS signals are inhibited / not available.
    [0007] Previous technique
    [0009] Small-class ANT (unmanned aircraft) systems have navigation architectures that rely on GNSS (Global Navigation Satellite System) due to the low sensitivity of the navigation sensors. inertials that are incorporated. These systems cannot take off when GNSS signals are inhibited. Systems in flight also lose their navigation accuracy or fail.
    [0011] Increasing the sensitivity of the inertial sensors used increases the unit costs per aircraft and the cost of the system increases the costs that must be borne in the event of an accident.
    [0013] Studies are available to increase the navigation accuracy of these types of slow-flying systems with various sensors and methods.
    [0015] Although there are image-based systems and location support systems that take advantage of elevation (height) data, there are no small-class ANT systems that can maintain the desired location accuracy for long periods of time when GNSS systems are in operation. inhibited.
    [0017] Image-based pattern recognition systems are available for accurate landing. However, these systems have a short vertical reach. Systems such as 3D stereo cameras, etc., can work accurately within the last 10-20 meters of the flight.
    [0018] When the GNSS signals are inhibited, take-off cannot be carried out or is carried out at risk because there is no location information in the aircraft. Since some systems do not have a laser altimeter, altitude information is detected using a barometric altimeter and a combination of GNSS. When GNSS is inhibited in such a system, the altitude information from the air vehicle can also be unreliable.
    [0020] While some of the linkage systems are directional antenna systems capable of RF tracking and with conical scan patterns, generally the antenna and the air vehicle are oriented towards the air vehicle using the GNSS position. Although the coordinates of the ground station are available when the GNSS signal is interrupted since they are previously known coordinates, the coordinates of the air vehicle become invalid in a short time and the ability of the ground antenna group to track the aircraft decreases or fails during The tracking.
    [0022] In the known case of the art, many navigation solutions have been offered in small class ANT systems in environments where GNSS signals are inhibited / absent:
    [0023] • Ground-assisted navigation systems require data from an altimeter radar, but altimeter radars cannot be used in small multirotor systems due to their size and cost.
    [0024] • Laser altimeter systems cannot always provide reliable altitude data.
    [0025] • Image-based systems are based on the principle of finding the location of the air vehicle by focusing on the distinctive features of terrain photographs previously uploaded to the air vehicle or ground control station, the location information of which has been processed. In such systems, additional cameras must be integrated into the air vehicle. While the definition of the landscape seen in different weather conditions and the extraction of points of interest provide localization support, it is not always possible to make a high-precision landing.
    [0026] • Although optical flow-based speed assist systems, such as visual odometry systems, reduce the rate of increase in navigation system errors over time, they cannot prevent a decrease in position accuracy to the long of the time.
    [0027] • Longer range location information can be obtained if the air vehicle is tracked by a radar-based system. However, the locations of radar-based systems can also be detected and their costs are high.
    [0028] In patent application number EP2818958A3, the transfer of location information through the link is disclosed by measuring the distance with a robotic total station (theodolite) to the retroreflective prism equipped with a GPS tracking system and therefore allowing flight. in areas where the aircraft flies without a GPS signal (tunnel, etc.). Although the parts of this patent application with respect to distance measurement and aircraft tracking are the same as the method, the known points or GPS are proposed as the ground station location source. In this sense, the use of a ground measurement system that uses a robotic theodolite integrated in the inertial navigation system differs from other inventions in that it does not require GNSS systems as a source of location and provides absolute position information and direction angle to starting from the inertial navigation system.
    [0030] In the application number JP2019119221A, the known point or the GPS itself is used as the location source of the ground station, however, no information is provided on the nature of the positioning device and it is not clear how the location is determined. It is not indicated how to find the location on the ground station in those cases where the GPS signal is not available on the aircraft. It is stated that a GPS or manual input or other positioning device can be used, but it is unclear what this device could be and how it could work in an environment where GPS signals are inhibited. Said document has no other characteristic than to transmit location information based on distance measurement. The application No. US20170248948A1 and the patent No. US9758239B2 also have a similar content to the previous patent and also present similar problems.
    [0032] For both applications, JP2019119221A and EP2818958A3, it is not clear how to perform position and steering angle measurements when GPS is inhibited in the area where the ground station is located or a previously measured point can be used. However, in case of GPS inhibition, these methods cannot operate with the absolute (real) position in the event that a flight operation is performed from a previously unidentified position. In that case, since the absolute position of the aircraft is unknown, measurements and the transfer of target positions by the aircraft with its electro-optical payload are not possible.
    [0034] As a result, due to the above-mentioned drawbacks and the insufficiency of the existing solutions, an improvement is required in the technical field.
    [0035] The aim of the invention
    [0037] The objective of the invention is to guarantee that mini and small unmanned aerial vehicles (ANT), vertical take-off, multirotor or helicopter type continue their flight / mission by calculating the relative or absolute position of the unmanned aerial vehicle with great precision during take-off, navigation and landing flight stages in environments and situations where global navigation satellite systems (GNSS) are inhibited or unavailable.
    [0039] Compared to most other support systems, the invention has the ability to be used in all flight situations from the first second to the last moment of flight and to find an absolute position with a sensitivity of "coordinate accuracy. from the maximum ground station of / -10 cm ". It can also provide relative position and altitude information with an accuracy of / -10 cm.
    [0041] The invention comprises a 360-degree retroreflective prism mounted on a small-class, multirotor, or helicopter-type ANT, which performs vertical take-offs and landings, and a robotic theodolite that is attached to this prism prior to take-off and measures the azimuth or angle of yaw, elevation angle and distance and is based on the principle of supplying the absolute position information calculated by the ground measurement system equipped with a robotic theodolite and having an additional inertial measurement system integrated into the link system of the ANT by RF or a wired system and sends it to the air vehicle through the ANT link system. In this way, even when there are no GNSS signals during the mission, accurate take-off, navigation and landing are provided with the position information obtained by taking a very accurate distance measurement ~ (an accuracy of / - 10 cm ). In this way, even in cases where there is no GNSS, positioning as precise as with GNSS RTK systems (for "Real-Time Kinematic") is possible, provided that the ground station coordinates have already been established.
    [0043] There are studies that provide location by measuring the distance to the prism using robotic theodolite systems (total station). However, in these studies, the location of the ground station is either taken from the GPS or must be located at a known point and line of direction angle. In the invention, on the other hand, the line of sight of the robotic theodolite, which is integrated into the inertial navigation system, directly indicates the direction angle with respect to north and can calculate the actual position of the aerial vehicle. unmanned relative to the ground plane instantly and continuously with distance measurement. The inertial measurement unit can be operationally deployed with an integrated power supply, and by assembling the robotic theodolite in the place where it is to be installed and establishing data connections, a measurement station is created where the coordinates of the point and the angle Direction of the line can be calculated continuously and instantaneously. It is distinguished from other inventions in the creation of an integrated ground measurement system and the fact that this system does not need external supports such as a GPS or a known point in the air vehicle tracking task. This invention also enables the precise takeoff and landing of connected, multi-rotor surveillance systems.
    [0045] In contrast to the applications mentioned above, the invention uses a ground measurement system that works integrated in the inertial navigation system and that can be transferred / transported to the desired area subject to GPS inhibition. In this way, the ground station will always have information about the absolute position and the precise steering angle and will be able to operate with an absolute position (geographical position) at all stages from take-off, which is the first stage of flight, to landing. .
    [0047] If an azimuth and position measuring artillery device consisting of an inertial navigation system and an integrated robotic theodolite system is used in the ground station, the azimuth and position measuring artillery system, which operates up to a point in the one for which no previous location determination has been made is installed on a tripod. The azimuth and position measurement system, which continuously and automatically calculates your position, roll angle, pitch and heading with true north works in an integrated way with the robotic theodolite and ensures that the absolute coordinates of the airborne vehicle with respect to to the ground are calculated continuously by measuring the distance of the air vehicle.
    [0049] Since all distance measurement and tracking operations using the robotic distance measurement theodolite are done with a very narrow beam optically, it may not be detected or inhibited by RF jamming systems or other systems.
    [0051] The distance measurement to the prism made by the robotic distance meter theodolite can be transformed into absolute position using the coordinates as well as the direction of the ground station, and the absolute position information relative to the ground can be transferred to the air vehicle. Since the aircraft is tracked entirely on an optical base, no radar-based RF tracking system is necessary. Furthermore, the optical distance measurement system is not affected by RF inhibitors; actually, it is very difficult to inhibit optically.
    [0053] The system of the invention can also perform precise takeoffs, precise landings and precise positioning activities in the static tasks of connected multirotor, ANT-based, continuous surveillance systems. Image-based systems do not have a location support function from the time of first takeoff. Although RTK systems have similarities in accuracy with the method, they do not work when GNSS is inhibited.
    [0055] The structural and characteristic elements, as well as all the advantages of the invention illustrated in the following drawings and in the detailed description made with reference to these figures, will be clearly understood.
    [0057] Figures
    [0059] Figure 1 shows a multi-rotor unmanned aerial vehicle and the 360 degree retroreflective prism therein.
    [0061] Figure 2 shows an inertial navigation system and a ground measurement system consisting of an integrated robotic theodolite.
    [0063] Figure 3 shows the transfer of the absolute location information calculated by measuring the distance to the ANT with the ground measurement system, which knows its position and orientation, to the ANT via the RF data link.
    [0065] Figure 4 shows the transfer of the take-off point and the absolute position information of the aircraft calculated by measuring the distance to the ANT with the ground measurement system that knows its position and orientation from the system of the invention, to the ANT through the wired connection.
    [0067] The drawings do not necessarily have to be to scale and details that are not necessary to understand the invention may have been omitted.
    [0069] Reference numbers
    [0070] 1. Unmanned aerial vehicle
    [0071] 2. Prism
    [0072] 3. Position and azimuth measurement system
    [0073] 4. Tripod
    [0074] 5. Plate
    [0075] 6. Mechanical interface
    [0076] 7. Theodolite
    [0077] 8. Inertial navigation system
    [0078] 9. Paralyzing apparatus
    [0079] 10. Ground control station
    [0080] 11. Wired connection
    [0081] 12. Take-off / landing point
    [0083] Detailed description of the invention
    [0085] In this detailed description, the preferred structures of the invention are explained solely for a better understanding of the subject matter and without any restrictive effect.
    [0087] To make the system work, the unmanned aerial vehicle (drone), multirotor or helicopter type (1) is equipped with prisms (2) fixed at 45 degrees to each other, capable of reflecting in the direction of the beam (retroreflective) with a wide range vertically and 360 degrees horizontally. The unmanned aerial vehicle (1) has its own autopilot system and a communication module. The unmanned aerial vehicle (1), preferably, is capable of taking off and landing vertically and is part of a wired surveillance system or an ANT reconnaissance system that includes precise landing and take-off requirements.
    [0089] The position and azimuth measurement system (3) is a system that can be carried in a backpack, when necessary, can be installed on a tripod (4), when necessary, and acts statically as soon as it tracks the aerial vehicle. manned (1). Its components comprise an inertial navigation system (8), a plate (5) on which the inertial navigation system (8) is mounted, a mechanical interface (6) on the upper surface of the plate (5), a theodolite robotic (7) attached to the mechanical interface (6) from the top, with a motorized axis with target tracking capability, a processor / computer, a power supply and a tripod (4). The theodolite reference axis tools (7) and inertial navigation system (8) are pre-calibrated with a factory address match measurement.
    [0090] When the ground measurement system (3) is initialized in a known position or receives the first position from the GNSS, it begins to develop a navigation solution and provides information on the position, orientation, speed and angle in a fixed or mobile way. The system's ground measurement system processor (3) combines the position from the inertial navigation system (8), the roll, pitch and heading angles (angle relative to north) with respect to the ground, and the lateral angles and elevation of the line of sight of the robotic theodolite (7) according to its set of axes, and automatically calculates the angle of the line of sight of the theodolite (7) with respect to the north and the angle of elevation with respect to the earth. In this way, the angular information of the line of sight of the theodolite (7) and the position information of the terrestrial measurement system (3) are calculated continuously without the need for a complete stop of the azimuth and position measurement system. (3) to the ground.
    [0092] The position and azimuth measurement system (3) is brought into operation and assembled near the take-off area of the unmanned aerial vehicle (1). The theodolite (7) is connected to the azimuth and position measurement system (3) and the electrical and signal connections are made. The operator optically orients the theodolite (7) towards the prism (2) of the unmanned aerial vehicle (1). Theodolite (7) then switches to automatic target tracking mode. In automatic target tracking, theodolite (7) continuously measures the distance to the prism (2) and, in case the prism (2) moves, it follows the prism (2) using distance measurement, the displacement of phase and optical methods. The distance measured by the theodolite (7) is sent to the processor of the position and azimuth measurement system (3) together with the azimuth and elevation angles according to the theodolite's own set of axes (7). The absolute position of the unmanned aerial vehicle (1) is calculated by combining the position, roll, pitch and angle with respect to the true north information from the inertial navigation system (8). This calculated position is transmitted to the ground control station (10) of the unmanned aerial vehicle (1) through a cable or with RF signals. The ground control station (10) sends this location information to the unmanned aerial vehicle (1) by RF or through a wired connection (11) for a wired surveillance system. When the ground control station (10) sends the take-off order to the unmanned aerial vehicle (1), the position and azimuth measurement system (3) continuously monitors the position of the unmanned aerial vehicle (1) by following the prism ( 2) of the aerial vehicle through the optical theodolite (7) which is robotic, has a motorized axis, a distance meter; and sends it to the unmanned aerial vehicle (1) by the ground control station (10) to be sent through the wired connection (11) or wirelessly.
    [0093] In the system, the location and direction angle of the location of the ground control station (10) can be calculated in various ways. When using the azimuth and position measuring system (3), the inertial navigation system (8) automatically and continuously calculates the absolute position information and the heading angle based on true north.
    [0095] One use of the system is to meet the precise takeoff, navigation and landing needs of a surveillance system, which is part of the connected, multi-rotor surveillance system, which establishes the power supply and data communication through the wired connection (eleven). After the operator has found the coordinates of the take-off / landing points (12) of the unmanned aerial vehicle (1) of the connected multi-rotor surveillance system, pointing at the aerial vehicle (1) at the take-off point, the theodolite (7) is put into automatic tracking mode, the relative location information (relative position) with respect to the first position obtained by continuously measuring the distance to the unmanned aerial vehicle (1) is transferred through the ground control station (10) to the unmanned aerial vehicle (1) through the wired connection (11).
    [0097] Another area of use for the system is to accurately measure the position of unmanned spacecraft that protect critical facilities such as naval bases within a limited operational radius from the ground and transfer them to the vehicle when GNSS signals are not available.
    [0099] In a preferred application of the invention, the distance measurement can also be performed, for example, with an eye-harmless laser distance meter at a wavelength of 1550 nm. In that case, increase the distance measurement range.
    [0101] In a preferred application of the invention, a laser distance meter can also be used for communication and data transfer purposes. In that case, location information, other connection data and ANT images based on the distance measured by the ground measurement system (3) can be transmitted through the laser beam. In such a case, the system becomes completely independent of RF inhibition.
    权利要求:
    Claims (5)
    [1]
    1. A positioning support system that allows unmanned aerial vehicles (1) to take off, navigate and land without using a global positioning system, characterized by comprising;
    • prisms (2) attached to the unmanned aerial vehicle (1), capable of 360-degree retroreflective reflection, attached to each other at a 45-degree angle,
    or an inertial navigation system (8) that determines the position of its location, the roll and pitch angle in relation to the ground and its angle with respect to true north and sends them to the processor,
    or a motorized shaft theodolite (7) that is connected to the upper part of the inertial navigation system (8) with a mechanical interface (6), which provides an optical orientation towards the prisms (2) of the unmanned aerial vehicle (1 ) and tracks the unmanned aerial vehicle (1), instantly measuring its distance to the unmanned aerial vehicle (1) and sends it to the processor along with the lateral and elevation angles of the line of sight with respect to its axis, without the need leveling,
    or a position and azimuth measurement system (3) comprising a processor that calculates the absolute position of the unmanned aerial vehicle (1) using data from the theodolite (7) and the inertial navigation system (8)
    and instantly transmits the calculated position information to the unmanned aerial vehicle (1).
    [2]
    2. The system according to claim 1, characterized by comprising; a ground control station (10) that sends the position information transmitted by the ground measurement system (3) to the unmanned aerial vehicle (1) either by cable or wirelessly.
    [3]
    The system according to claim 1, characterized by comprising; a laser distance meter in the azimuth and position measurement system (3), which calculates the distance between them by focusing on the unmanned aerial vehicle (1) and transmits the position information determined by the processor to the unmanned aerial vehicle (1 ).
    [4]
    4. The system according to claim 1, characterized by comprising; said processor that determines the position where the unmanned aerial vehicle takes off (1) with the distance information it receives from the theodolite (7) and calculates the relative position of the unmanned aerial vehicle (1) in relation to the take-off point during navigation .
    [5]
    5. The system according to claim 1, wherein; The land measurement system (3) comprises a plate (5) on which the inertial navigation system (8) is mounted, and on its upper surface, the mechanical interface (6) is connected.
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    法律状态:
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