CN-121994230-A - Low-altitude multi-mode navigation method and system combining radio and vision

CN121994230ACN 121994230 ACN121994230 ACN 121994230ACN-121994230-A

Abstract

The application is suitable for the technical field of aircraft navigation, and provides a low-altitude multi-mode navigation method and system combining radio and vision, which are used for constructing a gridding navigation reference network continuously covering a target area, continuously broadcasting out radio broadcast information containing absolute coordinates and identity information of a communication signal tower where the integrated navigation beacon is located, and when satellite navigation positioning information is unavailable, initially positioning the aircraft based on at least one received radio broadcast information and flying to a station of the integrated navigation beacon broadcasting the radio broadcast information. The application constructs a gridding navigation reference network by multiplexing the existing communication signal tower infrastructure, and can seamlessly switch to radio and visual navigation signals provided by the signal tower beacons when an aircraft is in a complex environment which causes the attenuation or failure of satellite navigation signals, thereby effectively solving the problems of coverage blind areas and monitoring interruption caused by over-dependence on single satellite navigation signals.

Inventors

GUO YUHUI
LIU XIN
YU HANZHANG
YANG GUAN
ZHANG YANG
MA HONGTAI
WANG XIAODONG
ZHAO WEI
ZHAO RUJIE
CAI XIAOXIONG
LI HAO

Assignees

中国铁塔股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260106

Claims (10)

1. A method of low-altitude multi-modal navigation combining radio and vision, comprising: based on the infrastructure of the communication signal tower sites, selecting sites of the communication signal tower sites in the target area to deploy fusion navigation beacons, and constructing a gridding navigation reference network which continuously covers the target area; The fusion navigation beacon continuously broadcasts radio broadcast information containing absolute coordinates and identity information of a communication signal tower where the fusion navigation beacon is located outwards, and provides a visual positioning identifier containing absolute coordinates and direction reference information of the communication signal tower where the fusion navigation beacon is located for an aircraft; The aircraft acquires satellite navigation positioning information and receives radio broadcast information broadcasted by at least one fusion navigation beacon; When the satellite navigation positioning information is available, the aircraft performs fusion positioning based on the satellite navigation positioning information and the radio broadcasting information; when the satellite navigation positioning information is not available, the aircraft performs preliminary positioning based on the received at least one radio broadcast information and flies to a station of a fused navigation beacon broadcasting the radio broadcast information; After the station of the fusion navigation beacon broadcasting the radio broadcast information enters the visual recognition distance of the aircraft, the aircraft performs secondary positioning by recognizing the visual positioning mark, performs course correction based on the secondary positioning result, and flies to the next station provided with the fusion navigation beacon along the grid navigation reference network.
2. The method of claim 1, wherein the meshed navigation reference network is based on a preset single-station effective coverage radius to satisfy a criterion that adjacent station coverage areas overlap each other.
3. The method of claim 1, wherein the visual location identifier is a machine readable graphic code comprising encoded absolute position information and a location reference area having an asymmetric structure for providing an absolute directional reference for a visual system of an aircraft for determining heading angle.
4. A method according to claim 3, wherein the visual positioning identifier has a rectangular area, at least one machine-readable graphic code is provided at three different corners of the rectangular area, the machine-readable graphic codes of the three different corners encode latitude, longitude and elevation information of the site, respectively, and the azimuth reference area is provided at the remaining corner of the rectangular area.
5. The method according to claim 1, wherein the method further comprises: When the aircraft is in an environment that satellite navigation signals are completely refused and effective radio broadcast information cannot be received, the aircraft uses an accurate positioning point acquired by identifying the visual positioning identification for the last time as a starting point, carries out dead reckoning by combining inertial navigation, and continuously tries to identify the visual positioning identification of the next site in the reckoning process so as to reset the current position and heading.
6. The method of claim 1, wherein the radio broadcast information broadcast by the fused navigation beacons and the navigation status information of the aircraft are uploaded to a flight monitoring platform in real time for independent verification and flight supervision of aircraft position.
7. A low-altitude multi-modal navigation system combining radio and vision, the system comprising a plurality of fused navigation beacons and an aircraft, the plurality of fused navigation beacons forming a meshed navigation reference network: the system comprises a gridding navigation reference network, a target area and a communication signal tower, wherein the gridding navigation reference network consists of fusion navigation beacons deployed at sites of the plurality of communication signal towers, and the sites are selected based on infrastructure of the communication signal towers so that the gridding navigation reference network continuously covers the target area; The integrated navigation beacon is configured to continuously broadcast radio broadcast information containing absolute coordinates and identity information of a communication signal tower site where the integrated navigation beacon is located, and is also provided with a visual positioning identifier for providing visual information containing reference information of the absolute coordinates and the direction of the communication signal tower site where the integrated navigation beacon is located; The aircraft can acquire satellite navigation positioning information and receive radio broadcast information broadcast by at least one fusion navigation beacon; when the satellite navigation positioning information is available, the aircraft can perform fusion positioning based on the satellite navigation positioning information and the radio broadcasting information; When the satellite navigation positioning information is unavailable, supporting the aircraft to perform preliminary positioning based on at least one piece of radio broadcasting information and fly to a station broadcasting the information, performing secondary positioning by identifying a visual positioning identifier after the station enters a visual identification distance, performing course correction based on a secondary positioning result, and flying to the next station provided with a fused navigation beacon along the meshed navigation reference network.
8. An electronic device comprising at least one processor and at least one memory in data connection with the processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
9. A computer-storable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, particularly perform the steps of the method according to any of claims 1-6.
10. A computer program product comprising computer instructions which, when executed by a processor, particularly perform the steps of the method according to any of claims 1-6.

Description

Low-altitude multi-mode navigation method and system combining radio and vision Technical Field The application belongs to the technical field of aircraft navigation, and particularly relates to a low-altitude multi-mode navigation method based on combination of radio and vision. Background With the rapid development of low-altitude economy, the operation scale and application scene of aircrafts such as unmanned aerial vehicles are increasingly enlarged, and higher requirements are put forward on the flight safety and specification management of the aircrafts, at present, low-altitude aircrafts mainly depend on global navigation systems (GNSS), provide high-precision positioning and navigation services by combining with a foundation enhancement system, and are assisted with local ground wireless signal enhancement or visual assistance means in a specific area. There are also some solutions in the prior art that use discrete beacons deployed on specific routes to provide a positional reference for the aircraft, such solutions typically being single-function, deployed independently, and not being deep-fused with the existing infrastructure of wide-area coverage. However, in the existing low-altitude navigation, single GNSS signals are extremely easy to be blocked and interfered in complex environments such as urban canyons, mountain areas, indoor or tunnels, so that the positioning accuracy is reduced and even the low-altitude scene is invalid, the foundation enhancement system information cannot synchronize differential information to an aircraft in time, the mandatory supervision requirement on the whole domain and continuous monitoring of the navigation information of the aircraft is difficult to meet, and secondly, the temporary or local deployment of discrete beacons lacks large-scale and networked planning, has limited coverage and cannot form wide-area seamless navigation capability, and under the condition of extreme disasters or strong electromagnetic interference, the overall reliability and the robustness of the system are insufficient, so that effective backup guarantee is difficult to be provided for flight safety, and the defects jointly restrict the support capability of the infrastructure for low-altitude economy large-scale and standardized development. Disclosure of Invention In order to solve the problems, the application provides a low-altitude multi-mode navigation method based on a signal tower beacon of radio and vision, which has the advantages of continuous and reliable positioning and navigation under a satellite navigation refusal environment. The application provides a low-altitude multi-mode navigation method combining radio and vision, which comprises the following steps: based on the infrastructure of the communication signal tower sites, selecting sites of the communication signal tower sites in the target area to deploy fusion navigation beacons, and constructing a gridding navigation reference network which continuously covers the target area; The fusion navigation beacon continuously broadcasts radio broadcast information containing absolute coordinates and identity information of a communication signal tower where the fusion navigation beacon is located outwards, and provides a visual positioning identifier containing absolute coordinates and direction reference information of the communication signal tower where the fusion navigation beacon is located for an aircraft; The aircraft acquires satellite navigation positioning information and receives radio broadcast information broadcasted by at least one fusion navigation beacon; When the satellite navigation positioning information is available, the aircraft performs fusion positioning based on the satellite navigation positioning information and the radio broadcasting information; when the satellite navigation positioning information is not available, the aircraft performs preliminary positioning based on the received at least one radio broadcast information and flies to a station of a fused navigation beacon broadcasting the radio broadcast information; After a station of the fusion navigation beacon broadcasting the radio broadcast information enters the visual recognition distance of the aircraft, the aircraft performs secondary positioning by recognizing the visual positioning identifier, performs course correction based on the secondary positioning result, and flies to the next station provided with the fusion navigation beacon along the gridding navigation reference network. Further, the gridding navigation reference network is based on a preset single-station effective coverage radius so as to meet the criterion that coverage areas of adjacent stations overlap with each other. Further, the visual location identifier is a machine readable graphic code encoded with absolute position information and a bearing reference zone having an asymmetric structure for providing an absolute directional reference for a visual syste