CN-122018520-A - UWB-based rotor unmanned aerial vehicle autonomous take-off, landing and guiding system and method thereof

CN122018520ACN 122018520 ACN122018520 ACN 122018520ACN-122018520-A

Abstract

The invention provides a rotor unmanned aerial vehicle autonomous take-off and landing and guiding system and a method thereof based on UWB, and relates to the technical field of unmanned aerial vehicle autonomous flight. The system comprises an unmanned aerial vehicle and a ground service platform, wherein the unmanned aerial vehicle and the ground service platform are both provided with a 3D electronic compass to establish a northeast day coordinate system, the unmanned aerial vehicle is provided with a UWB transceiver, the ground service platform integrates UWB transceiver nodes and three PDOA detectors, distance measurement and angle measurement of sensing-communication integration are realized through UWB, relative positioning is completed through space ball coordinates, the ground service platform plans a take-off and landing track containing key points, and the unmanned aerial vehicle independently flies along the track based on a self flight control system and combines an altimeter to realize soft landing and accurate take-off. By adopting an asymmetric design, complex signal processing and positioning services are deployed on the ground, and the unmanned aerial vehicle can be adapted only by externally connecting with a UWB transceiver. The invention realizes the generalized autonomous take-off, landing and guiding of the unmanned aerial vehicle at the route midway service station, supports the multi-machine collaborative operation, and has strong anti-interference capability and high reliability.

Inventors

OuYang Zili
Yuan Zedong
CHEN ZHENWEN
LU ZHIJIAN
WANG ENTAO

Assignees

中时讯通信建设有限公司

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (10)

1. The rotor unmanned aerial vehicle autonomous take-off, landing and guiding system based on UWB is characterized by comprising an unmanned aerial vehicle and a ground service platform; the unmanned aerial vehicle and the ground service platform are both provided with a 3D electronic compass for establishing a unified northeast day coordinate system; the unmanned aerial vehicle is provided with a UWB transceiver, and the ground service platform is provided with a UWB transceiver node and at least two PDOA detectors; the unmanned aerial vehicle and the ground service platform realize perception-communication integrated interaction through UWB, relative ranging and angle measurement are completed, and space spherical coordinates are constructed to determine the real-time position of the unmanned aerial vehicle relative to the ground service platform; the ground service platform is based on the real-time position planning take-off and landing track, the unmanned aerial vehicle autonomously completes take-off and landing actions along the take-off and landing track through the self flight control system, and the unmanned aerial vehicle and the ground service platform are designed by adopting an asymmetric architecture, and complex signal processing and positioning calculation functions are deployed on the ground service platform.
2. The UWB-based autonomous take-off, landing and guidance system of a rotary-wing drone of claim 1, wherein the asymmetric architecture design is specifically: The UWB transceiver of the unmanned aerial vehicle only comprises a UWB transceiver module and an MCU circuit, and realizes the positioning and communication functions by communicating with the original flight control system of the unmanned aerial vehicle; The ground service platform is also integrated with a signal processing unit for executing UWB signal analysis, DS-TWR ranging algorithm operation, PDOA angle measurement algorithm operation and coordinate transformation processing.
3. The UWB-based rotor unmanned aerial vehicle autonomous take-off and landing and guiding system according to claim 1, wherein the number of the PDOA detectors is three, the three PDOA detectors are distributed in the middle of the edge of a ground service platform in a triangular mode and at two opposite vertex positions, each PDOA detector is provided with four antennas, the four antennas are distributed on the same PCB in a square mode, and two pairs of angle measuring antennas are formed and are used for measuring course angles and pitch angles of the unmanned aerial vehicle respectively.
4. The UWB based unmanned rotorcraft autonomous take-off, landing and guidance system of claim 1, wherein the unmanned aerial vehicle and ground service platform achieve integrated perception-communication interaction via UWB comprises: after the unmanned aerial vehicle sends a service request frame and the ground service platform responds, the unmanned aerial vehicle and the ground service platform calculate the distance between the unmanned aerial vehicle and the ground service platform based on a DS-TWR algorithm through interaction of a Poll frame, a Resp frame, a Final frame and an Ack frame, and meanwhile the pitch angle and the course angle of the unmanned aerial vehicle are measured through a PDOA detector.
5. The UWB based rotor unmanned aerial vehicle autonomous take-off and landing and guiding system according to claim 1, wherein the take-off and landing track planned by the ground service platform is described by a plurality of key points, and the unmanned aerial vehicle flight control system autonomously controls the unmanned aerial vehicle to fly from one key point to the next key point according to a control target performance function, so as to complete track construction and flight.
6. The UWB based autonomous take-off, landing and guidance system of a rotary wing unmanned aerial vehicle according to claim 1, wherein the ground service platform converts the angle parameters measured by the PDOA detector in an XYZ coordinate system into a heading angle and a pitch angle in a northeast coordinate system through a rotation transformation algorithm, and transmits the heading angle and the pitch angle to the unmanned aerial vehicle.
7. The UWB-based autonomous take-off, landing and guidance system of a rotary-wing unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle flight control system is provided with an angle control objective function, the unmanned aerial vehicle enters a ground service platform from a preset direction by adjusting the flight attitude of the unmanned aerial vehicle, and maintains a safe distance from other unmanned aerial vehicles, and the angle control objective function satisfies that the heading angle of the entering direction of the unmanned aerial vehicle is smaller than that of the unmanned aerial vehicle 。
8. A method of autonomous take-off, landing and guidance of a UWB-based rotary-wing drone, applied to the system of any of claims 1-7, the method comprising: s1, respectively establishing northeast day coordinate systems by the unmanned aerial vehicle and a ground service platform through respectively configured 3D electronic compasses; S2, the unmanned aerial vehicle flies to a preset range of a target ground service platform through satellite navigation, and a UWB service request is sent to the ground service platform; s3, after responding to the request, the ground service platform performs UWB frame interaction with the unmanned aerial vehicle, calculates the distance between the two through a DS-TWR algorithm, measures the pitch angle and the course angle of the unmanned aerial vehicle through a PDOA detector, and constructs space spherical coordinates to determine the real-time position of the unmanned aerial vehicle; S4, planning a take-off and landing track containing a plurality of key points based on the real-time position by the ground service platform, and sending the take-off and landing track to the unmanned aerial vehicle; S5, based on a self flight control system, the unmanned aerial vehicle independently flies along the take-off and landing track, and soft landing or precise take-off is realized by combining an altimeter.
9. The mountain-elevation-based sewage potential energy conveying and wind-energy solar energy processing system is characterized in that in step S3, the ground service platform averages angle parameters measured by three PDOA detectors to obtain a final pitch angle and a course angle of the unmanned aerial vehicle, and the height of the unmanned aerial vehicle relative to the ground service platform is calculated based on the distance and the pitch angle.
10. The mountain-height-drop-based sewage potential energy conveying and wind energy solar energy processing system according to claim 8, wherein the distance between four antennas of the PDOA detector is half of the wavelength corresponding to the UWB center frequency, the phase difference of UWB signals is received through the antenna pair, and the incident angle of the unmanned aerial vehicle is calculated by combining the wavelength parameters.

Description

UWB-based rotor unmanned aerial vehicle autonomous take-off, landing and guiding system and method thereof Technical Field The invention relates to the technical field of autonomous flight of unmanned aerial vehicles, in particular to an autonomous take-off, landing and guiding system of a rotor unmanned aerial vehicle based on UWB and a method thereof. Background The unmanned aerial vehicle is used as a core carrier of low-altitude economy, in particular to an electric rotor unmanned aerial vehicle, and is widely applied to the scenes of logistics transportation, inspection monitoring, emergency rescue and the like in cities and suburbs by virtue of the advantages of strong maneuverability, no need of runways, low noise, high cost performance, environmental protection, easiness in maintenance and the like. With explosive growth of the number of unmanned aerial vehicles, the manual remote control mode cannot meet the requirements of large-scale and long-range operation, and the autonomous taking-off and landing and flying ability of the unmanned aerial vehicles become key technical bottlenecks. The existing unmanned aerial vehicle autonomous take-off and landing technology has the defects that firstly, universality is poor, most unmanned aerial vehicles can take off and land only at a special airport matched with an original factory and cannot adapt to a universal service station in the middle of a route, secondly, the unmanned aerial vehicle autonomous take-off and landing technology has single function, only supports the back-off and landing after the battery is exhausted, does not have continuous operation capability of autonomous landing, charging and re-flying in the middle, thirdly, the complexity of the system is high, a part of schemes integrate complex positioning and signal processing modules into the unmanned aerial vehicle, so that the unmanned aerial vehicle has the problems of rising cost, increasing weight and increasing energy consumption, affecting the endurance capability, fourthly, the cooperative capability of the multiple unmanned aerial vehicles is weak, the communication quantity of the prior art is large, the same service station can not simultaneously accommodate the take-off and landing of multiple unmanned aerial vehicles, the operation efficiency is low, fifthly, the scheme is dependent on external communication, and has weak anti-interference capability by means of complex satellite navigation or ground communication network assistance positioning, and the reliability is insufficient in a complex environment. In the future development of low-altitude economy, a general service station similar to an electric vehicle charging station needs to be deployed along the course of an airliner, so that the midway supply and the take-off and landing of the unmanned aerial vehicle are realized. Therefore, a general unmanned aerial vehicle autonomous take-off, landing and guiding technology with low cost, low energy consumption, strong interference resistance and support for multi-machine cooperation is needed to break through the limitation of the prior art. Disclosure of Invention The invention provides a rotor unmanned aerial vehicle autonomous take-off and landing and guiding system and method based on UWB, and aims to solve the technical problems of poor universality, high cost, high energy consumption, weak multi-machine coordination and the like of the existing unmanned aerial vehicle autonomous take-off and landing, and achieve accurate autonomous take-off and landing and efficient guiding of the unmanned aerial vehicle in a general service station. In order to achieve the above object, the present invention is realized by the following technical scheme: in a first aspect, the invention provides a rotor unmanned aerial vehicle autonomous take-off, landing and guiding system based on UWB, comprising an unmanned aerial vehicle and a ground service platform; the unmanned aerial vehicle and the ground service platform are both provided with a 3D electronic compass for establishing a unified northeast day coordinate system; the unmanned aerial vehicle is provided with a UWB transceiver, and the ground service platform is provided with a UWB transceiver node and at least two PDOA detectors; the unmanned aerial vehicle and the ground service platform realize perception-communication integrated interaction through UWB, relative ranging and angle measurement are completed, and space spherical coordinates are constructed to determine the real-time position of the unmanned aerial vehicle relative to the ground service platform; the ground service platform is based on the real-time position planning take-off and landing track, the unmanned aerial vehicle autonomously completes take-off and landing actions along the take-off and landing track through the self flight control system, and the unmanned aerial vehicle and the ground service platform are designed by adopting an asymmetric architecture,