CN-122028009-A - Searching method and device for unmanned aerial vehicle under losing condition

CN122028009ACN 122028009 ACN122028009 ACN 122028009ACN-122028009-A

Abstract

The invention discloses a searching method and a searching device for unmanned aerial vehicle loss, which belong to the technical field of unmanned aerial vehicle positioning and comprise the steps of acquiring target position coordinate data of an unmanned aerial vehicle end and local position coordinate data of a handheld end, and constructing a relative geographic vector model; and obtaining a time domain interaction response value by establishing a pulse wireless communication ranging link and combining the azimuth angle guiding value, and is used for constructing a distance constraint model. According to the invention, through fusion of the relative geographic vector model and the azimuth angle guiding value, the time domain response of the pulse wireless communication ranging link is assisted, a distance constraint model is constructed, the azimuth-distance coupling analysis is deepened, and a dynamic adjustment mechanism of a search area is derived, so that the amplification of coordinate deviation is restrained in the moving process of the unmanned aerial vehicle, the adaptability of the whole positioning frame is enhanced, and the interference of environmental noise on the guiding value is relieved.

Inventors

SU JIANFENG
YANG YANG
LIU BIN
LUO JI
CAO WEI
LI JIARUI
LI XIAOLIN
ZHANG JIN
ZHANG HUI
YANG HANGKANG
Zeng Baobao
MOU JINGYAN
LONG XIUQUAN
LI HUA
LUO SHUN

Assignees

贵州电网有限责任公司

Dates

Publication Date: 20260512
Application Date: 20251208

Claims (10)

1. A searching method for unmanned aerial vehicle in case of losing is characterized by comprising the following steps, Acquiring target position coordinate data of an unmanned aerial vehicle end and local position coordinate data of a handheld end, and constructing a relative geographic vector model; Performing azimuth calculation through the relative geographic vector model to obtain an azimuth angle guiding value; the method comprises the steps of obtaining a time domain interaction response value by establishing a pulse wireless communication ranging link and combining an azimuth angle guiding value, and constructing a distance constraint model; analyzing the coupling relation between the azimuth angle guiding value and the real-time ranging data by combining a distance constraint model to obtain an azimuth-distance double-drive positioning constraint threshold value, and performing first adjustment of a search area; based on the azimuth-distance double-drive positioning constraint threshold, combining the position variation in the dynamic movement process to obtain a dynamic convergence positioning model; and obtaining coordinates based on vector intersection by combining the iteratively updated distance information through the dynamic convergence positioning model, and positioning the unmanned aerial vehicle.
2. The method for finding a missing unmanned aerial vehicle of claim 1, wherein obtaining target location coordinate data of the unmanned aerial vehicle and local location coordinate data of the handheld terminal, and constructing a relative geographic vector model comprises, Acquiring longitude and latitude information of the unmanned aerial vehicle end in real time through a satellite positioning unit, and transmitting the longitude and latitude information to a calculation control center through a remote wireless transmission protocol; synchronously acquiring local longitude and latitude information of the handheld terminal, and carrying out projection mapping on the target longitude and latitude information and the local longitude and latitude information; based on the projection mapping result, calculating a latitude difference vector and a longitude difference vector, and constructing a relative geographic vector model.
3. A method for a lost drone according to claim 2 wherein performing an azimuth solution with the relative geographic vector model to obtain an azimuth-angle-index value comprises, Based on a relative geographic vector model, extracting a difference value between the latitude of the target position and the latitude of the local position as an opposite side vector parameter; Extracting a difference value between the target position longitude and the local position longitude as a bottom edge vector parameter; and constructing a trigonometric function relation between the edge vector parameter and the bottom vector parameter, calculating a tangent value and analyzing to obtain an azimuth angle guiding value.
4. A method for a lost drone according to claim 3 wherein obtaining a time domain interaction response value by establishing the pulsed wireless communication ranging link in combination with an azimuth angle index value comprises, Monitoring a signal strength threshold of the pulsed wireless signal during the course of directing the value to approach the target along the azimuth angle; when the signal strength meets the preset access condition and the pulse time interval meets microsecond level constraint, activating a bilateral two-way ranging protocol; Triggering pulse signal interaction between the master node and the slave node, recording signal transmitting time and signal arrival time in the process of multiple interactions, and generating a time domain interaction response value.
5. The method for unmanned aerial vehicle loss situation according to claim 4, wherein analyzing the coupling relation between the azimuth angle guide value and the real-time ranging data in combination with the distance constraint model to obtain an azimuth-distance double-drive positioning constraint threshold value comprises, Extracting a first forward transmission time amount, a first reverse time amount, a second forward time amount, and a second reverse transmission time amount in the time domain interaction response value; processing the time quantity through cross product difference operation, and calculating signal flight time by combining the ratio relation of the time quantity sum; introducing a frequency constant correction factor based on signal flight time to generate a distance measurement value; and constructing a geometric intersection region by taking the distance measurement value as radius constraint and combining the ray constraint of the azimuth angle guiding value to obtain an azimuth-distance double-drive positioning constraint threshold.
6. The method for unmanned aerial vehicle loss situation according to claim 5, wherein obtaining a dynamic convergence positioning model in combination with the amount of position change during dynamic movement based on the position-distance double-drive positioning constraint threshold comprises, Acquiring a frequency running constant and a crystal oscillation error coefficient, and constructing an error compensation function; Performing linear correction on the distance measurement value by using an error compensation function to obtain a corrected distance radius; generating a dynamic circular search boundary on the geographic map based on the corrected distance radius; and combining displacement increment generated by the handheld end in the moving process, and updating the intersection area of the circular search boundary and the azimuth ray in real time to generate a dynamic convergence positioning model.
7. The method for unmanned aerial vehicle loss situation according to claim 6, wherein obtaining vector intersection-based coordinates in combination with iteratively updated range information via said dynamic convergence positioning model comprises, In the dynamic convergence positioning model, the chord length range of the searching boundary is reduced by continuously moving step length; calculating the dynamic distance change rate of the current position and the target position in real time; Based on the dynamic distance change rate and the convergence trend of the chord length range, a unique vector intersection point is determined, and coordinates are output.
8. An accurate searching device for unmanned aerial vehicle losing condition, applying a searching method for unmanned aerial vehicle losing condition according to any one of claims 1-7, characterized by comprising a front end device (1) installed on unmanned aerial vehicle body and a back end device (2) carried by searching personnel; The front-end device (1) is fixed on the unmanned plane body; The back-end device (2) is used for establishing a remote data link and a near-field pulse ranging link with the front-end device (1) and carrying a calculating unit (3) for executing azimuth resolving and dynamic convergence positioning models.
9. The precise searching device for the unmanned aerial vehicle under the condition of losing according to claim 8, wherein the front-end device (1) comprises an embedded processing unit (11), a first satellite positioning module (12), a first remote communication module (13) and a pulse wireless communication tag (14), and the embedded processing unit (11) establishes data connection with the first satellite positioning module (12), the first remote communication module (13) and the pulse wireless communication tag (14) through serial-to-universal serial bus interfaces respectively; the front-end device (1) further comprises a metal material packaging shell and a light-emitting diode indicator lamp, wherein a solidified silica gel layer is filled in the metal material packaging shell, a dual-mode positioning antenna (15) and a pulse communication antenna (16) are fixed on the outer side of the top of the metal material packaging shell through mechanical bolts, a double-sided adhesive layer is arranged at the bottom of the metal material packaging shell, and the light-emitting diode indicator lamp is electrically connected with a general input/output interface of the embedded processing unit (11).
10. The precise locating device for unmanned aerial vehicle loss according to claim 9, wherein the back-end device (2) comprises a tablet computing device (21), and the tablet computing device (21) is respectively connected with a second satellite positioning module (22) and a pulse wireless communication base station (23) through a data interface.

Description

Searching method and device for unmanned aerial vehicle under losing condition Technical Field The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to a searching method and device for unmanned aerial vehicle loss. Background In the electric power inspection field, unmanned aerial vehicle mainly used replaces the manual work to accomplish those dirty poor information acquisition tasks, reaches the assigned position through predetermining the coordinate point and gathers data such as trouble point, then gives ground personnel with these information fast, is used for analysis judgement and scheme formulation to reduce intensity of labour, improve inspection efficiency and security, however, because unmanned aerial vehicle product quality is different, control personnel level difference to and the control factor in certain aerial region often leads to unmanned aerial vehicle out of control crash's condition to take place. At present, two methods mainly exist for searching the crash unmanned aerial vehicle, one method is to search in a large range through the last position information recorded before the unmanned aerial vehicle is out of control, a large amount of manpower is needed to be input in the method, when searching is carried out in the wilderness field, hidden danger is formed on personal safety of a searcher, moreover, searching results cannot be successful in finding the unmanned aerial vehicle, and the other method is to load an RTK differential positioning component on the unmanned aerial vehicle, the RTK differential positioning is a technology for improving positioning precision through differential correction of a ground base station and satellite signals, the GPS error is calibrated by using an additional reference point, and therefore high-precision positioning is achieved, but the method is high in cost, safety risk exists between the method and third-party network communication, the device weight is high, and the flight inspection efficiency of the unmanned aerial vehicle is influenced, so that the problems of insufficient precision, long consumed time, low safety, poor economy and the like are faced when the prior art is used for searching under the condition of processing unmanned aerial vehicle loss. Disclosure of Invention Therefore, the technical problem to be solved by the invention is that the prior art is faced with the problems of insufficient precision, long time consumption, low safety, poor economy and the like when processing the search under the condition of unmanned aerial vehicle loss. The method comprises the steps of obtaining target position coordinate data of an unmanned aerial vehicle end and local position coordinate data of a handheld end, constructing a relative geographic vector model, carrying out azimuth calculation through the relative geographic vector model to obtain an azimuth angle guide value, obtaining a time domain interaction response value through establishing a pulse wireless communication ranging link and combining the azimuth angle guide value, and the time domain interaction response value is used for constructing a distance constraint model, analyzing the coupling relation between the azimuth angle guide value and real-time ranging data and combining the distance constraint model to obtain an azimuth-distance double-drive positioning constraint threshold, carrying out first adjustment of a search area, obtaining a dynamic convergence positioning model based on the azimuth-distance double-drive positioning constraint threshold and combining the position change in the dynamic moving process, obtaining a coordinate based on vector intersection by combining iteratively updated distance information through the dynamic convergence positioning model, and positioning the unmanned aerial vehicle. The method for searching the unmanned aerial vehicle under the condition of losing comprises the steps of obtaining target position coordinate data of the unmanned aerial vehicle end and local position coordinate data of the handheld end, constructing a relative geographic vector model, acquiring longitude and latitude information of the unmanned aerial vehicle end in real time through a satellite positioning unit, sending the longitude and latitude information to a calculation control center through a remote wireless transmission protocol, synchronously acquiring local longitude and latitude information of the handheld end, carrying out projection mapping on the target longitude and latitude information and the local longitude and latitude information, calculating a latitude difference vector and a longitude difference vector based on a projection mapping result, and constructing the relative geographic vector model. The method for searching the unmanned aerial vehicle under the condition of losing comprises the steps of executing azimuth calculation through the relative geographic vector model, obtaining an azimuth ang