CN-224233852-U - Unmanned aerial vehicle accurate positioning system based on UWB technique

CN224233852UCN 224233852 UCN224233852 UCN 224233852UCN-224233852-U

Abstract

The utility model discloses an unmanned aerial vehicle accurate positioning system based on UWB technology, which comprises a UWB positioning tag, a positioning base station and an unmanned aerial vehicle. The positioning base station is composed of a circular circuit board, four patch antennas and a high-performance UWB chip, wherein the upper patch, the lower patch, the left patch and the right patch respectively form two groups of antennas, and each group of antennas is connected with the independent UWB chip. When the system works, the base station transmits signals to the UWB tag and receives reflected signals, the distance is accurately measured through a time-of-flight method (TOF), meanwhile, the phase difference of the signals received by the same group of antennas is calculated by utilizing the interferometer principle, the azimuth angle and the elevation angle of incoming waves are obtained, and three-dimensional space centimeter-level positioning is realized. The UWB signal has nanosecond time resolution and strong multipath interference resistance, and can still keep stable communication in a complex environment. And the unmanned aerial vehicle adjusts the flight track in real time according to the position data calculated by the base station.

Inventors

LIU YING
XIE FEI
DING JIANXIN

Assignees

珠海安擎科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250425

Claims (5)

1. The unmanned aerial vehicle accurate positioning system based on the UWB technology is characterized by comprising a UWB positioning tag, a positioning base station, a high-performance UWB chip and an unmanned aerial vehicle; the UWB positioning tag is used for receiving and reflecting UWB positioning signals; The positioning base station comprises a circular circuit board (1), four patch antennas and a high-performance UWB chip; The patch antennas are respectively an upper patch (2) and a lower patch (3) which are fixed on the circular circuit board (1), wherein the upper patch (2) and the lower patch (3) form a first group of antennas, the left patch (3) and the right patch (3) form a second group of antennas, and the base lines of the two groups of antennas are distributed in a crisscross manner; The high-performance UWB chip is respectively connected with each group of patch antennas and is used for: Measuring a distance between the positioning base station and the UWB positioning tag based on a time-of-flight method; Calculating the phase difference of signals received by the same group of patch antennas based on the interferometer principle, and obtaining the azimuth angle and the elevation angle of an incoming wave; The unmanned aerial vehicle is in communication connection with the positioning base station and is used for generating a flight control instruction according to the three-dimensional position data calculated by the positioning base station and adjusting the flight track.
2. The accurate positioning system of the unmanned aerial vehicle based on the UWB technology of claim 1, wherein the positioning base station is carried on the unmanned aerial vehicle body to form an integrated positioning and flight control module.
3. The unmanned aerial vehicle accurate positioning system based on UWB technology as claimed in claim 1, wherein said patch antenna and said high-performance UWB chip are integrally packaged inside said circular circuit board (1), and the real-time signal processing response time of said high-performance UWB chip is less than 10 milliseconds.
4. The unmanned aerial vehicle accurate positioning system based on UWB technology according to claim 1, wherein the length of the patch antenna base line satisfies: to avoid direction finding errors caused by phase ambiguity.
5. The accurate positioning system of unmanned aerial vehicle based on UWB technology of claim 1, wherein said unmanned aerial vehicle receives real-time position data transmitted by said positioning base station through wireless communication module, and generates flight control instruction to adjust heading and altitude based on said data.

Description

Unmanned aerial vehicle accurate positioning system based on UWB technique Technical Field The utility model provides a positioning system, belongs to the technical field of unmanned aerial vehicle control and navigation, and particularly relates to an unmanned aerial vehicle accurate positioning system based on UWB technology. Background Unmanned aerial vehicle is an unmanned aerial vehicle, is managed by remote control station or autonomous flight control's aircraft, and the meaning of its location is in realizing autonomous navigation and accurate control, guarantees unmanned aerial vehicle's safe flight and task execution in the complex environment, for example plays important roles in fields such as disaster relief, agricultural plant protection, geological exploration, and the development of location technique has also promoted unmanned aerial vehicle's application and intelligent degree's promotion under more scenes simultaneously. The existing unmanned aerial vehicle positioning system has lower precision under complex environments, particularly in high-rise or indoor scenes and the like, the traditional GPS signals are easy to be blocked by buildings and interfered by multipath effects, positioning errors are usually more than 1 meter, and the accurate operation requirements cannot be met. Visual positioning depends on ambient lighting conditions, and is easy to be positioned and fail in low-light or smoke scenes, while laser radar can realize centimeter-level positioning, the hardware cost is high, and complex reflecting surfaces (such as glass curtain walls) are easy to cause error accumulation. The problems seriously restrict the application of the unmanned aerial vehicle in the scenes of logistics distribution, warehouse management, indoor inspection and the like. Therefore, there is a need for a high-precision, strong tamper-resistant, low-cost unmanned aerial vehicle positioning system. Disclosure of utility model In order to make up the defects of the prior art, the embodiment of the application solves the problems of low positioning precision, signal shielding and unstable positioning caused by multipath effect in a complex environment by providing the unmanned aerial vehicle accurate positioning system based on the UWB technology. In order to solve the technical problems, the utility model provides the technical scheme that the unmanned aerial vehicle accurate positioning system based on the UWB technology comprises a UWB positioning tag, a positioning base station, a high-performance UWB chip and an unmanned aerial vehicle; the UWB positioning tag is used for receiving and reflecting UWB positioning signals; the positioning base station comprises a circular circuit board, four patch antennas and a high-performance UWB chip; The patch antennas are respectively an upper patch, a lower patch and a left patch and a right patch which are fixed on the circular circuit board, wherein the upper patch and the lower patch (2) form a first group of antennas, the left patch and the right patch form a second group of antennas, and the base lines of the two groups of antennas are distributed in a crisscross manner; The high-performance UWB chip is respectively connected with each group of patch antennas and is used for: Measuring a distance between the positioning base station and the UWB positioning tag based on a time-of-flight method; Calculating the phase difference of signals received by the same group of patch antennas based on the interferometer principle, and obtaining the azimuth angle and the elevation angle of an incoming wave; The unmanned aerial vehicle is in communication connection with the positioning base station and is used for generating a flight control instruction according to the three-dimensional position data calculated by the positioning base station and adjusting the flight track. Preferably, the positioning base station is carried on the unmanned aerial vehicle body to form an integrated positioning and flight control module. Preferably, the patch antenna and the high-performance UWB chip are integrally packaged inside the circular circuit board, and the real-time signal processing response time of the high-performance UWB chip is less than 10 milliseconds. Preferably, the length of the patch antenna base line satisfies the following conditions: to avoid direction finding errors caused by phase ambiguity. Preferably, the unmanned aerial vehicle receives real-time position data transmitted by the positioning base station through a wireless communication module and generates a flight control instruction based on the data so as to adjust heading and altitude. One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages: The system has three significant advantages of high-precision positioning, strong anti-interference capability, low cost and easy deployment, namely, firstly, the time measureme