Method and system for controlling flight of unmanned aerial vehicle and unmanned aerial vehicleTechnical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for controlling the flight of an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
At present, the price of the unmanned aerial vehicle is cheaper and cheaper, the popularization amount is larger and larger, and if a user takes off in a no-fly area, the unmanned aerial vehicle poses great threats to the national property, personal property and personal safety. With the wide application of unmanned aerial vehicles, the situation of flight in restricted zones is bound to be more and more serious.
At present, an unmanned aerial vehicle system adopts a technology of combining an electronic fence and a GPS to set a no-fly zone, and the unmanned aerial vehicle is judged whether to be in the no-fly zone or drive into the no-fly zone by the GPS through obtaining position information and adopting the electronic fence technology. Before the unmanned aerial vehicle takes off, if the current position falls into the no-fly zone, the unmanned aerial vehicle refuses to take off, and if the unmanned aerial vehicle flies into the no-fly zone in the flying process, namely the current position is in the no-fly zone, the unmanned aerial vehicle immediately lands or returns to the flying starting point to land. However, as the GPS and the unmanned aerial vehicle flight control system adopt plaintext transmission, the unmanned aerial vehicle operator can easily bypass the no-flight scheme of the unmanned aerial vehicle system as long as the forged GPS information is input into the unmanned aerial vehicle flight control system, so that the unmanned aerial vehicle can take off in the no-flight area.
Aiming at the technical problem that the no-fly scheme of the related art can be easily bypassed by forging GPS data, no effective solution is provided at present.
Disclosure of Invention
The embodiment of the invention provides a method for controlling an unmanned aerial vehicle to fly, which comprises the following steps:
acquiring inertial navigation measurement information and GPS positioning information;
obtaining current flight position information based on the inertial navigation measurement information and GPS positioning information, and reporting the flight position information to a base station;
when receiving the notice of successful authentication from the base station, continuing to execute subsequent flight operation;
and stopping executing subsequent flight operation when receiving the notification of authentication failure from the base station.
An embodiment of the present invention further provides an unmanned aerial vehicle, including:
a GPS positioning device configured to acquire GPS positioning information;
the inertial navigation positioning device is configured to obtain inertial navigation measurement information;
the flight control device is configured to obtain current flight position information based on the inertial navigation measurement information and the GPS positioning information; and configured to continue to perform subsequent flight operations according to the notification of successful authentication from the base station, and to stop performing subsequent flight operations according to the notification of failed authentication from the base station;
and the communication device is configured to report the flight position information to a base station and receive the notification from the base station.
The embodiment of the invention also provides a method for controlling the flight of the unmanned aerial vehicle, which comprises the following steps:
the method comprises the steps that an unmanned aerial vehicle obtains inertial navigation measurement information and GPS positioning information, obtains current flight position information based on the inertial navigation measurement information and the GPS positioning information, and reports the flight position information to a base station;
the base station acquires the flight position information of the unmanned aerial vehicle, and verifies whether the flight position information is legal or not by utilizing the position information of the base station;
when the flight position information is legal, the base station informs the unmanned aerial vehicle that the authentication is successful, and when the unmanned aerial vehicle receives the notification of successful authentication from the base station, the unmanned aerial vehicle continues to execute subsequent flight operation;
and when the flight position information is illegal, the base station informs the unmanned aerial vehicle that the authentication fails, and when the unmanned aerial vehicle receives the notice of the authentication failure from the base station, the unmanned aerial vehicle stops executing subsequent flight operation.
The embodiment of the invention also provides a system for controlling the flight of the unmanned aerial vehicle, which comprises: an unmanned aerial vehicle and a base station; wherein,
the unmanned aerial vehicle comprises: a GPS positioning device configured to acquire GPS positioning information; the inertial navigation positioning device is configured to obtain inertial navigation measurement information; the flight control device is configured to obtain current flight position information based on the inertial navigation measurement information and the GPS positioning information; and configured to continue to perform subsequent flight operations according to the notification of successful authentication from the base station, and to stop performing subsequent flight operations according to the notification of failed authentication from the base station; the communication device is configured to report the flight position information to a base station and receive the notification from the base station;
the base station, comprising: a positioning device configured to acquire position information of a base station itself, the position information including ephemeris information of the base station itself; a communication circuit configured to communicate with a drone; a memory storing a program for controlling the flight of the drone; a processor configured to read the program for controlling the flight of the drone to perform the following operations: acquiring the flight position information of the unmanned aerial vehicle, and verifying whether the flight position information is legal or not by utilizing the position information of a base station; when the flight position information is legal, informing the unmanned aerial vehicle that the authentication is successful; and when the flight position information is illegal, the base station informs the unmanned aerial vehicle that authentication fails.
According to the embodiment of the invention, whether the current flight position information of the unmanned aerial vehicle is legal or not is verified through the connectable base station of the unmanned aerial vehicle and the position information of the base station, whether the GPS data of the unmanned aerial vehicle is real or not can be effectively verified, and the unmanned aerial vehicle is controlled to stop subsequent flight operation under the condition that the GPS data of the unmanned aerial vehicle is not real, so that the condition that the unmanned aerial vehicle takes off or flies in a no-fly area by forging the GPS data is effectively avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic flowchart of a method for controlling a flight of an unmanned aerial vehicle according to a first embodiment;
FIG. 2 is a schematic structural diagram of a device for controlling the flight of an unmanned aerial vehicle according to a second embodiment;
fig. 3 is a schematic flowchart of a method for controlling the flight of an unmanned aerial vehicle according to the fourth embodiment;
fig. 4 is an exemplary structural schematic diagram of an embodiment five drone;
fig. 5 is a schematic diagram of unmanned aerial vehicle calculation of flight position information in example 1;
fig. 6 is an exemplary scenario diagram of communication between a drone and a base station in example 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Example one
A method for controlling the flight of an unmanned aerial vehicle, as shown in fig. 1, can be implemented by a base station, and includes:
step 101, a base station acquires flight position information of an unmanned aerial vehicle;
102, the base station verifies whether the flight position information is legal or not by utilizing the position information of the base station; continuing step 103 when the flight position information is legal, and continuing step 104 when the flight position information is illegal;
103, the base station informs the unmanned aerial vehicle that the authentication is successful so that the unmanned aerial vehicle can continue to execute subsequent flight operation;
and 104, the base station informs the unmanned aerial vehicle of authentication failure so that the unmanned aerial vehicle stops executing subsequent flight operation.
According to the method, whether the current flight position information of the unmanned aerial vehicle is legal or not is verified through the connectable base station of the unmanned aerial vehicle and the position information of the base station, whether the GPS data of the unmanned aerial vehicle is real or not can be effectively checked, the unmanned aerial vehicle is controlled to stop subsequent flight operation under the condition that the GPS data of the unmanned aerial vehicle is not real, and therefore the condition that the unmanned aerial vehicle takes off or flies in a no-fly area through counterfeiting the GPS data is effectively avoided.
In this embodiment, the base station may use its own location information to verify whether the flight location information is legal. In one implementation, the way for the base station to verify whether the flight location information is legal by using its own location information may include one or both of the following: 1) the base station judges whether the position of the flight position information identifier is in the coverage area of the base station or not according to the position information of the base station and the flight position information of the unmanned aerial vehicle, the flight position information identifier is considered to be legal when the position of the flight position information identifier is in the coverage area of the base station, and the flight position information identifier is considered to be illegal when the position of the flight position information identifier is not in the coverage area of the base station; 2) and the base station obtains the observation error of the base station by using the inertial navigation measurement information from the unmanned aerial vehicle and ephemeris information of the base station, judges whether the observation error corresponding to the flight position information is matched with the observation error of the base station, and determines that the flight position information is legal when the observation error is matched with the observation error of the base station and the flight position information is illegal when the observation error is not matched with the observation error of the base station.
In an implementation scheme of this embodiment, the process of the base station verifying whether the flight location information is legal by using its own location information may be: judging whether the position of the flight position information identifier is in the coverage range of the base station, if not, continuing to judge whether the observation error corresponding to the flight position information is matched with the observation error of the base station. The base station judges whether the position identified by the flight position information is in the coverage range of the base station according to the self position information and the flight position information of the unmanned aerial vehicle; and when the position of the flight position information identifier is not within the coverage range of the base station, the base station obtains the observation error of the base station by using the inertial navigation measurement information from the unmanned aerial vehicle and ephemeris information of the base station, and judges whether the observation error corresponding to the flight position information is matched with the observation error of the base station. In practical application, the implementation mode can be suitable for the unmanned aerial vehicle before and in flight, and a more accurate verification result can be obtained.
If the position of the flight position information identifier is in the coverage area of the base station, the flight position information can be considered to be legal, if the position of the flight position information identifier is not in the coverage area of the base station but the observation error corresponding to the flight position information is matched with the observation error of the base station, the flight position information can be considered to be legal, and if the observation error corresponding to the flight position information is not matched with the observation error of the base station, the flight position information is considered to be illegal.
In another implementation of this embodiment, the process of the base station verifying whether the flight location information is legal by using its own location information may be: and judging whether the position of the flight position information identifier is in the coverage range of the base station, if not, determining that the flight position information is illegal, and if so, determining that the flight position information is legal. In practical application, the implementation mode is particularly suitable for the unmanned aerial vehicle before takeoff.
In another implementation of this embodiment, the process of the base station verifying whether the flight location information is legal by using its own location information may be: and the base station obtains the observation error of the base station by using the inertial navigation measurement information from the unmanned aerial vehicle and ephemeris information of the base station, and judges whether the observation error corresponding to the flight position information is matched with the observation error of the base station. If the observation error corresponding to the flight position information is matched with the observation error of the base station, the flight position information can be considered as legal, and if the observation error corresponding to the flight position information is not matched with the observation error of the base station, the flight position information is considered as illegal. In practical application, this implementation is particularly suitable for the flight process of unmanned aerial vehicles.
In this embodiment, before the determining whether the observation error corresponding to the flight position information matches the observation error of the base station, the base station may further obtain the observation error corresponding to the flight position information. There are various ways for the base station to obtain the observation error corresponding to the flight location information. In one implementation, the manner for the base station to obtain the observation error corresponding to the flight position information may include one of the following: 1) acquiring an observation error corresponding to the flight position information from the unmanned aerial vehicle; 2) and obtaining an observation error corresponding to the flight position information by using inertial navigation measurement information from the unmanned aerial vehicle and ephemeris information from the unmanned aerial vehicle.
In one implementation, the observation error may be obtained by: obtaining relevant parameters (such as course, navigational speed, acceleration, angular velocity and the like) of an inertial navigation measurement position by using inertial navigation measurement information, obtaining a pseudo range of a satellite positioning position by using ephemeris information, and selecting a difference between the relevant parameters of the inertial navigation measurement position and the pseudo range of the satellite positioning position and a pseudo range difference thereof as observed quantities; and discretizing the observed quantity and carrying out filtering processing to obtain an observation error. That is to say, the observation error of the base station and the observation error corresponding to the flight position information can both be obtained in this way, except that the observation error of the base station is obtained based on the ephemeris information of the base station and the inertial navigation measurement information of the unmanned aerial vehicle, and the observation error corresponding to the flight position information, that is, the observation error of the unmanned aerial vehicle is obtained based on the ephemeris information of the unmanned aerial vehicle and the inertial navigation measurement information of the unmanned aerial vehicle. Thus, whether the GPS positioning of the unmanned aerial vehicle has the pseudo data can be confirmed by comparing the observation error of the base station with the observation error of the unmanned aerial vehicle.
In practical application, the purpose of the discretization is for computer processing convenience, a certain error exists in positioning information obtained after the relevant information of inertial navigation and GPS is subjected to comprehensive calculation, and a group of smooth position information is obtained after Kalman filtering, which is a final output result. And describing the calculation process of the reliability of the final output result through a covariance matrix in the calculation process of discretizing the observed quantity and carrying out filtering processing, wherein the reliability of the finally output position information is described by the covariance calculated by the covariance matrix.
For example, assume that r direct measurements are made on a position-determining scalar X, with the respective measurements Z1Z2...ZrThe mean of the measurement errors is zero, and the variance is R, then the covariance of X can be obtained as follows:
the measurement equation obtained by r times of direct measurement is as follows: z is HX + V; wherein Z ═ Z1Z2…Zr],H＝[11…1]，E[VVT]RI; according toTo obtainThe final variance is
Generally, the base station is capable of communicating with the drone, and the distance between the base station and the drone is within a relatively small range, in which the ephemeris information of the base station and the actual ephemeris information of the drone are the same or very close, and the corresponding observation error should be the same, so the criterion for whether the observation error of the base station matches the observation error of the corresponding flight position information may be the same or very close.
Example two
An apparatus for controlling flight of a drone, applied to a base station, as shown in fig. 2, may include:
the acquiring module 21 is used for acquiring flight position information of the unmanned aerial vehicle;
the verification module 22 is used for verifying whether the flight position information is legal or not by utilizing the position information of the verification module;
the notification module 23 is configured to notify the unmanned aerial vehicle that the authentication is successful when the flight position information is legal, so that the unmanned aerial vehicle continues to perform subsequent flight operations; and when the flight position information is illegal, informing the unmanned aerial vehicle that authentication fails so that the unmanned aerial vehicle stops executing subsequent flight operation.
In one implementation, the verification module 22 may include one or both of: the position verification module 221 is configured to determine whether the position of the flight position information identifier is within the coverage area of the base station according to the position information of the unmanned aerial vehicle and the flight position information of the unmanned aerial vehicle, and determine that the flight position information is legal when the position of the flight position information identifier is within the coverage area of the base station; the observed quantity verification module 222 is configured to obtain an observation error of the base station by using inertial navigation measurement information from the unmanned aerial vehicle and ephemeris information of the unmanned aerial vehicle, determine whether the observation error corresponding to the flight position information matches the observation error of the base station, and determine that the flight position information is legal when the observation error matches the observation error of the base station.
In one implementation, the obtaining module 21 is further configured to obtain an observation error corresponding to the flight position information from the unmanned aerial vehicle; and/or the observed quantity verification module 222 may be further configured to obtain an observation error corresponding to the flight position information by using inertial navigation measurement information from the drone and ephemeris information from the drone.
In the device for controlling the flight of the unmanned aerial vehicle in the embodiment, each module can be software, hardware or a combination of the software and the hardware. In practical applications, the device may be configured in a base station to implement the above functions.
Other technical details of the present embodiment refer to the first embodiment.
EXAMPLE III
A base station, comprising:
a positioning device configured to acquire position information of a base station itself, the position information including ephemeris information of the base station itself;
a communication circuit configured to communicate with a drone;
a memory storing a program for controlling the flight of the drone;
a processor configured to read the program for controlling the flight of the drone to perform the operations of the method of controlling the flight of the drone of embodiment one.
Other technical details of the present embodiment refer to the first embodiment.
Example four
A method for controlling the flight of a drone, applied to a drone, as shown in fig. 3, may include:
step 301, acquiring inertial navigation measurement information and GPS positioning information;
step 302, obtaining current flight position information based on the inertial navigation measurement information and GPS positioning information, and reporting the flight position information to a base station;
step 303, when receiving the notification of successful authentication from the base station, continuing to execute subsequent flight operations;
and step 304, stopping executing subsequent flight operation when receiving the notification of authentication failure from the base station.
In the embodiment, the unmanned aerial vehicle is connected with any base station, whether the current flight position information of the unmanned aerial vehicle is legal or not is verified through the base station, whether the GPS data of the unmanned aerial vehicle is real or not can be effectively checked, and the unmanned aerial vehicle can be controlled to stop subsequent flight operation under the condition that the GPS data is not real, so that the condition that the unmanned aerial vehicle takes off or flies in a no-fly area by forging the GPS data is effectively avoided.
In one implementation, the drone may communicate with the base station based on a cellular narrowband Internet of things (NB-IoT) module.
In one implementation, the drone may also verify the validity of the flight location information itself. That is, after obtaining the current flight position information based on the inertial navigation measurement information and the GPS positioning information, the method may further include: and verifying whether the flight position information is legal or not, continuing to execute subsequent flight operation when the flight position information is legal, and stopping executing the subsequent flight operation when the flight position information is illegal. Therefore, the authenticity of the GPS data can be conveniently verified in the scene that the base station cannot be connected, and the situation that the unmanned aerial vehicle can take off or fly in the no-fly area by counterfeiting the GPS data of the unmanned aerial vehicle by a user in the scene is avoided.
In one implementation, the verifying whether the flight position information is legal may include: obtaining the observation error of the unmanned aerial vehicle by using ephemeris information in the inertial navigation measurement information and the GPS positioning information; and verifying whether the observation error of the unmanned aerial vehicle mutates, and regarding the observation error as that the flight position information is illegal when the observation error mutates, namely that the corresponding GPS data is not true. And when the observation error does not generate mutation, the flight position information is considered to be legal, namely the corresponding GPS data is also true.
In one implementation, the obtaining of the observation error of the drone by using the inertial navigation measurement information and the ephemeris information in the GPS positioning information may include: obtaining relevant parameters (such as course, navigational speed, acceleration, angular velocity and the like) of an inertial navigation measurement position by using the inertial navigation measurement information, obtaining a pseudo range of a satellite positioning position by using the ephemeris information, and selecting a difference between the relevant parameters of the inertial navigation measurement position and the pseudo range of the satellite positioning position and a pseudo range difference thereof as observed quantities; discretizing the observed quantity and carrying out filtering processing to obtain the observation error.
EXAMPLE five
A drone, as shown in fig. 4, may include:
a GPS positioning device 41 configured to acquire GPS positioning information;
an inertial navigation positioning device 42 configured to obtain inertial navigation measurement information;
a flight control device 43 configured to obtain current flight position information based on the inertial navigation measurement information and GPS positioning information; and configured to continue to perform subsequent flight operations according to the notification of successful authentication from the base station, and to stop performing subsequent flight operations according to the notification of failed authentication from the base station;
a communication device 44 configured to report the flight location information to a base station and receive the notification from the base station.
In this embodiment, a cellular narrowband internet of Things (NB-IoT) module may be disposed in the communication device 44, and the communication device 44 may communicate with surrounding base stations through the NB-IoT module. Specifically, the communication device 44 may report the flight location information to a surrounding connectable base station through the NB-IoT module, and receive a notification fed back by the base station through the NB-IoT module.
In this embodiment, the flight control device 43 may be further configured to verify whether the flight position information is legal, continue to perform the subsequent flight operation when the flight position information is legal, and stop performing the subsequent flight operation when the flight position information is illegal.
In this embodiment, the flight control device 43 is configured to: obtaining the observation error of the unmanned aerial vehicle by using ephemeris information in the inertial navigation measurement information and the GPS positioning information; and verifying whether the observation error of the unmanned aerial vehicle mutates or not, and regarding the observation error as that the flight position information is illegal when the observation error mutates.
In this embodiment, the process of the flying device 43 controlling the unmanned aerial vehicle to continue to perform the subsequent flying operation may be: when the current flight position information is determined to be legal, the flight device 43 checks whether the position identified by the flight position information is in a preset no-fly zone, controls the unmanned aerial vehicle to stop taking off or forcibly land if the position is in the no-fly zone, and controls the unmanned aerial vehicle to normally take off or keep a flight state if the position is not in the no-fly zone. The process of the flying device 43 in controlling the drone to stop performing the subsequent flying operation may be: when confirming that the current flight position information is illegal, the flight device 43 directly controls the unmanned aerial vehicle to stop taking off or forcibly land.
In practical applications, the flight control device 43 may be responsible for controlling the speed, heading, altitude, flight operations, and the like of the drone.
EXAMPLE six
A method of controlling the flight of a drone, comprising:
the method comprises the steps that an unmanned aerial vehicle obtains inertial navigation measurement information and GPS positioning information, obtains current flight position information based on the inertial navigation measurement information and the GPS positioning information, and reports the flight position information to a base station;
the base station acquires the flight position information of the unmanned aerial vehicle, and verifies whether the flight position information is legal or not by utilizing the position information of the base station;
when the flight position information is legal, the base station informs the unmanned aerial vehicle that the authentication is successful, and when the unmanned aerial vehicle receives the notification of successful authentication from the base station, the unmanned aerial vehicle continues to execute subsequent flight operation;
and when the flight position information is illegal, the base station informs the unmanned aerial vehicle that the authentication fails, and when the unmanned aerial vehicle receives the notice of the authentication failure from the base station, the unmanned aerial vehicle stops executing subsequent flight operation.
A system for controlling the flight of a drone, comprising: an unmanned aerial vehicle and a base station; wherein,
the unmanned aerial vehicle comprises: a GPS positioning device configured to acquire GPS positioning information; the inertial navigation positioning device is configured to obtain inertial navigation measurement information; the flight control device is configured to obtain current flight position information based on the inertial navigation measurement information and the GPS positioning information; and configured to continue to perform subsequent flight operations according to the notification of successful authentication from the base station, and to stop performing subsequent flight operations according to the notification of failed authentication from the base station; the communication device is configured to report the flight position information to a base station and receive the notification from the base station;
the base station, comprising: a positioning device configured to acquire position information of a base station itself, the position information including ephemeris information of the base station itself; a communication circuit configured to communicate with a drone; a memory storing a program for controlling the flight of the drone; a processor configured to read the program for controlling the flight of the drone to perform the following operations: acquiring the flight position information of the unmanned aerial vehicle, and verifying whether the flight position information is legal or not by utilizing the position information of a base station; when the flight position information is legal, informing the unmanned aerial vehicle that the authentication is successful; and when the flight position information is illegal, the base station informs the unmanned aerial vehicle that authentication fails.
The specific technical details of the method for controlling the flight of the unmanned aerial vehicle in this embodiment may refer to the first embodiment and the fourth embodiment, and the specific technical details of the system for controlling the flight of the unmanned aerial vehicle in this embodiment may refer to the third embodiment and the fifth embodiment, which are not described again.
Exemplary implementations of some of the technical details of the above-described embodiments are described in detail below by way of examples. It should be noted that, in other embodiments, the details of the related art may also be implemented in other manners, and the application is not limited thereto.
Example 1
In this application, flight position information refers to the position information that unmanned aerial vehicle obtained according to GPS locating information and inertial navigation measurement information. In one implementation, the drone may calculate the flight position information in a manner as shown in fig. 5, and may include information such as position, speed, and attitude angle. As shown in fig. 5, the inertial navigation measurement information is information obtained by the inertial navigation positioning apparatus through real-time measurement, and may include angular rate, acceleration, and the like; the GPS positioning information is a satellite signal acquired by a GPS positioning device of the unmanned aerial vehicle and comprises satellite navigation message information, and the satellite navigation message information comprises ephemeris information of the current position of the unmanned aerial vehicle. As shown in fig. 5, the basic principle of obtaining the flight position information by calculation is to calibrate inertial navigation measurement information by using GPS information, and at the same time, the GPS calculates satellite navigation messages according to the inertial navigation measurement information, and finally obtains the flight position information with higher precision including the current navigational speed, the course and the geographic position by using a filtering algorithm.
Example 2
In one implementation, the observation error may be obtained by:
first, the pseudo range/pseudo range rate is used as an observed quantity, and the position of an Inertial Navigation System (INS) is set to (X)I，YI，ZI)τThe satellite position determined from the satellite ephemeris is (X)G，YG，ZG)TThen the position pseudo range rho where the INS measurement is located can be obtained by calculationIAnd simultaneously setting pseudo range rho measured by a GPS receiverGThen the difference between the INS and GPS pseudoranges and the difference between the two pseudoranges are selected as observations of the combined system.
Wherein, X, Y, Z represent a point on the space coordinate system, and assuming that the geocentric is a far point, the X coordinate axis is the axis from the geocentric to the north-south pole and the extension line thereof, Y is the axis perpendicular to the X axis, and Z is the axis in any direction with the geocentric as the origin, then under this coordinate system, the position of a point can be confirmed by the given XYZ arbitrary value, which is the position coordinate obtained by inertial navigation. For example, X, Y, Z may represent east longitude, north latitude, and height, respectively.
Where X, Y, Z represents east longitude, north latitude, and altitude, respectively, a point can be determined by these three values by:
the pseudo-distance measurements can be written as:
δρi＝ρIi-ρGi＝ei1δx+ei2δy+ei3δz+δtu+vρi
δx＝δhcosLcosλ-(RN+h)sinLcosλδL-(RN+h)cosLsinλδL
δy＝δhcosLsinλ-(RN+h)sinLsinλδL-(RN+h)cosLcosλδL
δz＝δhsinL+[RN(1-f2)+h]cosLδL
wherein L represents latitude, RNIs the signal correlation coefficient, and h is the satellite geometric distance. e.g. of the typei1ei2ei3Respectively, representing the calculation factors. δ x, δ y and δ z are position errors of the body in the geocentric geostationary coordinate system given by the SINS; v. ofρiMeasuring noise for the pseudorange; δ tuEquivalent range error caused by GPS clock error; λ is longitude, δ h is altitude difference, δ L is latitude difference, h is altitude, R is latitudeNIs the satellite-to-ground distance. f. of2Indicating specific force.
The pseudorange measurement equation is: zP(t)＝HP(t)X(t)+VP(t)；
Wherein Z isP(t) is the measurement of X at time t, HP(t) is a measurement matrix at time t, VP(t) is a random measurement value.
The pseudorange rate measurements may be:
δx＝-δvE sinλ-δvN sinλcosλ+δvU cosLcosλ
δy＝δvE cosλ-δvN sinLsinλ+δvU cosLcosλ
δz＝δvN cosL+δvU sinL
then the combined system measurement equation:
wherein Z (t) is the measurement quantity, H (t) is the measurement matrix, and V (t) is the measurement noise matrix.
In practical application, by using a distance triangle measurement principle, a user GPS receiver receives signals of 4 satellites at the same time, and the three-dimensional space position of the user GPS receiver can be calculated; meanwhile, the user GPS receiver can calculate the Doppler frequency of the satellite according to the relation between the linear speed and the Doppler frequency by performing time differentiation on the distance obtained in the measuring time, so that the self movement speed is calculated. Since the clock reference of the user receiver has an error with respect to the atomic clock reference of the GPS, the actual measurement distance thereof is referred to as a "pseudo range", and the velocity measurement value differentiated from the pseudo range in the actual measurement time interval thereof is referred to as a "Delta pseudo range", which is also referred to as a "pseudo range rate".
Secondly, the continuous observed quantity needs to be discretized, and the process is as follows:
the dynamic real-time equation of the pseudo range and pseudo range rate tightly coupled navigation system is as follows:
taking the sampling time as T, the discretized system dynamic equation is as follows:
wherein,
the seventh step: filtering the observation data through the following formula to obtain an observation error;
wherein,representing the real-time state estimate at time k,the method comprises the steps of representing a state prediction value of k-1 time to k time, K (k) representing a filtering gain array of the k time, P (k/k-1) representing a prediction error estimation covariance array of the k-1 time to the k time, P (k/k) representing a real-time error estimation covariance array of the k time, Q (k-1) representing a system noise variance array, and R (k) representing a noise variance array of an observation system.
Example 3
In one implementation manner, the process of determining, by a base station, whether the position identified by the flight position information is within the coverage area of the base station according to the position information of the base station and the flight position information of the unmanned aerial vehicle may be:
as shown in fig. 6, the drone scans the situation of surrounding base stations through the NB-IOT module, and randomly selects two connectable base stations a and B. The unmanned aerial vehicle acquires the position information of the base station A and the satellite navigation message information (including ephemeris information of a current sky satellite of the base station) corresponding to the base station through the NB-IOT module; the unmanned aerial vehicle packs the position information acquired by the unmanned aerial vehicle through the NB-IOT module and transmits the position information to the base station B, and the base station B verifies whether the position information of the unmanned aerial vehicle and the base station A is legal or not according to the position information of the base station B and returns a mark indicating whether the position information is legal or not to the unmanned aerial vehicle; if the takeoff position of the unmanned aerial vehicle is legal, the flight control system compares whether the coordinate information is in the no-fly zone of the unmanned aerial vehicle, and if the coordinate information is directly prompting an operator, the unmanned aerial vehicle cannot take off when being in the no-fly zone.
Example 4
To the scene of unmanned aerial vehicle takeoff, the process of controlling unmanned aerial vehicle flight can be:
before the unmanned aerial vehicle takes off, the unmanned aerial vehicle is communicated with an NB-LTE base station through an NB-IOT module, the unmanned aerial vehicle acquires reference position information through the NB-LET base station, a flight control system checks the reference position information of the base station and the position information acquired by a GPS, and then the relevant information of the base station is fed back to an inertial navigation system, so that the base station and the inertial navigation system form a tightly coupled navigation system, and the situation that the flight control system takes off or flies into a no-fly area by deception of false GPS information is avoided.
Example 5
For a scene in the flight process of the unmanned aerial vehicle, the process of controlling the flight of the unmanned aerial vehicle can comprise the following steps:
firstly, scanning the conditions of surrounding base stations by an unmanned aerial vehicle through an NB-IOT module of the unmanned aerial vehicle, and randomly selecting two connectable base stations A and B;
secondly, the unmanned aerial vehicle acquires the position information of the base station A and the satellite navigation message information thereof through an NB-IOT module of the unmanned aerial vehicle, wherein the satellite navigation message information comprises ephemeris information of a current sky satellite of the base station;
thirdly, the unmanned aerial vehicle acquires GPS positioning information through a GPS positioning device of the unmanned aerial vehicle, acquires current inertial navigation measurement information through an inertial navigation positioning device, and acquires current flight position information through the GPS positioning information and the inertial navigation measurement information;
fourthly, the unmanned aerial vehicle packs the current flight position information of the unmanned aerial vehicle and the position information of the base station A through an NB-IOT module of the unmanned aerial vehicle and transmits the packs to the base station B;
fifthly, the base station B checks whether the position information of the unmanned aerial vehicle and the base station A is legal or not (the cruising radius of the unmanned aerial vehicle and the communication distance of NB-IOT are comprehensively determined) according to the position information of the base station B, and sends a notice to the unmanned aerial vehicle, wherein the notice carries a mark which shows whether the current flight position information of the unmanned aerial vehicle is legal or not, the mark can be an authentication success mark and an authentication failure mark, the authentication success mark shows that the current flight position information of the unmanned aerial vehicle is legal, and the authentication failure mark shows that the current flight position information of the unmanned;
the specific implementation process of this step can refer to embodiment one, and is not described again.
Sixthly, the unmanned aerial vehicle receives the notification of the base station B, if the identification success mark is carried in the notification, the current flight position information of the unmanned aerial vehicle is legal, a flight control device of the unmanned aerial vehicle determines whether the current position of the unmanned aerial vehicle is in a no-fly area of the unmanned aerial vehicle or not according to the flight position information and pre-configured no-fly area information, and if the current position of the unmanned aerial vehicle is in the no-fly area, an operator is directly prompted, the unmanned aerial vehicle cannot take off or needs to be forcibly landed; if not, the operator may be prompted to continue with subsequent takeoff or flight operations.
Seventhly, the unmanned aerial vehicle receives the notification of the base station B, if the unmanned aerial vehicle carries the authentication failure mark, the current flight position information of the unmanned aerial vehicle is represented to be illegal, the GPS data of the unmanned aerial vehicle possibly has a counterfeiting problem at the moment, the flight control device of the unmanned aerial vehicle directly prompts an operator, and the unmanned aerial vehicle is currently in a no-fly area and cannot take off or needs forced landing.
Example 6
For a scenario in which a connection to a base station is not possible, the process of controlling the flight of the drone may include the steps of:
firstly, an unmanned aerial vehicle acquires GPS positioning information through a GPS positioning device of the unmanned aerial vehicle, acquires current inertial navigation measurement information through an inertial navigation positioning device, and acquires current flight position information through the GPS positioning information and the inertial navigation measurement information;
secondly, the unmanned aerial vehicle calculates own observation error by using ephemeris information and inertial navigation measurement information in the GPS positioning information of the unmanned aerial vehicle, and judges whether the current flight position information is legal or not according to the observation error;
for a specific calculation process, refer to example 2, and details are not repeated.
Thirdly, the unmanned aerial vehicle stores GPS output information and inertial navigation output information, a covariance matrix of prediction error estimation of K time at the K-1 moment is compared in real time, the covariance matrix and the real-time error estimation covariance matrix of the K time are compared in real time, the two error matrixes are basically matched under continuous real data, the difference is not overlarge, if the two error matrixes are suddenly changed and the covariance matrix difference is continuously overlarge, the observation error is determined to be suddenly changed, and at the moment, the current flight position information is considered to be illegal; otherwise, the flight position information is considered to be legal;
fifthly, when the unmanned aerial vehicle detects that the observation error does not change suddenly, the current flight position information of the unmanned aerial vehicle is legal, the GPS data of the unmanned aerial vehicle is real, a flight control device of the unmanned aerial vehicle determines whether the current position of the unmanned aerial vehicle is in a no-fly area of the unmanned aerial vehicle or not according to the flight position information and pre-configured no-fly area information, and if the current position of the unmanned aerial vehicle is directly prompted to an operator, the unmanned aerial vehicle is in the no-fly area and cannot take off or needs to be forcibly landed; if not, the operator may be prompted to continue with subsequent takeoff or flight operations.
Sixthly, when the unmanned aerial vehicle detects that the observation error is suddenly changed, the current flight position information of the unmanned aerial vehicle is represented to be illegal, the GPS data of the unmanned aerial vehicle possibly has a counterfeit problem at the moment, the flight control device of the unmanned aerial vehicle directly prompts an operator, the unmanned aerial vehicle is located in a no-fly area at present and cannot take off or needs to be forcedly landed.
In addition, the present application further provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed, the method for controlling the flight of the unmanned aerial vehicle according to the first embodiment of the present application is implemented.
In addition, the present application further provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed, the method for controlling the flight of the unmanned aerial vehicle according to the fourth embodiment is implemented.
Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) to perform the steps, and the program may be stored in a computer readable storage medium, such as a read only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, the modules/units in the above embodiments may be implemented in hardware, for example, by an integrated circuit, or may be implemented in software, for example, by a processor executing programs/instructions stored in a memory to implement the corresponding functions. The present application is not limited to any specific form of hardware or software combination.
The foregoing shows and describes the general principles and features of the present application, together with the advantages thereof. The present application is not limited to the above-described embodiments, which are described in the specification and drawings only to illustrate the principles of the application, but also to provide various changes and modifications within the spirit and scope of the application, which are within the scope of the claimed application.