无线日盲紫外光测距定位方法

发布时间：2018-01-16 04:23

本文关键词：无线日盲紫外光测距定位方法　出处：《光学精密工程》2017年09期 　论文类型：期刊论文

【摘要】：在无人机的自主飞行及着陆引导中,测距与定位是其中的关键问题。本文提出了一种基于无线紫外光的测距定位方法,对无线紫外光直视通信模型和非直视通信模型进行了分析,推导出直视和非直视情况下的距离计算公式。根据四节点定位算法,可以解出未知节点的位置坐标。使用波长为255nm的"日盲"紫外LED及光电倍增管作为收发器件,测距信号采用10kHz的方波信号,在不同天气情况下进行测距实验。实验结果表明:在直视情况下,被测距离真值为0~100m的测距误差均小于5m;在非直视情况下,由于多径散射的影响,有效测距距离降为0~70m。当发送仰角和接收仰角均小于10°时,测距误差较小,均小于5m,当发送仰角和接收仰角均大于10°时,随着发送仰角和接收仰角的增大,有效测距距离明显降低。总的来说,该算法有着较高的精度,在GPS无法正常使用时能够为无人机提供导航数据,基本能够满足自主降落和飞行引导的要求。
[Abstract]:In the autonomous flight and landing guidance of UAV, ranging and positioning is the key problem. In this paper, a method of ranging and positioning based on wireless ultraviolet light is proposed. In this paper, the wireless ultraviolet direct vision communication model and the non-direct view communication model are analyzed, and the distance calculation formulas under the direct and non-direct viewing conditions are derived, according to the four-node localization algorithm. The position coordinates of unknown nodes can be solved. The "sunblind" ultraviolet LED with wavelength 255nm and photomultiplier tube are used as transceivers, and the ranging signals are square wave signals of 10kHz. The range measurement experiments under different weather conditions show that the ranging error of the measured range is less than 5 m when the true value of the measured range is 0 ~ 100 m in the case of direct viewing. In the case of non-direct viewing, the effective ranging distance is reduced to 0 ~ 70 m due to the effect of multipath scattering. When both the transmitting and receiving elevation angles are less than 10 掳, the ranging errors are smaller than 5 m. When both transmit and receive elevation are greater than 10 掳, the effective ranging distance decreases obviously with the increase of transmission elevation and receiving elevation. In general, the algorithm has a high accuracy. When GPS can not be used normally, it can provide navigation data for UAV, which can basically meet the requirements of autonomous landing and flight guidance.
【作者单位】：西安理工大学自动化与信息工程学院;陕西省复杂系统控制与智能信息处理重点实验室(西安理工大学);
【基金】：国家自然科学基金-中国民航局民航联合研究基金资助项目(No.U1433110) 西安市碑林区科技计划项目(No.GX1617) 陕西省教育厅产业化培育项目(No.2013JC09) 陕西省复杂系统控制与智能信息处理重点实验室(西安理工大学)开放课题基金资助项目(No.2016CP05)
【分类号】：TN23;V249
【正文快照】： 1引言无人机是一种具有动力、由无线电遥控操作或靠自备程序控制自主飞行的可携带多任务设备和执行多种任务的无人驾驶飞行器(UAV),其中无人直升机(UH)还具有垂直升降、空中悬停、低空贴地飞行等特点。因此,无人机在民用和军用领域都有极大的研究价值、不可估量的应用潜力以及

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