本文關(guān)鍵詞：無線日盲紫外光測(cè)距定位方法　出處：《光學(xué)精密工程》2017年09期 　論文類型：期刊論文

  更多相關(guān)文章： 光通信 紫外光 定位方法 測(cè)距誤差 飛行引導(dǎo)

【摘要】：在無人機(jī)的自主飛行及著陸引導(dǎo)中,測(cè)距與定位是其中的關(guān)鍵問題。本文提出了一種基于無線紫外光的測(cè)距定位方法,對(duì)無線紫外光直視通信模型和非直視通信模型進(jìn)行了分析,推導(dǎo)出直視和非直視情況下的距離計(jì)算公式。根據(jù)四節(jié)點(diǎn)定位算法,可以解出未知節(jié)點(diǎn)的位置坐標(biāo)。使用波長(zhǎng)為255nm的"日盲"紫外LED及光電倍增管作為收發(fā)器件,測(cè)距信號(hào)采用10kHz的方波信號(hào),在不同天氣情況下進(jìn)行測(cè)距實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明:在直視情況下,被測(cè)距離真值為0~100m的測(cè)距誤差均小于5m;在非直視情況下,由于多徑散射的影響,有效測(cè)距距離降為0~70m。當(dāng)發(fā)送仰角和接收仰角均小于10°時(shí),測(cè)距誤差較小,均小于5m,當(dāng)發(fā)送仰角和接收仰角均大于10°時(shí),隨著發(fā)送仰角和接收仰角的增大,有效測(cè)距距離明顯降低。總的來說,該算法有著較高的精度,在GPS無法正常使用時(shí)能夠?yàn)闊o人機(jī)提供導(dǎo)航數(shù)據(jù),基本能夠滿足自主降落和飛行引導(dǎo)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 擄, the ranging errors are smaller than 5 m. When both transmit and receive elevation are greater than 10 擄, 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.
【作者單位】： 西安理工大學(xué)自動(dòng)化與信息工程學(xué)院;陜西省復(fù)雜系統(tǒng)控制與智能信息處理重點(diǎn)實(shí)驗(yàn)室(西安理工大學(xué));
【基金】：國家自然科學(xué)基金-中國民航局民航聯(lián)合研究基金資助項(xiàng)目(No.U1433110) 西安市碑林區(qū)科技計(jì)劃項(xiàng)目(No.GX1617) 陜西省教育廳產(chǎn)業(yè)化培育項(xiàng)目(No.2013JC09) 陜西省復(fù)雜系統(tǒng)控制與智能信息處理重點(diǎn)實(shí)驗(yàn)室(西安理工大學(xué))開放課題基金資助項(xiàng)目(No.2016CP05)
【分類號(hào)】：TN23;V249
【正文快照】： 1引言無人機(jī)是一種具有動(dòng)力、由無線電遙控操作或靠自備程序控制自主飛行的可攜帶多任務(wù)設(shè)備和執(zhí)行多種任務(wù)的無人駕駛飛行器(UAV),其中無人直升機(jī)(UH)還具有垂直升降、空中懸停、低空貼地飛行等特點(diǎn)。因此,無人機(jī)在民用和軍用領(lǐng)域都有極大的研究?jī)r(jià)值、不可估量的應(yīng)用潛力以及

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