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。
In order to solve the problem of positioning in UAV flight and landing guidance scene,this paper presented a ranging and positioning method based on wireless ultraviolet lights.The method analyzed communication models of wireless ultraviolet Line of Sight（LOS）and Non-Line-of-Sight（NLOS）,thus deriving the distance algorithm for LOS and NLOS communications.The location coordinates of unknown nodes were solved by the four node localization algorithm.Using a 255 nm UV LED as the light source,a PMT as the receiving device and a 10 kHz square wave signal as the ranging signal,ranging experiments under different weather conditions were performed. The experimental results indicate that the ranging error is less than 5 min LOS communication with theranging distance of 0~100m.In NLOS communication,the effective ranging distance is reduced to 0~70m due to the influence of multipath scattering.When the transmitting elevation and receiving elevation is less than 10°,the ranging error is less than 5m,otherwise the effective distance decreased significantly with the increase of transmitting and receiving elevations.In general,the algorithm can provide navigation data for unmanned aerial vehicles with a high accuracy when the GPS cannot work normally,thus can meet the requirements of autonomous landing and flight guidance.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2017年第9期2324-2332,共9页
Optics and Precision Engineering
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)
关键词
光通信
紫外光
定位方法
测距误差
飞行引导
light communication
ultraviolet light
positioning method
ranging error
flight guidance
