无线日盲紫外光测距定位方法

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。

Ranging and positioning method using wireless solar blind ultraviolet

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 PM T 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 m in LOS communication with the ranging distance of 0~100 m .In NLOS communication ,the effective ranging distance is reduced to 0~70 m due to the influence of multipath scattering .When the transmitting elevation and receiving elevation is less than 10° ,the ranging error is less than 5 m ,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 .