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1. WO2020133909 - FLIGHT CONTROL AND NAVIGATION INTEGRATED MACHINE

Publication Number WO/2020/133909
Publication Date 02.07.2020
International Application No. PCT/CN2019/089254
International Filing Date 30.05.2019
IPC
G01C 21/00 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G01S 19/47 2010.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
42Determining position
45by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
47the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
CPC
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
G01S 19/47
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42Determining position
45by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
47the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Applicants
  • 北京金朋达航空科技有限公司 GFA AVIATION TECHNOLOGY BEIJING CO., LTD. [CN]/[CN]
Inventors
  • 陈挺飞 CHEN, Tingfei
  • 李朝辉 LI, Zhaohui
  • 孙丽君 SUN, Lijun
  • 王磊 WANG, Lei
Agents
  • 北京细软智谷知识产权代理有限责任公司 VALLEY OF SOFT BEIJING INTELLECTUAL PROPERTY AGENCY CO., LTD.
Priority Data
201811653652.X29.12.2018CN
201822273877.429.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) FLIGHT CONTROL AND NAVIGATION INTEGRATED MACHINE
(FR) MACHINE INTÉGRÉE DE COMMANDE DE VOL ET DE NAVIGATION
(ZH) 飞控与导航一体机
Abstract
(EN)
Provided is a flight control and navigation integrated machine, which relates to the technical field of space flight and aviation, and the technical problem that large positioning error of unmanned aerial vehicle in the prior art is solved. A navigation plate (101) is connected to an MEMS inertia measuring unit (102), the MEMS inertia measuring unit (102) measures and collects inertia navigation data and sends the inertia navigation data to the navigation plate (101); an RTK navigation system comprises an RTK reference station and an onboard RTK device, the navigation plate (101) receives GPS/BD/GLONASS satellite carrier phase data sent by the onboard RTK device, the onboard RTK device receives GPS/BD/GLONASS satellite carrier phase data sent by the RTK reference station, high-precision positioning data of the unmanned aerial vehicle is calculated in real time, centimeter level positioning precision is achieved, and precise positioning and flight navigation control over the unmanned aerial vehicle can be achieved.
(FR)
La présente invention concerne une machine intégrée de commande de vol et de navigation, qui se rapporte au domaine technique du vol spatial et de l'aviation, et le problème technique de l'état de la technique associé à une erreur de positionnement importante d'un véhicule aérien sans pilote est résolu. Une plaque de navigation (101) est connectée à une unité de mesure d'inertie à MEMS (102), l'unité de mesure d'inertie à MEMS (102) mesure et collecte des données de navigation d'inertie et envoie les données de navigation d'inertie à la plaque de navigation (101); un système de navigation RTK comprend une station de référence RTK et un dispositif RTK embarqué, la plaque de navigation (101) reçoit des données de phase de porteuse de satellites GPS/BD/GLONASS envoyées par le dispositif RTK embarqué, le dispositif RTK embarqué reçoit les données de phase de porteuse de satellites GPS/BD/GLONASS envoyées par la station de référence RTK, des données de positionnement de haute précision du véhicule aérien sans pilote sont calculées en temps réel, une précision de positionnement de niveau centimétrique est obtenue et un positionnement précis et une commande de navigation de vol par rapport au véhicule aérien sans pilote peuvent être obtenus.
(ZH)
一种飞控与导航一体机,涉及航天航空技术领域,解决了现有技术中的无人机定位误差较大的技术问题。导航板(101)与MEMS惯性测量单元(102)连接,MEMS惯性测量单元测量(102)并采集惯性导航数据且将惯性导航数据发送至导航板(101);RTK导航系统包括RTK基准站和机载RTK设备,导航板(101)接收机载RTK设备发送的GPS/BD/GLONASS卫星载波相位数据,机载RTK设备接收RTK基准站发送的GPS/BD/GLONASS卫星载波相位数据,实时解算出无人机高精度的定位数据,实现厘米级定位精度,达到对无人机精准定位和飞行导航控制。
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