基于实时动态载波相位差分的无人机起降引导系统研制  

High precision takeoff and landing guidance system of UAV based on RTK technology

作　　者：张发兴 王大千 员航 ZHANG Faxing;WANG Daqian;YUAN Hang(Shaanxi Lingyun Electrical Group Co.,Ltd.,Baoji 721000,China;Chengdu Aircraft Design And Research Institute,Chengdu 610091,China;Xi’an Flight Automatic Control Re-search Institute,Xi’an 710076,China)

机构地区：[1]陕西凌云电器集团有限公司卫星导航研究所,陕西宝鸡721000 [2]中国航空工业成都飞机设计研究所,四川成都610091 [3]中国航空工业西安飞行自动控制研究所,陕西西安710076

出　　处：《湘潭大学学报（自然科学版）》2023年第5期87-96,共10页Journal of Xiangtan University(Natural Science Edition)

摘　　要：中程固定翼无人机在起降阶段高精度定位,要求实时计算无人机下滑道与固定基准站之间高精度的相对定位基线,以引导无人机精确起降.基于全球卫星导航系统(GNSS)实时动态载波相位差分(RTK)技术、无线链路数传电台技术,设计了固定基准站无人机起降引导系统.起降引导系统在静态零基线、动态飞行条件下,RTK引导系统与固定基准站之间相对定位精度达到水平方向≤0.03 m(1σ),高程方向≤0.05 m(1σ).试验结果表明,无人机起降引导系统达到了厘米级定位精度,满足中程固定翼无人机在起降阶段对高精度定位的要求.Aiming at the requirements of high-precision positioning of mid-range fixed-wing UAV in the take-off and landing stage,Real-time calculation of high-precision relative positioning baseline between UAV glide path and fixed reference station,Guiding UAV to take off and land accurately.Based on GNSS satellite positioning Real-time kinematic carrier phase difference(RTK)technology and wireless link digital radio technology,the UAV take-off and landing guidance system of fixed reference station is designed.Through static zero baseline test,pull distance test and dynamic flight test,The horizontal direction of relative positioning accuracy between RTK guidance system and fixed reference station is≤0.03 m(1σ),and the elevation direction is≤0.05 m(1σ).Verification results show that,The UAV landing guidance system reaches centimeter level positioning accuracy,To meet the requirements of high precision positioning for mid-range fixed-wing UAV during takeoff and landing stage.

关 键 词：无人机起降引导 RTK 载波相位差分 高精度定位 

分 类 号：TN965[电子电信—信号与信息处理]