无人机载LoRa空地感知定位应急搜救系统设计与应用  

Design and Application of Unmanned Aerial Vehicle LoRa Air-ground Sensing and Positioning Emergency Search and Rescue System

作　　者：邱永昊 杨文靖 尚康 周江湃 QIU Yonghao;YANG Wenjing;SHANG Kang;ZHOU Jiangpai(CEC Spark Platform Technology Co.,Ltd.,Xi’an 710054,China;Xihang Tiandchen Joint Laboratory for Flight Control Simulation,Xi’an 710054,China;Uav Flight Control Technology and Safe and Trusted Applications Laboratory,Yan’an 716000,China)

机构地区：[1]中电星原科技有限公司,陕西西安710054 [2]西航天宸飞行控制仿真联合实验室,陕西西安710054 [3]无人机飞行控制技术及安全可信应用实验室,陕西延安716000

出　　处：《技术与创新管理》2025年第1期81-88,共8页Technology and Innovation Management

基　　金：陕西省重点产业链关键核心技术产业化“揭榜挂帅”项目(2023年度产业链发展专项资金)。

摘　　要：为降低复杂环境下应急搜救作业人员的伤亡风险并提升救援效率,利用空中唤醒、LoRa感知定位等技术以及空地感知融合定位算法,开展无人机对地扫描飞行姿态角对LoRa传输角度影响的探究工作,对比分析传统卫星定位设备与LoRa物联网模组的性能差异,进行无人机载LoRa空地协同定位策略研究及应急搜救系统设计与实现工作。研究表明:在户外山谷环境中无人机载LoRa基站对地信号接收方位角不受环境限制,而且无人机载LoRa空中唤醒模组的功耗远低于卫星定位设备。经实地验证,研究设计的无人机载LoRa空地感知定位应急搜救系统在户外复杂环境下开展紧急搜救,能够有效实现长续航、快响应、定位准等效果,是一种便携的空地感知融合定位搜救方式,对降低人员伤亡风险、提高救援效率有显著作用。In order to reduce the casualty risk of emergency search and rescue workers in complex environment and improve the rescue efficiency,the influence of UAV’s ground scanning flight attitude angle on the transmission angle of LoRa is explored by using technologies such as airborne wake-up,LoRa sensing positioning and air-ground sensing fusion positioning algorithm,and the performance difference between traditional satellite positioning equipment and LoRa IOT module is compared and analyzed,and the air-ground collaborative positioning strategy based on unmanned aerial vehicle LoRa and the design and implementation of emergency search and rescue system are carried out.The research shows that the azimuth angle of the ground signal received by the unmanned airborne LoRa base station is not limited by the environment in the outdoor valley environment,and the power consumption of the unmanned airborne LoRa airborne wake-up module is significantly lower than that of the satellite positioning equipment.After field verification,the unmanned airborne LoRa air-ground sensing and positioning emergency search and rescue system designed in this study can effectively achieve the effects of long battery life,quick response and accurate positioning in outdoor complex environment.It is a portable air-ground sensing and positioning search and rescue method,which has a significant effect on reducing the risk of casualties and improving rescue efficiency.

关 键 词：应急搜救 LoRa 无人机 空地感知 三维空间定位 

分 类 号：X924.4[环境科学与工程—安全科学] P228.4[天文地球—大地测量学与测量工程]