光学 精密工程, 2017, 25 (9): 2324, 网络出版: 2017-10-30   

无线日盲紫外光测距定位方法

Ranging and positioning method using wireless solar blind ultraviolet
作者单位
1 西安理工大学 自动化与信息工程学院, 陕西 西安 710048
2 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), 陕西 西安 710048
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255 nm的“日盲”紫外LED及光电倍增管作为收发器件, 测距信号采用10 kHz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0~100 m的测距误差均小于5 m; 在非直视情况下, 由于多径散射的影响, 有效测距距离降为0~70 m。当发送仰角和接收仰角均小于10°时, 测距误差较小, 均小于5 m, 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。
Abstract
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 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.

赵太飞, 余叙叙, 包鹤, 宋鹏. 无线日盲紫外光测距定位方法[J]. 光学 精密工程, 2017, 25(9): 2324. ZHAO Tai-fei, YU Xu-xu, BAO He, SONG Peng. Ranging and positioning method using wireless solar blind ultraviolet[J]. Optics and Precision Engineering, 2017, 25(9): 2324.

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