U.S. patent application number 17/061121 was filed with the patent office on 2021-02-04 for unmanned aircraft, and method and system for navigation.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Guoxiu PAN, Jianyu SONG, Yun YU.
Application Number | 20210035456 17/061121 |
Document ID | / |
Family ID | 1000005150262 |
Filed Date | 2021-02-04 |
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United States Patent
Application |
20210035456 |
Kind Code |
A1 |
YU; Yun ; et al. |
February 4, 2021 |
UNMANNED AIRCRAFT, AND METHOD AND SYSTEM FOR NAVIGATION
Abstract
An unmanned aircraft navigation system includes a controller and
at least one measurement component coupled to the controller. The
at least one measurement component includes at least two sensors
with one of the at least two sensors being redundant sensor for
another one of the at least two sensors. The at least one
measurement component is configured to provides data measured by
the at least two sensors to the controller.
Inventors: |
YU; Yun; (Shenzhen, CN)
; SONG; Jianyu; (Shenzhen, CN) ; PAN; Guoxiu;
(Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
|
|
Family ID: |
1000005150262 |
Appl. No.: |
17/061121 |
Filed: |
October 1, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15979919 |
May 15, 2018 |
10825347 |
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17061121 |
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PCT/CN2015/094914 |
Nov 18, 2015 |
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15979919 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 21/165 20130101;
B64C 39/024 20130101; B64C 2201/141 20130101; G05D 1/0077 20130101;
G01S 19/49 20130101; G01C 21/12 20130101; G01S 19/47 20130101; G01S
19/423 20130101; G08G 5/0069 20130101 |
International
Class: |
G08G 5/00 20060101
G08G005/00; G01S 19/47 20060101 G01S019/47; G01C 21/16 20060101
G01C021/16; G01S 19/49 20060101 G01S019/49; G05D 1/00 20060101
G05D001/00; B64C 39/02 20060101 B64C039/02; G01C 21/12 20060101
G01C021/12 |
Claims
1. An unmanned aircraft navigation system comprising: a controller;
and at least one measurement component coupled to the controller,
the at least one measurement component including at least two
sensors with one of the at least two sensors being redundant sensor
for another one of the at least two sensors, and the at least one
measurement component being configured to provides data measured by
the at least two sensors to the controller.
2. The navigation system of claim 2, wherein a data communication
between the at least one measurement module and the control is
effected via a CAN communication bus.
3. The navigation system of claim 1, wherein the at least one
measurement component includes an inertia measurement
component.
4. The navigation system of claim 3, wherein the inertial
measurement component includes at least one of an acceleration
sensor or a gyro sensor.
5. The navigation system of claim 3, wherein the inertia
measurement component is embedded in the controller.
6. The navigation system of claim 3, wherein a data communication
between the inertia measurement component and the controller is
effected via a serial interface.
7. The navigation system of claim 3, wherein: the at least one
measurement component further includes another measurement
component; and a data communication between the inertial
measurement component and the another measurement module is
effected via a CAN communication bus.
8. The navigation system of claim 1, wherein the at least one
measurement component includes a positioning component configured
to obtain a geographical position of the unmanned aircraft.
9. The navigation system of claim 8, wherein the positioning
component includes at least one of a GPS sensor or a BeiDou
positioning sensor.
10. The navigation system of claim 1, wherein the at least one
measurement component includes a magnetic sensing component
configured to sense a geomagnetic field to determine a
direction.
11. The navigation system of claim 10, wherein the magnetic sensing
component includes a compass sensor.
12. The navigation system of claim 1, further comprising: a visual
component coupled to the controller.
13. The navigation system of claim 12, wherein the visual component
includes a monocular component or a binocular component.
14. The navigation system of claim 1, further comprising: a carrier
signal differential component coupled to the controller.
15. The navigation system of claim 1, wherein: the at least one
measurement component includes at least two measurement components
each including at least one sensor; and the at least one sensor of
one of the at least two measurement components provides a
redundancy support for the at least one sensor of another one of
the at least two measurement components.
16. An unmanned aircraft comprising: a navigation system including:
a controller; and at least one measurement component coupled to the
controller, the at least one measurement component including at
least two sensors with one of the at least two sensors being
redundant sensor for another one of the at least two sensors, and
the at least one measurement component being configured to provide
data measured by the at least two sensors to the controller.
17. A method for navigation of an unmanned aircraft comprising:
receiving, by a controller, data from at least one measurement
component, the at least one measurement component including at
least two sensors with one of the at least two sensors being
redundant sensor for another one of the at least two sensors, and
the at least one measurement component being configured to provide
the data measured by the at least two sensors to the controller;
and effecting, by the controller, a navigation based upon the
received data.
18. The method of claim 17, wherein effecting, by the controller,
the navigation based upon the received data includes: selecting, by
the controller, the data measured by one of the at least two
sensors in an optimal operation state, from among the data received
from the at least one measurement component; and effecting the
navigation using the selected data and data from another
measurement module.
19. The method of claim 17, wherein: the at least one measurement
component includes at least two measurement components, one of the
at least two measurement components including the redundant sensor;
and effecting, by the controller, the navigation based upon the
received data includes: selecting, by the controller, the data
measured by a sensor in a stable operation state from among the
data received from the one of the at least two measurement
components that includes the redundant sensor; and effecting the
navigation using the selected data and the data from another one of
the at least two measurement components.
20. The method of claim 17, wherein: the data from the at least one
measurement component includes the data measured by one of the at
least two sensors that is in an optimal operation state or the data
measured by one of the at least two sensors that is in a most
stable operation state; and effecting, by the controller, the
navigation based upon the received data includes effecting, by the
controller, the navigation based upon the data from each of the at
least one measurement component.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
15/979,919, filed on May 15, 2018, which is a continuation of
International Application No. PCT/CN2015/094914, filed on Nov. 18,
2015, the entire contents of both of which are incorporated herein
by reference.
TECHNICAL FIELD
[0002] The disclosure can be directed to unmanned aerial vehicle,
more particularly to an unmanned aircraft, and a method and system
for navigation.
BACKGROUND OF THE DISCLOSURE
[0003] Unmanned Aerial Vehicles (UAVs), also known as drones, are
unmanned aircrafts manipulated by wireless remote control devices
and onboard program-controlled devices. UAVs are low cost,
maneuverable and easy to operate; therefore, UAVs have been widely
used in various fields including military and civil
applications.
[0004] An unmanned aircraft's operation may rely on precise
navigation information. There can be a need to improve the
navigation system of the unmanned aircraft.
SUMMARY OF THE DISCLOSURE
[0005] The disclosure provide a redundant topological configuration
to effect a redundant control mechanism of the unmanned aircraft. A
precision in navigation and a reliability in flight can be
improved.
[0006] A first aspect of the disclosure provides a navigation
system of an unmanned aircraft. The navigation system can comprise
a controller and at least one measurement component, the controller
being connected to each one of the at least one measurement
component. In some embodiments, the at least one measurement
component can comprise redundant sensors and provides data measured
by the sensor to the controller.
[0007] In some embodiments, a data communication between the at
least one measurement component and the controller can be effected
via a serial communication bus.
[0008] In some embodiments, the data communication between the at
least one measurement component and the control can be effected via
a Controller Area Network (CAN) communication bus.
[0009] In some embodiments, at least one measurement component from
among the at least one measurement component can be an inertia
measurement component.
[0010] In some embodiments, the inertial measurement component can
comprise an acceleration sensor and/or a gyro sensor.
[0011] In some embodiments, the inertia measurement component can
be embedded in the controller.
[0012] In some embodiments, a data communication between the
inertia measurement component and the controller can be effected
via a serial interface.
[0013] In some embodiments, a data communication between the
inertia measurement component and remaining measurement
component(s) in the navigation system can be effected via a serial
communication bus.
[0014] In some embodiments, a data communication between the
inertial measurement component and remaining measurement
component(s) in the navigation system can be effected via a CAN
communication bus.
[0015] In some embodiments, the at least one measurement component
can be a positioning component, the positioning component being
configured to calculate a geographical position of the unmanned
aircraft.
[0016] In some embodiments, the positioning component can comprise
a positioning sensor.
[0017] In some embodiments, the positioning sensor can comprise any
one or a combination of a GPS sensor or a BeiDou positioning
sensor.
[0018] In some embodiments, the at least one measurement component
can be a magnetic sensing component, the magnetic sensing component
being configured to sense a geomagnetic field to determine a
direction.
[0019] In some embodiments, the magnetic sensing component can
comprise a compass sensor.
[0020] In some embodiments, the system further can comprise a
visual component which is connected to the controller.
[0021] In some embodiments, the visual component can be a monocular
component or a binocular component.
[0022] In some embodiments, the system can further comprise a
carrier signal differential component which is connected to the
controller.
[0023] A second aspect of the disclosure provides an unmanned
aircraft. The unmanned aircraft can comprise the navigation system
of an unmanned aircraft of the first aspect of the disclosure.
[0024] A third aspect of the disclosure provides a method for
navigation of an unmanned aircraft. The method can comprise
receiving, by a controller, data from a measurement component, at
least one measurement component comprising redundant sensors and
providing data measured by the sensor to the controller; and
effecting, by the controller, a navigation based upon the received
data.
[0025] In some embodiments, when the data from the at least one
measurement component comprises data measured by each sensor, the
process of effecting, by the controller, a navigation based upon
the received data can comprise selecting, by the controller, data
measured by a sensor in an optimal operation state, from among the
data received from the at least one measurement component, and
effecting a navigation using the selected data and data from other
measurement component(s).
[0026] In some embodiments, when the data from the at least one
measurement component comprises data measured by each sensor, the
process of effecting, by the controller, a navigation based upon
the received data can comprises selecting, by the controller, data
measured by a sensor in a stable operation state, from among the
data received from the at least one measurement component, and
effecting a navigation using the selected data and data from other
measurement component(s).
[0027] In some embodiments, the data from the at least one
measurement component can comprise data measured by a sensor in an
optimal operation state, or data measured by a sensor in a most
stable operation state. In some embodiments, the process of
effecting, by the controller, a navigation based upon the received
data can comprise effecting, by the controller, a navigation based
upon data from each measurement component.
[0028] In some embodiments, a data communication between the
controller and the measurement component can be effected via a
serial communication bus.
[0029] In some embodiments, the data communication between the
controller and the measurement components can be effected via a CAN
communication bus.
[0030] In some embodiments, the data received from a measurement
component can comprise data from an inertia measurement component.
In some embodiments, a navigation can be effected based upon the
data from the inertia measurement component.
[0031] In some embodiments, the inertial measurement component can
comprise an acceleration sensor and/or a gyro sensor.
[0032] In some embodiments, a data communication between the
controller and the inertia measurement component can be effected
via a serial interface.
[0033] In some embodiments, the data received from a measurement
component can comprise data from a positioning component. In some
embodiments, a navigation can be effected based upon the data from
the positioning component.
[0034] In some embodiments, the positioning component can comprise
a positioning sensor.
[0035] In some embodiments, the positioning sensor can comprise any
one or a combination of a GPS sensor or a BeiDou positioning
sensor.
[0036] In some embodiments, the data received from a measurement
component can comprise data from a magnetic sensing component. In
some embodiments, a navigation can be effected based upon the data
from the magnetic sensing component.
[0037] In some embodiments, the magnetic sensing component can
comprise a compass sensor.
[0038] In some embodiments, the data received from a measurement
component can comprise data from a visual component. In some
embodiments, a navigation can be effected based upon the data from
the visual component.
[0039] In some embodiments, the visual component can comprise a
monocular component or a binocular component.
[0040] In some embodiments, the data received from a measurement
component can comprise data from a carrier signal differential
component. In some embodiments, a navigation can be effected based
upon the data from the carrier signal differential component.
[0041] A fourth aspect of the disclosure provides a navigation
system of an unmanned aircraft. The navigation system can comprise
a master navigation device, a slave navigation device and a
controller. In some embodiments, the master navigation device can
comprise at least one measurement component. In some embodiments,
the slave navigation device can comprise at least one measurement
component, and the at least one measurement component of the slave
navigation device providing a redundancy support for the at least
one measurement component of the master navigation device. In some
embodiments, the controller can be configured to effect a
navigation using the at least one measurement component of the
master navigation device and the at least one measurement component
of the slave navigation device which provides a redundancy support
for the at least one measurement component of the master navigation
device.
[0042] In some embodiments, a data communication between the at
least one measurement component of the master navigation device and
the at least one measurement component of the slave navigation
device and the controller can be effected via a serial
communication bus.
[0043] In some embodiments, a data communication between the at
least one measurement component of the master navigation device and
the at least one measurement component of the slave navigation
device and the controller can be effected via a CAN communication
bus.
[0044] In some embodiments, the controller can be configured to
select one measurement component with respect to each type of
measurement component from the master navigation device and the
slave navigation device to effect a navigation.
[0045] In some embodiments, the controller can be configured to
select one measurement component in an optimal operation state with
respect to each type of measurement component from the master
navigation device and the slave navigation device to effect a
navigation.
[0046] In some embodiments, the controller can be configured to
select one measurement component in a most stable operation state
with respect to each type of measurement component from the master
navigation device and the slave navigation device to effect a
navigation.
[0047] In some embodiments, the master navigation device can
comprise one inertial measurement component, one positioning
component, one magnetic sensing component or a combination thereof.
In some embodiments, the slave navigation device can comprise at
least one inertial measurement component, at least one positioning
component, at least one magnetic sensing component or a combination
thereof.
[0048] In some embodiments, the master navigation device can
comprise one inertial measurement component, one positioning
component and one magnetic sensing component. In some embodiments,
the slave navigation device can comprise two inertia measurement
components, two positioning components and two magnetic sensing
components.
[0049] In some embodiments, the master navigation device can
comprise an inertial measurement component which is embedded in the
controller.
[0050] In some embodiments, the slave navigation device can
comprise at least one inertial measurement component, and In some
embodiments, one of the at least one inertial measurement component
of the slave navigation device is embedded in the controller.
[0051] In some embodiments, a data communication between the
inertia measurement component and the controller can be effected
via a serial interface.
[0052] In some embodiments, the master navigation device can
comprise a positioning component and a magnetic sensing component
which are integrated in the same component.
[0053] In some embodiments, the slave navigation device can
comprise N positioning components and N magnetic sensing
components. In some embodiments, N components can be provided each
of which integrates one positioning component and one magnetic
sensing component in pairs, N being an integer of greater than or
equal to 1.
[0054] In some embodiments, the system can further comprise a
visual component which is connected to the controller.
[0055] In some embodiments, the visual component can be a monocular
component or a binocular component.
[0056] In some embodiments, the system can further comprise a
carrier signal differential component which is connected to the
controller.
[0057] In some embodiments, the system can comprise at least two
measurement components, In some embodiments, each one of the at
least two measurement components comprises at least one sensor. In
some embodiments, the at least one sensor in one of the at least
two measurement components can provide a redundancy support for the
at least one sensor in another one of the at least two measurement
components.
[0058] A fifth aspect of the disclosure provides an unmanned
aircraft. The unmanned aircraft can comprise the navigation system
of an unmanned aircraft of the fourth aspect of the disclosure.
[0059] A sixth aspect of the disclosure provides a method for
navigation of an unmanned aircraft. The method can comprise
receiving, by a controller, data measured by each measurement
component of the master navigation device and the slave navigation
device; and effecting, by the controller, a navigation based upon
the received data measured by each measurement component.
[0060] In some embodiments, the process of effecting, by the
controller, a navigation based upon the received data measured by
each measurement component can comprise analyzing, by the
controller, a respective operation state of the measurement
components of the same type based upon the data measured by each
measurement component, and selecting, by the controller, a
measurement component in an optimal operation state from among the
measurement components of the same type and effecting a navigation
using the data measured by the selected measurement component.
[0061] In some embodiments, the process of effecting, by the
controller, a navigation based upon the received data measured by
each measurement component can comprise analyzing, by the
controller, a respective operation state of the measurement
components of the same type based upon the data measured by each
measurement component, and selecting, by the controller, a
measurement component in a most stable operation state from among
the measurement components of the same type and effecting a
navigation using the data measured by the selected measurement
component.
[0062] In some embodiments, the method can further comprise
determining, by the controller, a failure in the measurement
component based upon the data measured by the measurement component
of the same type, and providing an alarm if the controller
determining a failure in the measurement component.
[0063] In some embodiments, the process of determining, by the
controller, a failure in the measurement component based upon the
data measured by the measurement component of the same type can
comprise determining, by the controller, whether a difference
between data measured by one of the measurement components of the
same type and data measured by others of the measurement components
of the same type being greater than a preset threshold value, and
determining, by the controller, that the one of the measurement
components of the same type fails if the difference being greater
than the preset threshold value.
[0064] In some embodiments, a data communication between the
controller and the master navigation device and the slave
navigation device can be effected via a serial communication
bus.
[0065] In some embodiments, a data communication between the
controller and the master navigation device and the slave
navigation device can be effected via a CAN communication bus.
[0066] In some embodiments, the process of receiving, by a
controller, data measured by each measurement component of the
master navigation device and the slave navigation device can
comprise receiving, by the controller, data measured by one inertia
measurement component, one positioning component and one magnetic
sensing component of the master navigation device, and data
measured by two inertia measurement components, two positioning
components and two magnetic sensing components in the slave
navigation device.
[0067] In some embodiments, a data communication between the
controller and the inertial measurement component can be effected
via a serial interface.
[0068] It can be appreciated that, the technical solutions provided
in the disclosure can be advantageous in various aspects.
[0069] The disclosure provides a redundant topological
configuration to effect a redundant navigation. Various technical
solutions are proposed on basis of the redundant topological
configuration. The controller can effect a navigation using data
from measurement devices in the redundant topological
configuration. A more reliable data can be selected from the
redundant data to effect the navigation, such that a precision in
navigation can be improved. Therefore, a safety and reliability in
a flight of the unmanned aircraft can be improved by using the
navigation system.
[0070] However, the conventional navigation systems of unmanned
aircraft effect the navigation using independent measurement
components. The measurement components are generally
micro-electromechanical devices. The micro-electromechanical
devices have a low security level and are susceptible to a failure
due to a material and an operation principle thereof. A failure in
any one of the measurement components in the navigation system may
adversely affect a navigation precision or even cause the unmanned
aerial vehicle out of control.
[0071] With the navigation system having a redundant configuration
of the disclosure, even when a measurement component fails, a
redundant measurement component can be used to replace the failing
measurement component, such that the navigation system can
function. A situation where the unmanned aerial vehicle being out
of control due to a failing navigation system can be avoided. A
safety and a precision in navigation can be improved, and a more
reliable navigation can be provided to the unmanned aircraft.
BRIEF DESCRIPTION OF THE DRAWINGS
[0072] Drawings of embodiments of the disclosure will be described
for better understanding of the embodiments of the disclosure. It
will be apparent that, the drawings merely illustrate exemplary
embodiments of the disclosure. Those skilled in the art can
conceive other drawings from the motivation of the illustrated
drawings without inventive efforts.
[0073] FIG. 1 shows a configuration of navigation system of an
unmanned aircraft in accordance with a first embodiment of a first
aspect of the disclosure;
[0074] FIG. 2 shows a configuration of navigation system of an
unmanned aircraft in accordance with a second embodiment of a first
aspect of the disclosure;
[0075] FIG. 3 shows a configuration of navigation system of an
unmanned aircraft in accordance with a third embodiment of a first
aspect of the disclosure;
[0076] FIG. 4 shows a configuration of navigation system of an
unmanned aircraft in accordance with a fourth embodiment of a first
aspect of the disclosure;
[0077] FIG. 5 shows a configuration of navigation system of an
unmanned aircraft in accordance with a fifth embodiment of a first
aspect of the disclosure;
[0078] FIG. 6 shows a configuration of navigation system of an
unmanned aircraft in accordance with a sixth embodiment of a first
aspect of the disclosure;
[0079] FIG. 7 shows a configuration of an unmanned aircraft in
accordance with a second aspect of the disclosure;
[0080] FIG. 8 shows a flowchart of a method for navigation of an
unmanned aircraft in accordance with a third aspect of the
disclosure;
[0081] FIG. 9 shows a configuration of navigation system of an
unmanned aircraft in accordance with a first embodiment of a fourth
aspect of the disclosure;
[0082] FIG. 10 shows a configuration of navigation system of an
unmanned aircraft in accordance with a second embodiment of a
fourth aspect of the disclosure;
[0083] FIG. 11 shows a configuration of navigation system of an
unmanned aircraft in accordance with a third embodiment of a fourth
aspect of the disclosure;
[0084] FIG. 12 shows a configuration of navigation system of an
unmanned aircraft in accordance with a fourth embodiment of a
fourth aspect of the disclosure;
[0085] FIG. 13 shows a configuration of an unmanned aircraft in
accordance with a fifth aspect of the disclosure; and
[0086] FIG. 14 shows a flowchart of a method for navigation of an
unmanned aircraft in accordance with a sixth aspect of the
disclosure.
DETAILED DESCRIPTION OF THE DISCLOSURE
[0087] A better understanding of the disclosure will be obtained by
reference to the following detailed description that sets forth
illustrative embodiments with reference to the drawings.
[0088] A configuration and a working principle of a navigation
system of an unmanned aircraft in accordance with a first
embodiment of a first aspect of the disclosure will be
described.
[0089] FIG. 1 shows a configuration of navigation system of an
unmanned aircraft in accordance with a first embodiment of a first
aspect of the disclosure. As shown in FIG. 1, the navigation system
100 of the unmanned aircraft can comprise a controller 101 and at
least one measurement component. For instance, as shown in FIG. 1,
the at least one measurement component can comprise a measurement
component 1, a measurement component 2, . . . , a measurement
component N, where N can be an integer greater than or equal to 1.
The controller can be connected to each one of the measurement
component. The at least one measurement component can comprise
redundant sensors. Data measured by the sensor can be transmitted
to the controller.
[0090] In some instances, the navigation system can comprise one
controller and one measurement component. The measurement component
can comprise redundant sensors. A data communication with the
controller can be effected using at least one serial communication
interface to transmit the data measured by the sensor to the
controller.
[0091] Optionally, the system can comprise one controller and at
least two measurement components. At least one of the measurement
components can comprise redundant sensors. For instance, as shown
in FIG. 1, the measurement component 1 can comprise two sensors
(e.g., sensor 1 and sensor 2) provided with in the same type, each
one of the two sensors providing a redundancy support for one
another. For another instance, the at least two measurement
components can each comprise at least one sensor, and each one of
the sensors in the at least two measurement components can provide
a redundancy support for another one sensor in the at least two
measurement components. In other words, the at least two
measurement components can each comprise at least one sensor, and
each one sensor can be a redundant sensor of another one sensor.
For instance, as shown in FIG. 1, the sensors 1 and 2 in the
measurement component 1 and the sensor 3 in the measurement
component 2 can be provided in the same type. Each one of the
sensors 1, 2 and 3 in the two measurement components can be a
redundant sensor of another one sensor.
[0092] As shown in FIG. 1, the measurement component 1 can comprise
two sensors (e.g., sensor 1 and sensor 2) provided in the same
type, each one of the two sensors providing a redundancy support
for one another. It will be appreciated that, the navigation system
shown in FIG. 1 illustrates an example where two redundant sensors
are provided; however, the number of the redundant sensors is not
thus limited in the disclosure. For example, two or more redundant
sensors can be provided. Exemplary embodiments where two redundant
sensors are provided will be described in the following detailed
description for conciseness.
[0093] In some instances, each one of the measurement components in
the navigation system shown in FIG. 1 can be different in type from
another. For instance, the measurement component 1 to N can be
provided in different types from one another. The term "different
type" can mean different functions of the measurement components
and different physical characteristic of the measured data.
[0094] The navigation system provided in the disclosure can
comprise redundant sensors. The redundant sensors can provide a
redundant function support. For instance, when one sensor fails or
provides an inaccurate measurement, the redundant sensor can be
used to replace the failed sensor. Optionally, two measurement
components can provide a redundancy support for each other.
Therefore, a situation where the unmanned aerial vehicle being out
of control due to a failing navigation system can be avoided. A
safety and a precision in navigation can be improved, and a more
reliable navigation can be provided to the unmanned aircraft.
[0095] The disclosure provides various implementations on basis of
the configuration of the system shown in FIG. 1.
[0096] In some embodiments, a data communication between the at
least one measurement component in the navigation system and the
controller can be effected via a serial communication bus.
[0097] For instance, a data communication between the at least one
measurement component and the controller can be effected via a
Controller Area Network (CAN) communication bus. The CAN
communication bus is advantageous in various aspects including easy
expansion, good anti-interference performance, and independent CAN
identifications (CAN IDs). The navigation system employing the CAN
communication bus can thus be advantageous in various aspects
including easy expansion, good anti-interference performance, and
easy switching among components in the system using the CAN
IDs.
[0098] The disclosure provides an inertial navigation system on
basis of the configuration of FIG. 1. The inertial navigation
system will be described with reference to FIG. 2.
[0099] FIG. 2 shows a configuration of navigation system of an
unmanned aircraft in accordance with a second embodiment of a first
aspect of the disclosure. As shown in FIG. 2, the navigation system
can comprise a controller 101 and at least one measurement
component, the controller being connected to each one of the at
least one measurement component. The at least one measurement
component can be an inertial measurement component.
[0100] In some instances, the inertial measurement component can
comprise an acceleration sensor and/or a redundant gyro sensor.
[0101] Optionally, the inertia measurement component can comprise a
redundant acceleration sensor and/or a redundant gyro sensor.
[0102] In some embodiments, as shown in FIG. 2, the measurement
component 1 can be an inertial measurement component which comprise
two redundant acceleration sensors such as an acceleration sensor 1
and an acceleration sensor 2.
[0103] It will be appreciated that, the configuration of the
inertial measurement component shown in FIG. 2 is an exemplary
configuration. The configuration of the inertial measurement
component can be provided in various forms.
[0104] For instance, the inertia measurement component can comprise
a redundant gyro sensor.
[0105] For instance, the inertia measurement component can comprise
a redundant acceleration sensor and a redundant gyro sensor.
[0106] In some embodiments, the acceleration sensor can be a
three-axis accelerometer. Alternatively, the acceleration sensor
can include three single-axis accelerometers. The accelerometer can
be used to detect an acceleration signal along three independent
axes of an object under a carrier coordinate system. In some
embodiments, the gyro sensor can be a three-axis gyro.
Alternatively, the gyro sensor can include three single-axis gyros.
The gyro can be used to detect an angular velocity signal of the
carrier relative to the navigation coordinate system.
[0107] The conventional inertial measurement component can comprise
an acceleration sensor and a gyro sensor. The disclosure provides a
novel sensor configuration over the conventional configuration. In
some embodiments, the inertial measurement component of the
disclosure can comprise one acceleration sensor and redundant gyro
sensors. Alternatively, the inertial measurement component of the
disclosure can comprise redundant acceleration sensors and one gyro
sensor.
[0108] In some instances, the inertial measurement component can be
embedded in the controller.
[0109] In some instances, a data communication between the inertia
measurement component and the controller can be effected via a
serial interface.
[0110] In some instances, a data communication between the inertia
measurement component and other measurement components in the
system can be effected via a serial communication bus.
[0111] In some instances, a data communication between the inertia
measurement component and other measurement components in the
system can be effected via a CAN communication bus.
[0112] The navigation system shown in FIG. 2 can operate based on
the inertial navigation principle. The navigation system can
comprise at least an inertial navigation component. The inertial
navigation component can comprise redundant acceleration sensors
and/or redundant gyro sensors. The redundant configuration can
further improve an operational performance of the inertial
navigation component. A situation where the unmanned aerial vehicle
being out of control due to a failing navigation system can be
avoided. A safety and a precision in navigation can be improved,
and a more reliable navigation can be provided to the unmanned
aircraft.
[0113] The disclosure provides a satellite navigation system on
basis of the configuration of FIG. 1. The position satellite
navigation system will be described with reference to FIG. 3.
[0114] FIG. 3 shows a configuration of navigation system of an
unmanned aircraft in accordance with a third embodiment of a first
aspect of the disclosure. As shown in FIG. 3, the navigation system
can comprise a controller 101 and at least one measurement
component, the controller being connected to each one of the at
least one measurement component. The at least one measurement
component can be a positioning component which is used to calculate
a geographic position of the unmanned aircraft.
[0115] In some instances, the positioning component can comprise a
positioning sensor.
[0116] In some instances, the positioning component can comprise
redundant positioning sensors.
[0117] It will be appreciated that, the positioning component can
be a component capable of positioning using a positioning system.
For instance, the positioning system can be GPS (Global Positioning
system), Chinese BeiDou system, or Galileo system. For instances,
the positioning component can be a GPS component which measures a
data using a GPS sensor. The GPS sensor can be a sensor which
measures a position and a velocity of the carrier in real time by
using GPS system. The GPS sensor can also be referred to a GPS
receiver which receives a signal from GPS satellite via an antenna
and outputs a current longitude, latitude and height
information.
[0118] In some instances, the positioning sensor can comprise any
one or a combination of a GPS sensor, a BeiDou positioning sensor,
or a GLONASS positioning sensor.
[0119] The measurement component 2 as shown in FIG. 3 can be a
positioning component which comprises two redundant GPS sensors
(e.g., GPS sensor 1 and GPS sensor 2). The navigation system shown
in FIG. 3 can operate based on the position satellite navigation
principle. The navigation system can comprise at least a
positioning component. The positioning component can comprise
redundant positioning sensors. The redundant configuration can
further improve an operational performance of the positioning
component. A situation where the unmanned aerial vehicle being out
of control due to a failing navigation system can be avoided. A
safety and a precision in navigation can be improved, and a more
reliable navigation can be provided to the unmanned aircraft.
[0120] The disclosure provides a Doppler navigation principle based
navigation system on basis of the configuration of FIG. 1. The
Doppler navigation principle based navigation system will be
described with reference to FIG. 4.
[0121] FIG. 4 shows a configuration of navigation system of an
unmanned aircraft in accordance with a fourth embodiment of a first
aspect of the disclosure. As shown in FIG. 4, the navigation system
can comprise a controller and at least one measurement component,
the controller being connected to each one of the at least one
measurement component. The at least one measurement component can
be a magnetic sensing component which is used to sense a
geomagnetic field to determine a direction.
[0122] In some instances, the magnetic sensing component can
comprise a compass sensor.
[0123] In some instances, the magnetic sensing component can
comprise redundant compass sensors.
[0124] The measurement component 3 shown in FIG. 4 can be a
magnetic sensing component which comprising two redundant compass
sensors (e.g., compass sensor 1 and compass sensor 2).
[0125] The navigation system shown in FIG. 4 can operate based on
the Doppler navigation principle. The navigation system can
comprise at least a magnetic sensing component. The magnetic
sensing component can comprise redundant compass sensors. The
redundant configuration can further improve an operational
performance of the magnetic sensing component. A situation where
the unmanned aerial vehicle being out of control due to a failing
navigation system can be avoided. A safety and a precision in
navigation can be improved, and a more reliable navigation can be
provided to the unmanned aircraft.
[0126] It will be appreciated that, in the exemplary embodiments
described hereinabove with reference to FIG. 2, FIG. 3 and FIG. 4,
the measurement component 1 is provided as an inertial measurement
component, the measurement component 2 is provided as a positioning
component, and the measurement component 3 is provided as a
magnetic sensing component, in order to discuss a difference
between embodiments. Those skilled in the art will appreciate that,
any one of the components in the system can be provided as an
inertial measurement component, a positioning component or a
magnetic sensing component.
[0127] The navigation systems described hereinabove with reference
to FIG. 2, FIG. 3, and FIG. 4 can effect a navigation using a
single navigation technology. The disclosure further provides a
navigation system using multiple navigation technologies on basis
of the configuration of FIG. 1. The navigation system employing
multiple navigation technologies will be described with reference
to FIG. 5.
[0128] FIG. 5 shows a configuration of navigation system of an
unmanned aircraft in accordance with a fifth embodiment of a first
aspect of the disclosure. As shown in FIG. 5, the navigation system
can comprise a controller 101 and at least two measurement
components, the controller being connected to each one of the at
least two measurement components.
[0129] In some embodiments, the at least two measurement components
can comprise a combination of any two or three components selected
from a group consisting of an inertia measurement component, a
positioning component, and a magnetic sensing component.
[0130] At least one component in the at least two measurement
components can comprise redundant sensors. Data measured by the
sensors can be provided to the controller.
[0131] For instance, the inertial measurement component can
comprise an acceleration sensor and/or a gyro sensor. The inertial
measurement component can be embedded in the controller. Additional
or alternatively, the positioning component can comprise redundant
positioning sensors. The positioning sensor can comprise any one or
a combination of a GPS sensor or a BeiDou positioning sensor.
Additional or alternatively, the magnetic sensing component can
comprise redundant compass sensors.
[0132] In some instances, the system can further comprise a visual
component. The visual device can be connected to the controller.
The visual component can be a monocular component or a binocular
component.
[0133] It will be appreciated that, the visual component can be
used as a redundant component of the inertia measurement component.
The visual component can operate instead of the inertia measurement
component if the inertia measurement component fails, such that the
controller can effect a navigation using data measured by the
visual component to ensure an operation of the navigation
system.
[0134] In some instances, the system can further comprise a carrier
signal differential component which is connected to the
controller.
[0135] It will be appreciated that, the carrier signal differential
component can be used as a redundant component of the positioning
component. The carrier signal differential component can operate
instead of the positioning component if the positioning component
fails, such that the controller can effect a navigation using data
measured by the carrier signal differential component to ensure an
operation of the navigation system.
[0136] The navigation system employing multiple navigation
technologies as provided in the disclosure can take advantages of
each one of the navigation technologies which can be complementary.
A better navigation performance than that with a single navigation
technique can be achieved. At least one of a plurality of
measurement components can comprise a redundant configuration to
improve an operational performance of the measurement component. A
more reliable data can be provided to the navigation system, and a
precision of navigation can be improved.
[0137] A topological configuration of the navigation system in
accordance with the first aspect of the disclosure will be
described with reference to FIG. 6. FIG. 6 shows a configuration of
navigation system of an unmanned aircraft in accordance with a
sixth embodiment of a first aspect of the disclosure. As shown in
FIG. 6, the system can comprise a controller 101, three GPSs, three
compasses and three IMUs (Inertial Measurement Devices). One of the
three IMUs can be embedded in the controller, and the other two
IMUs can be respectively provided in different measurement
components. Three components each integrating one GPS component and
one compass component can be provided.
[0138] It will be appreciated that, FIG. 6 simply provides an
exemplary configuration, without limiting to a configuration of the
measurement component in the navigation system. For instances, IMU
may not be embedded in the controller but can be independently
provided in a measurement component. In some instances, each of the
IMUs can be respectively provided in different measurement
components. Optionally, one or more IMUs can be integrated in the
one measurement component.
[0139] In case each of the IMUs being respectively provided in
different measurement components, each one of the measurement
components can provide a redundancy support for one another. In
case a plurality of IMUs being integrated in one measurement
component, each one of the plurality of IMUs in the measurement
component can provide a redundancy support for one another.
[0140] In some instances, the three integrated GPSs/compasses can
be respectively provided in different measurement components.
Optionally, the three integrated GPSs/compasses can be integrated
in one measurement component. In some instance, the GPS and the
compass can be respectively provided in different measurement
components rather than being integrated in the same component.
[0141] The disclosure provides an unmanned aircraft on basis of the
navigation system in accordance with the first aspect of the
disclosure, the unmanned aircraft being provided with the
navigation system in accordance with the first aspect of the
disclosure. FIG. 7 shows a configuration of an unmanned aircraft.
As shown in FIG. 7, the unmanned aircraft can comprise a flight
platform, a power device, an electrical system, a task device and a
navigation device provided in accordance with the fourth aspect as
described hereinabove. A configuration of the navigation system is
described with reference to FIG. 1 to FIG. 6 hereinabove, and a
detailed description is omitted for conciseness.
[0142] The disclosure provides a method for navigation on basis of
the navigation system provided in accordance with the first aspect
of the disclosure. The method for navigation will be described with
reference to the flowchart of FIG. 8.
[0143] FIG. 8 shows a flowchart of a method for navigation of an
unmanned aircraft in accordance with a third aspect of the
disclosure. The method can comprise steps 801 and 802.
[0144] In step 801, the controller can receive data from each
measurement component. In some instances, at least one measurement
component can comprise redundant sensors. Data from the measurement
component can comprise data measured by each one of the sensors or
data measured by one of the sensors;
[0145] In step 802, the controller can effect a navigation based
upon the received data.
[0146] The step 802 can be implemented in various manners if the
data from the at least one measurement component comprises data
measured by each one of the sensors.
[0147] In some embodiments, the controller can be configured to
select data measured by a sensor, which is in an optimal operation
state, from among the data received from the at least one
measurement component, and effect a navigation using the selected
data and data from other measurement component(s).
[0148] Alternatively, the controller can be configured to select
data measured by a sensor, which is in a stable operation state,
from among the data received from the measurement component having
redundant sensors, and effect a navigation using the selected data
and data from other measurement component(s).
[0149] In some embodiments, the data received from the at least one
measurement component can comprise data measured by a sensor in an
optimal operation state, or data measured by a sensor in a most
stable operation state. In this case, the step 702 can comprise a
steps in which the controller effects a navigation based upon data
from each measurement component.
[0150] In some embodiments, a data communication between the
controller and the measurement component can be effected via a
serial communication bus.
[0151] In some embodiments, a data communication between the
controller and the measurement component can be effected via a CAN
communication bus.
[0152] In some embodiments, the controller can receive data from an
inertial measurement component and effect a navigation using the
data received from the inertia measurement component.
[0153] In some embodiments, the inertia measurement component can
comprise an acceleration sensor and/or a gyro sensor.
[0154] In some embodiments, a data communication between the
controller and the inertia measurement component can be effected
via a serial interface.
[0155] In some embodiments, the controller can receive data from a
positioning component and effect a navigation using the data
received from the positioning component.
[0156] In some embodiments, the positioning component can comprise
a positioning sensor.
[0157] In some embodiments, the positioning sensor can comprise any
one or a combination of a GPS sensor or a BeiDou positioning
sensor.
[0158] In some embodiments, the controller can receive data from a
magnetic sensing component and effect a navigation using the data
received from the magnetic sensing component.
[0159] In some embodiments, the magnetic sensing component can
comprise a compass sensor
[0160] In some embodiments, the controller can receive data from a
visual component and effect a navigation using the data received
from the visual component.
[0161] In some embodiments, the visual component can comprise a
monocular component or a binocular component.
[0162] In some embodiments, the controller can receive data from a
carrier signal differential component and effect a navigation using
the data received from the carrier signal differential
component.
[0163] With the method for navigation of the disclosure, the
controller can receive data from each measurement component in the
navigation system and effect a navigation using the received data.
At least one measurement component can comprise redundant sensors,
and the redundant sensors can provide an accurate and reliable data
to the controller. Therefore, the controller can be capable of
providing a reliable navigation information to the unmanned
aircraft.
[0164] The first, second and third aspects of the disclosure are
described hereinabove. The fourth, fifth and sixth aspects of the
disclosure will be described.
[0165] FIG. 9 shows a configuration of navigation system of an
unmanned aircraft in accordance with a first embodiment of a fourth
aspect of the disclosure. As shown in FIG. 9, the navigation system
of the unmanned aircraft 200 can comprise a master navigation
device 201, a slave navigation device 202 and a controller 203.
[0166] The master navigation device can comprise at least one
measurement component (e.g., measurement components 1 to N as shown
in FIG. 9, where N being greater than or equal to 1).
[0167] The slave navigation device can comprise at least one
measurement component (measurement components 1 to M as shown in
FIG. 9, where M being greater than or equal to 1). At least one
measurement component of the slave navigation device can provide a
redundancy support for at least one measurement component of the
master navigation device.
[0168] The controller can effect a navigation using the measurement
component of the master navigation device and the measurement
component of the slave navigation device which provides a
redundancy support for the measurement component of the master
navigation device.
[0169] It will be appreciated that, an internal configuration of
the slave navigation device can depend on an internal configuration
of the master navigation device. The measurement component of the
slave navigation device can provide a redundancy support for the
measurement component in master navigation device. A type of the
measurement component of the slave navigation device can be the
same as a type of at least one measurement component of the master
navigation device. However, the number of the measurements
component of the slave navigation device can be determined as
required, and can be not limited by the configuration of the master
navigation device. In other words, the number of the components in
the slave navigation device can be irrelevant to the number of the
components in the master navigation device. For example the value N
can be irrelevant to the value M.
[0170] In some embodiments, a data communication between the
measurement component of the master navigation device and the
measurement component of the slave navigation device and the
controller can be effected via a serial communication bus.
[0171] In some embodiments, a data communication between the
measurement component of the master navigation device and the
measurement component of the slave navigation device and the
controller can be effected via a CAN communication bus.
[0172] In some embodiments, the controller can be configured to
select one measurement component with respect to each type of
measurement component from the master navigation device and the
slave navigation device to effect a navigation.
[0173] In some embodiments, the controller can be configured to
select one measurement component in an optimal operation state with
respect to each type of measurement component from the master
navigation device and the slave navigation device to effect a
navigation.
[0174] In some embodiments, the controller can be configured to
select one measurement component in a most stable operation state
with respect to each type of measurement component from the master
navigation device and the slave navigation device to effect a
navigation.
[0175] The disclosure provides an alternative configuration on
basis of the navigation system shown in FIG. 9 by analyzing the
single navigation technology and multiple navigation technologies.
FIG. 10 shows a configuration of navigation system of an unmanned
aircraft in accordance with a second embodiment of a fourth aspect
of the disclosure. As shown in FIG. 10, the system can comprise a
master navigation device, a slave navigation device and a
controller. The master navigation device can comprise an inertial
measurement component, a positioning component, a magnetic sensing
component or a combination thereof. The slave navigation device can
comprise at least one inertial measurement component, at least one
positioning component, at least one magnetic sensing component or a
combination thereof.
[0176] The positioning component can be a component capable of
positioning using a positioning system. For instance, the
positioning system can be GPS (Global Positioning system), Chinese
BeiDou system, or Galileo system. For instances, the positioning
component can be a GPS component which measures a data using a GPS
sensor. The GPS sensor can be a sensor which measures a position
and a velocity of the carrier in real time by using GPS system. The
GPS sensor can also be referred to a GPS receiver which receives a
signal from GPS satellite via an antenna and outputs a current
longitude, latitude and height information.
[0177] In some instances, the magnetic sensing component can be a
compass component.
[0178] In some instances, the measurement component of the slave
navigation device can be the same as the measurement component of
the master navigation device if the master navigation device
comprises one measurement component, the measurement component of
the slave navigation device providing a redundancy support for the
measurement component of the master navigation device. In this
case, the navigation system can be a navigation system using a
single navigation technology. With this navigation system,
advantages of single navigation technology can be gained, and a
reliability of the system can be improved by the redundant
configuration in the master device and the slave device, thus
improving a performance in navigation.
[0179] The disclosure provides an alternative configuration of a
navigation system using multiple navigation technologies on basis
of the navigation system shown in FIG. 10. FIG. 11 shows a
configuration of navigation system of an unmanned aircraft in
accordance with a third embodiment of a fourth aspect of the
disclosure. As shown in FIG. 11, the system can comprise a master
navigation device, a slave navigation device, and a controller. The
master navigation device can comprise one inertial measurement
component, one positioning component and one magnetic sensing
component. The slave navigation device can comprise two inertia
measurement components, two positioning components and two magnetic
sensing components.
[0180] It will be appreciated from the navigation system shown in
FIG. 11 that, three groups of redundant navigation components can
be provided by the redundant configuration in the master navigation
device and the slave navigation device. With this configuration, a
performance of the navigation system can be improved, and a
configuration of the navigation system can be simplified for easy
implementation.
[0181] The disclosure provides alternative configurations on basis
of the navigation system shown in FIG. 11 to simplify a
configuration of the system and reduce a cost of the system. The
alternatively configurations will be described with reference to
FIG. 12, which shows a redundant topological configuration of a
navigation system. In FIG. 12, a GPS component and a compass
component are used as examples of the positioning component and the
magnetic sensing component respectively. It will be appreciated
that, various other components can be alternatively used.
[0182] In FIG. 12, a GPS component is referred to as 1, a compass
component is referred to as 2, a CAN bus is referred to as 3, an
IMU (Inertial Measurement Unit) is referred to as 4, a VO
(monocular) component is referred to as 5, and a RTK (carrier
signal differential component) component is referred to as 6.
[0183] As show in FIG. 11, the master navigation device can
comprise an inertial measurement component. The inertial
measurement component can be embedded in the controller. With this
configuration, the navigation system can be compatible with chips
in existing navigation system, such that the navigation system of
the disclosure has a low production cost and a high production
efficiency. In addition, an integrated space can be reduced and a
configuration of the navigation system can be simplified.
[0184] In some embodiments, the slave navigation device can
comprise at least one inertial measurement component. Any one of
the inertial measurement components in the slave navigation device
can be embedded in the controller.
[0185] Considering that the slave navigation device can also
comprise an inertia measurement component, any one of the inertia
measurement component of the master navigation device or the
inertia measurement component of the slave navigation device can be
embedded in the controller. The navigation system of this
configuration can be compatible with chips in existing navigation
system, such that the navigation system of the disclosure has a low
production cost and a high production efficiency. In addition, an
integrated space can be reduced and a configuration of the
navigation system can be simplified.
[0186] In some embodiments, a data communication between the
inertia measurement component and the controller can be effected
via a serial interface. In this navigation system, the GPS
component and the compass component of the master navigation device
can be provided as separate components. However, for purpose of a
reasonable configuration layout of the of the navigation system,
the GPS component and the compass component of the master
navigation device can be integrated in one component. It will be
appreciated that, in case the slave navigation device comprises a
GPS component and a compass component, the GPS component and the
compass component of the slave navigation device can also be
integrated in one component.
[0187] In some embodiments, when the master navigation device
comprises a GPS component and a compass component, the GPS
component and the compass component can be integrated in one
component. As shown in FIG. 12, the GPS component and the compass
component of the master navigation device can be integrated in the
same component.
[0188] In some embodiments, when the slave navigation device
comprises N GPS components and N compass components, N components
can be provided each of which integrates one GPS component and one
compass component of the slave navigation device in pairs, N being
an integer of greater than or equal to 1. As shown in FIG. 12, one
GPS component and one compass component of the slave navigation
device can be integrated in the same component in pairs.
[0189] In some embodiments, the system can further comprise a
visual component which is connected to the controller.
[0190] In some embodiments, the visual component can be a monocular
component or a binocular component.
[0191] In some embodiments, the system can further comprise a
carrier signal differential component which is connected to the
controller.
[0192] The disclosure further provides an unmanned aircraft on
basis of the navigation system provided in accordance with the
fourth aspect of the disclosure. The unmanned aircraft can be
provided with the navigation system provided in accordance with the
fourth aspect of the disclosure as described hereinabove. FIG. 13
shows a configuration of the unmanned aircraft. As shown in FIG.
13, the unmanned aircraft can comprise a flight platform, a power
device, an electrical system, a task device and a navigation device
provided in accordance with the fourth aspect of the disclosure. A
configuration of the navigation system is described with reference
to FIG. 9 to FIG. 12 hereinabove, and a detailed description is
omitted for conciseness.
[0193] The disclosure also provides a method for navigation on
basis of the navigation system provided in accordance with the
fourth aspect of the disclosure. The method will be described with
reference to the flowchart of FIG. 14.
[0194] FIG. 14 shows a flowchart of a method for navigation of an
unmanned aircraft in accordance with a sixth aspect of the
disclosure. The method can comprise steps 1401 and 1402.
[0195] In step 1401, the controller can receive data measured by
each measurement component of the master navigation device and the
slave navigation device.
[0196] In step 1402, the controller can effect a navigation using
the received data measured by each measurement component.
[0197] In some embodiments, the step where the controller effects a
navigation using the received data measured by each measurement
component can comprise analyzing, by the controller, a respective
operation state of the measurement components of the same type
based upon the data measured by each measurement component, and
selecting, by the controller, a measurement component in an optimal
operation state from among the measurement components of the same
type and effecting a navigation using the data measured by the
selected measurement component.
[0198] In some embodiments, the step where the controller effects a
navigation using the received data measured by each measurement
component can comprise analyzing, by the controller, a respective
operation state of the measurement components of the same type
based upon the data measured by each measurement component, and
selecting, by the controller, a measurement component in a most
stable operation state from among the measurement components of the
same type and effecting a navigation using the data measured by the
selected measurement component.
[0199] In some embodiments, the method can further comprise
determining, by the controller, a failure in the measurement
component based upon the data measured by the measurement component
of the same type, and providing an alarm if the controller
determining a failure in the measurement component.
[0200] In some embodiments, the step of determining, by the
controller, a failure in the measurement component based upon the
data measured by the measurement component of the same type can
comprise determining, by the controller, whether a difference
between data measured by one of the measurement components of the
same type and data measured by others of the measurement components
of the same type being greater than a preset threshold value, and
determining, by the controller, that the one measurement component
fails if the difference being greater than the preset threshold
value.
[0201] In some embodiments, a data communication between the
controller and the master navigation device and the slave
navigation device can be effected via a serial communication
bus.
[0202] In some embodiments, a data communication between the
controller and the master navigation device and the slave
navigation device can be effected via a CAN communication bus.
[0203] In some embodiments, the step where the controller receiving
data measured by each measurement component from the master
navigation device and the slave navigation device can comprise
receiving, by the controller, data measured by one inertia
measurement component, one positioning component and one magnetic
sensing component of the master navigation device, and data
measured by two inertia measurement components, two positioning
components and two magnetic sensing components in the slave
navigation device.
[0204] In some embodiments, a data communication between the
controller and the inertia measurement component can be effected
via a serial interface.
[0205] With the method for navigation of the disclosure, the
controller can receive data from the master navigation device and
the slave navigation device in the navigation system. The
measurement component of the slave navigation device can provide a
redundancy support for the measurement component of the master
navigation device, therefore, the slave navigation device can
ensure a correct data transmission and provide an effective
measurement data to the controller even if the measurement
component of the master navigation device fails or a measurement
data thereof not accurate. The controller can effect a navigation
using the received data and provide a reliable navigation
information to the unmanned aircraft.
[0206] Those skilled in the art will appreciate that, some or all
steps of the method as provided in embodiments of the disclosure
can be implemented using a software executing on an universal
hardware platform. With this understanding, essentially the
technical solution of the disclosure may be embodied as a software
product. The computer software product can be stored in a storage
medium (e.g., ROM/RAM, a diskette, or an optical disk) and includes
several instructions for causing a computer device to execute some
or all steps of the method according to the various embodiments of
the disclosure. The computer device can be a personal computer, a
server or a network communication device such as a media
gateway.
[0207] It will be appreciated that, embodiment as described
hereinabove can be provided in a progressive manner. The
description of respective embodiment may emphasize a difference of
the embodiment over others, a reference to other embodiments can be
made for those same or similar components. A description of device
and system embodiments can be simplified in view of a similarity
with method embodiments, and a reference to description of the
method embodiments can be made. The device and system embodiments
described hereinabove can be merely illustrative. The units
illustrated as separate parts may or may not be physically
separated. The parts shown as units may or may not be physical
units. For example, the parts can be provided at the same location
or distributed over a plurality of network units. All or part of
the components can be selected to implement the embodiments of the
disclosure according to actual requirements. Those skilled in the
art can appreciate and implement the disclosure without inventive
efforts.
[0208] The embodiments as described hereinabove can be intended to
merely illustrate rather than limit the patent scope of the
disclosure. Numerous variations, equivalents and improvements made
in light of the spirit of the disclosure can be within the scope of
the disclosure.
* * * * *