The invention discloses a man-robot collaborative operation system comprising a background management center and a plurality of robots. Each robot comprises a satellite signal receiving module and anauxiliary module, the satellite signal receiving modules receive satellite signals, and the auxiliary modules are used for assisting the other robots to re-obtain satellite signals. A plurality of ultrasonic receiving and sending devices are arranged on the obverse side, the side face and the back face of each robot correspondingly. According to the man-robot collaborative operation system, the auxiliary modules are arranged on all the robots correspondingly, the robots are assisted to re-obtain the satellite signals through the auxiliary modules, stable output of instructions is ensured, meanwhile the ultrasonic receiving and sending devices are arranged on the robots, and the obstacles avoidance capacity of the robots is effectively ensured.

Man-robot collaborative operation system

The invention discloses a three-dimensional ellipsoid cross GNSS interference source positioning method based on ADS-B. The method comprises the following steps: 1, acquiring ADS-B data information ofall airplanes of an ADS-B receiver; 2, searching an air route with position information loss in the ADS-B data information; 3, analyzing a position loss point and a position re-acquisition point of each position information loss route; and 4, realizing three-dimensional ellipsoid GNSS interference source positioning by utilizing linear dimension reduction and a least square method. According to the three-dimensional ellipsoid cross GNSS interference source positioning method based on ADS-B, GNSS information in an ADS-B (broadcast type automatic correlation monitoring) system which is gradually popularized in an airport is utilized, additional equipment and transmission links do not need to be added, the cost is low, implementation is easy, and possibility is provided for large-range GNSSinterference source positioning.

Three-dimensional ellipsoid cross GNSS interference source positioning method based on ADS-B

The invention discloses an auxiliary unmanned aerial vehicle for assisting a task unmanned aerial vehicle in acquiring a satellite signal, wherein on the condition that the satellite signal of the task unmanned aerial vehicle is lost or the strength of the satellite signal of the task unmanned aerial vehicle is relatively low, the auxiliary unmanned aerial vehicle performs processing on the self satellite signal and relative position information between the task unmanned aerial vehicle, thereby acquiring the satellite signal of the task unmanned aerial vehicle so that the task unmanned aerial vehicle operates continuously. The auxiliary unmanned aerial vehicle has advantages of realizing simple design, reducing difficulty in actual engineering operation and reducing cost input caused by a complicated design. Furthermore the auxiliary unmanned aerial vehicle performs data processing when an obstacle which affects satellite signal transmission of the task unmanned aerial vehicle exists, thereby obtaining the satellite signal of the task unmanned aerial vehicle and ensuring normal operation of the task unmanned aerial vehicle.

Auxiliary unmanned aerial vehicle for assisting task unmanned aerial vehicle in acquiring satellite signal

The invention discloses a satellite signal fitting reconstruction system and method applied to a high-dynamic aircraft. According to the system, the receiving capability of satellite signals is improved through a sheet-shaped antenna and the possibility of satellite loss under high dynamic is reduced; with multiple receivers, stable and reliable satellite signals are provided for the aircraft to the greatest extent. Furthermore, when the satellite losing is determined, satellite signals are self-fitted and reconstructed, the position and speed information of the aircraft required for calculating the required overload is provided for the microprocessor module, so that the stability of the aircraft is maintained in the satellite loss period; and when the satellite is not lost, the satellitesignal with the largest number of satellites is selected to calculate the position and speed information of the aircraft, the required overload is calculated, so that the aircraft is controlled.

Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft

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Auxiliary unmanned aerial vehicle for assisting task unmanned aerial vehicle in acquiring satellite signal

Satellite signal fitting reconstruction system and method applied to high-dynamic aircraft