CN108885465A

CN108885465A - Control method, equipment and the moveable platform of moveable platform

Info

Publication number: CN108885465A
Application number: CN201780016748.2A
Authority: CN
Inventors: 闫光; 彭昭亮; 陈超彬
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2017-07-27
Filing date: 2017-07-27
Publication date: 2018-11-23
Also published as: WO2019019118A1

Abstract

A kind of control method of moveable platform, equipment and moveable platform, this method include：RTK data are received by communication interface (21,101)；Satellite-signal is received by location receiver (22,102)；When the RTK data invalid arrived in the first reception, navigation task will be executed according to the RTK data and satellite-signal control moveable platform and will be switched to according to the satellite-signal control moveable platform execution navigation task.Pass through communication interface (21,101) RTK data are received, and location receiver (22,102) satellite-signal is received, when RTK data invalid, navigation task will be executed according to RTK data and satellite-signal control moveable platform to be switched to according to satellite-signal control moveable platform execution navigation task, so that moveable platform can still complete navigation task in RTK data invalid, the reliability that moveable platform executes navigation task is improved, guarantees moveable platform safe operation.

Description

Control method, equipment and the moveable platform of moveable platform

Technical field

The present embodiments relate to unmanned plane field more particularly to a kind of control methods of moveable platform, equipment and can Mobile platform.

Background technique

Real-time dynamic carrier Differential positioning (Real-time kinematic, RTK) is a kind of Global Satellite Navigation System (Global Navigation Satellite System, GNSS) high-precision location technique, positioning accuracy can achieve li Meter level.Two websites are needed in positioning operation scheme based on RTK：Base station and rover station, rover station are receiver user, can To be mounted on different moveable platforms, such as unmanned vehicle, automobile.Wherein, rover station needs to receive base station and is transmitted Data, could complete RTK positioning, to get exact position.

Currently, since building blocks, will appear what receiver user received due to communication failure, signal interference etc. The case where RTK data invalid, can not complete RTK positioning according to RTK data.At this point, if without corresponding security strategy, it may It will lead to the navigation task based on location information and execute exception, influence the safe operation of moveable platform.

Summary of the invention

The embodiment of the present invention provides the control method, equipment and moveable platform of a kind of moveable platform, removable to improve Moving platform executes the reliability of navigation task, guarantees moveable platform safe operation.

The first aspect of the embodiment of the present invention is to provide a kind of control method of moveable platform, including：

RTK data are received by communication interface；

Satellite-signal is received by location receiver；

When the RTK data invalid arrived in the first reception, will be controlled according to the RTK data and the satellite-signal Moveable platform executes navigation task and is switched to according to the satellite-signal control moveable platform execution navigation task.

The second aspect of the embodiment of the present invention is to provide a kind of control equipment of moveable platform, including：Communication interface is determined Position receiver, processor；

The communication interface, for receiving RTK data；

The location receiver, for receiving satellite-signal；

The processor is used for：

The third aspect of the embodiment of the present invention is to provide a kind of moveable platform, including：

Fuselage；

Dynamical system is mounted on the fuselage, for providing operation power；

And the control equipment that second aspect provides.

Control method, equipment and the moveable platform of moveable platform provided in an embodiment of the present invention, pass through communication interface It receives RTK data and location receiver receives satellite-signal, when RTK data invalid, will be believed according to RTK data and satellite Number control moveable platform execute navigation task be switched to according to satellite-signal control moveable platform execute navigation task so that Moveable platform still can complete navigation task according to satellite-signal in RTK data invalid, improve moveable platform and hold The reliability of row navigation task guarantees moveable platform safe operation.

Detailed description of the invention

To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is the flow chart of the control method of moveable platform provided in an embodiment of the present invention；

Fig. 2 is the applicable system construction drawing of the control method of moveable platform provided in an embodiment of the present invention；

Fig. 3 is the applicable network architecture diagram of the control method of moveable platform provided in an embodiment of the present invention；

Fig. 4 is the applicable network architecture diagram of the control method of moveable platform provided in an embodiment of the present invention；

Fig. 5 is the modular structure schematic diagram of flight controller provided in an embodiment of the present invention；

Fig. 6 be another embodiment of the present invention provides moveable platform control method flow chart；

Fig. 7 be another embodiment of the present invention provides moveable platform control method flow chart；

Fig. 8 be another embodiment of the present invention provides moveable platform control method flow chart；

Fig. 9 be another embodiment of the present invention provides moveable platform control method flow chart；

Figure 10 is the structure chart of the control equipment of moveable platform provided in an embodiment of the present invention；

Figure 11 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.

Appended drawing reference：

10- unmanned vehicle 20- controls equipment 21- radio station communication interface

The base station 22- location receiver 23-RTK 24- satellite 31- base station

The wireless base station 32- 33- wireless network communication interface 34- earth station

100- controls equipment 101- communication interface 102- location receiver

103- processor 1100- unmanned vehicle

1107- motor 1106- propeller 1117- electron speed regulator

1118- flight controller 1108- sensor-based system 1110- communication system

1102- support equipment 1104- capture apparatus 1112- earth station

1114- antenna 1116- electromagnetic wave

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.

It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to To another component or it may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the listed item of pass.

With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.

The embodiment of the present invention provides a kind of control method of moveable platform.Fig. 1 is provided in an embodiment of the present invention removable The flow chart of the control method of moving platform.As shown in Figure 1, the method in the present embodiment, may include：

Step S101, RTK data are received by communication interface.

The executing subject of the present embodiment method can be in moveable platform for controlling the mobile control of moveable platform Equipment, moveable platform specifically can be unmanned vehicle, automobile, ship etc., and the present embodiment is made to illustrate with unmanned vehicle Property explanation.

In the present embodiment, it is provided with control equipment, communication interface, location receiver on unmanned vehicle, controls equipment For controlling unmanned vehicle flight, communication interface is for receiving RTK data, and location receiver is for receiving satellite-signal.Its In, control equipment specifically can be the flight controller of unmanned vehicle, it is also possible to other general or dedicated processors, It is schematically illustrated in the present embodiment with flight controller.It includes following several possible that communication interface, which receives RTK data, Situation：

A kind of possible situation is：The communication interface of unmanned vehicle is specially radio station's communication interface, such as Fig. 2 institute Show, unmanned vehicle 10 includes control equipment 20, radio station's communication interface 21, location receiver 22, and radio station's communication connects Mouth 21 receives the RTK data that the base stations RTK 23 are broadcasted.

Alternatively possible situation is：The communication interface of unmanned vehicle is specially wireless network communication interface, such as Fig. 3 institute Show, base station 31 receives the satellite-signal that satellite 24 is sent, and generates RTK data, and base station 31 is passed RTK data by network It is defeated by the wireless base station 32 of operator, which can be cable network, be also possible to wireless network, i.e. base station 31 can pass through RTK data are transferred to the wireless base station 32 of operator by wired mode, can also wirelessly be transmitted RTK data To the wireless base station 32 of operator.Wireless base station 32 sends RTK data, the wireless network of unmanned vehicle 10 to unmanned vehicle 10 Network communication interface 33 receives the RTK data that wireless base station 32 is sent.

Another possible situation is：As shown in figure 4, base station 31 receives the satellite-signal that satellite 24 is sent, and generate RTK data are transferred to the wireless base station 32 of operator by network by RTK data, base station 31, and wireless base station 32 is by RTK data It is sent to earth station 34, earth station 34 sends the RTK data to unmanned vehicle 10, and wireless network communication interface 33 receives ground Stand 34 send RTK data.In the present embodiment, earth station 34 specifically can be remote controler, smart phone, tablet computer, Face control station etc. and combinations thereof.

Step S102, satellite-signal is received by location receiver.

As shown in figs 2-4, location receiver 22 can receive the satellite-signal of the transmission of satellite 24.In the present embodiment, fixed Position receiver can be GNSS receiver, and specifically, location receiver is GPS receiver, Beidou receiver, Galileo reception At least one of machine, GLONASS receiver, satellite 24 are specially the satellite of navigation system corresponding with receiver.

Step S103, it when the RTK data invalid arrived in the first reception, according to the RTK data and described will defend Star signal control moveable platform executes navigation task and is switched to according to satellite-signal control moveable platform execution Navigation task.

In the present embodiment, flight controller can determine the positioning of unmanned vehicle according to RTK data and satellite-signal Information can also only determine that the location information of unmanned vehicle, the location information of unmanned vehicle can wrap according to satellite-signal Include latitude and longitude information, elevation information etc..Flight controller both can execute navigation according to the RTK data and the satellite-signal Task only can also execute navigation task according to satellite-signal.Due to the unmanned flight determined according to RTK data and satellite-signal The precision of the location information of device is higher, i.e., the ratio of precision of the location information of the unmanned vehicle determined in such a way that RTK is positioned The precision of the location information of the unmanned vehicle only determined by satellite-signal wants high, therefore, when RTK data are effective, flight Controller preferentially executes navigation task according to the RTK data and the satellite-signal.

But the validity of RTK data is decided by factors, for example, the base station RTK 23 and radio station's communication interface 21 Between radio signal quality, the network bandwidth between base station 31 and wireless base station 32, satellite 24 send to base station 31 Quality, transmitting-receiving power of earth station 34 of satellite-signal etc., may be invalid suddenly so as to cause RTK data.

Therefore, when the RTK data invalid that the communication interface of a certain moment unmanned vehicle receives, flight controller is needed It to be led according to satellite-signal execution as being switched to according to the RTK data and satellite-signal execution navigation task Boat task.

As shown in figure 5, in the present embodiment, flight controller may include two functional modules, respectively the first module It with the second module, only schematically illustrates herein, does not limit the functional module inside flight controller.Wherein, the first module The satellite-signal that the RTK data and location receiver that available communication interface receives receive, optionally, the first mould Block receives RTK data and satellite-signal, and the first module periodic receipt RTK data and satellite-signal in synchronization.The One module can determine that a location information of unmanned vehicle, the location information are specially according to RTK data and satellite-signal RTK Differential positioning coordinate；First module can determine that another location information of unmanned vehicle, the positioning according to satellite-signal Information is specially One-Point Location coordinate；Since the precision of the ratio of precision One-Point Location coordinate of RTK Differential positioning coordinate is high, When RTK data are effective, the first module preferentially exports RTK Differential positioning coordinate to the second module, and the second module is according to RTK difference It positions coordinate and executes navigation task.When RTK data invalid, the first module exports One-Point Location coordinate to the second module, and second Module executes navigation task according to One-Point Location coordinate.Optionally, the first module can be with defeated while output positions coordinate A marker out, the positioning coordinate which is used to identify the output of the first module is RTK Differential positioning coordinate or single-point Whether positioning coordinate and the positioning coordinate of the first module output are effective etc..

In addition, first switch is also provided between the first module and communication interface, the first module and location receiver Between be also provided with second switch, flight controller can according to the control instruction control first switch that earth station sends and Whether second switch, i.e. user can receive RTK data by the first module of ground station control, and whether receive satellite letter Number, navigation task is executed according to RTK data and satellite-signal to control flight controller, or lead according to satellite-signal execution Boat task.For example, even if communication interface constantly receives RTK data, flight controller is only according to institute when first switch disconnects It states satellite-signal and executes the navigation task.

The present embodiment receives RTK data by communication interface and location receiver receives satellite-signal, when RTK data When invalid, it will execute navigation task according to RTK data and satellite-signal control moveable platform and be switched to according to satellite-signal control Moveable platform processed executes navigation task and mentions so that moveable platform can still complete navigation task in RTK data invalid High moveable platform executes the reliability of navigation task, guarantees moveable platform safe operation.

The embodiment of the present invention provides a kind of control method of moveable platform.Fig. 6 be another embodiment of the present invention provides The flow chart of the control method of moveable platform.As shown in fig. 6, on the basis of embodiment shown in Fig. 1, the control of moveable platform Method processed further includes：Determine whether the RTK data arrived in the first reception are effective, specifically, determining in the first reception Whether the RTK data arrived are effective, include the following steps：

Step S601, the RTK data that communication interface is arrived in the first reception are obtained.

Step S602, the satellite-signal that location receiver is arrived in the first reception is obtained.

As shown in figure 5, the first module obtains the RTK data that communication interface is received in the first moment t, meanwhile, the first mould Block obtains the satellite-signal that location receiver is received in the first moment t.

Step S603, the first location information of moveable platform is determined according to the RTK data and the satellite-signal.

First module is according to communication interface in the first moment t RTK data received and location receiver in the first moment t The satellite-signal received determines unmanned vehicle in the first location information of the first moment t, which is specially RTK Differential positioning coordinate, RTK Differential positioning coordinate can be two-dimensional coordinate, be also possible to three-dimensional coordinate, be with three-dimensional coordinate Example, which includes longitude and latitude and height of the unmanned vehicle in the first moment t.

Step S604, the second location information of moveable platform is determined according to the satellite-signal.

Meanwhile first satellite-signal that is received also according to location receiver in the first moment t of module, determine unmanned flight For device in the second location information of the first moment t, which is specially One-Point Location coordinate, and One-Point Location coordinate can be with It is two-dimensional coordinate, is also possible to three-dimensional coordinate, by taking three-dimensional coordinate as an example, which includes unmanned vehicle first The longitude and latitude and height of moment t.

Step S605, it is arrived according to first location information and second location information determination in the first reception Whether RTK data are effective.

RTK Differential positioning coordinate and One-Point Location coordinate when first module is according to the first moment t determine that communication interface exists Whether the RTK data that the first moment t is received are effective.

Specifically, described determined according to first location information and second location information is arrived in the first reception RTK data it is whether effective, including：Determine that the first positioning between first location information and second location information misses Difference；Determine whether the RTK data arrived in the first reception are effective according to first position error.

For example, the first module is fixed according to first between RTK Differential positioning coordinate and One-Point Location coordinate when the first moment t Whether the RTK data that position error determines that communication interface is received in the first moment t are effective.Specifically, the first position error can be with Including at least longitude and latitude error, the first position error further includes height error in certain embodiments.First module is according to first The corresponding longitude and latitude of RTK Differential positioning coordinate and the corresponding longitude and latitude of One-Point Location coordinate of moment t determines longitude and latitude error, root Height error is determined according to the corresponding height of RTK Differential positioning coordinate and the corresponding height of One-Point Location coordinate of the first moment t, the One module determines the RTK data that communication interface is received in the first moment t according to the longitude and latitude error and/or the height error Whether effectively.

It is described to determine whether the RTK data arrived in the first reception are effective according to first position error, including：When When first position error is greater than or equal to preset position error threshold value, the RTK data arrived in the first reception are determined In vain.For example, the first module determines that communication interface exists when longitude and latitude error is greater than or equal to preset longitude and latitude error threshold The RTK data invalid that first moment t is received；And/or when height error is greater than or equal to preset height error threshold value, First module determines the RTK data invalid that communication interface is received in the first moment t.

The RTK data that the present embodiment is arrived by obtaining communication interface in the first reception, and obtain location receiver In the satellite-signal that the first reception arrives, the first location information of moveable platform is determined according to RTK data and satellite-signal, The second location information that moveable platform is determined according to satellite-signal is determined according to the first location information and the second location information Whether the RTK data that the first reception arrives are effective, avoid causing navigation task exception occur due to RTK data invalid.

The embodiment of the present invention provides a kind of control method of moveable platform.Fig. 7 be another embodiment of the present invention provides The flow chart of the control method of moveable platform.As shown in fig. 7, being moved flat on the basis of Fig. 1 or embodiment illustrated in fig. 6 The control method of platform further includes：Determine the first switching offset；Correspondingly, described will be according to the RTK data and the satellite Signal control moveable platform execution navigation task is switched to be led according to satellite-signal control moveable platform execution Boat task, including：It will execute navigation task according to the RTK data and satellite-signal control moveable platform and be switched to root The navigation task is executed according to the satellite-signal and the first switching offset control moveable platform.

For example, flight controller is needed by according to the RTK number when the RTK data invalid arrived in the first reception It is switched to according to navigation task is executed with the satellite-signal according to the satellite-signal execution navigation task.Due to working as RTK When data are effective, the RTK Differential positioning coordinate determined according to RTK data and satellite-signal in synchronization and believed according to satellite There are certain location errors between number One-Point Location coordinate determined, when the RTK data invalid arrived in the first reception When, if directly executing navigation task according to the One-Point Location coordinate that satellite-signal is determined, it may result in unmanned vehicle Can not motion profile since the motion profile before the first moment was smoothly transitted into for the first moment and later, in order to avoid this Problem, in the present embodiment, when the RTK data invalid arrived in the first reception, flight controller is by according to the RTK number It is switched to according to navigation task is executed with the satellite-signal according to the satellite-signal and the first switching offset execution institute State navigation task.

Specifically, the determination first switches offset, include the following steps：

Step S701, the RTK data that historical juncture of the acquisition communication interface before the first moment receives.

Step S702, the satellite-signal that historical juncture of the acquisition location receiver before the first moment receives.

As shown in figure 5, the first module is according to communication interface in the first moment t RTK data received and location receiver In the satellite-signal that the first moment t is received, determine unmanned vehicle in the first location information of the first moment t；According to fixed The satellite-signal that position receiver is received in the first moment t determines unmanned vehicle in the second positioning letter of the first moment t Breath；If the first position error between first location information and second location information is greater than or equal to preset positioning Error threshold, it is determined that in the RTK data invalid that the first reception arrives.

In the present embodiment, the first module can store historical juncture of the communication interface before the first moment t and receive RTK data, it is corresponding also to can store the satellite-signal that historical juncture of the location receiver before the first moment t receives Satellite data.

Optionally, the first module obtains the RTK that communication interface is arrived in previous moment, that is, t-1 reception of the first moment t Data, and obtain location receiver the first moment t previous moment, that is, t-1 reception to satellite-signal corresponding defend Sing data.

Step S703, it is determined according to the RTK data of the historical juncture and the satellite-signal of the historical juncture removable The third location information of platform.

First module is according to the previous moment, that is, t-1 moment RTK data and the corresponding satellite of satellite-signal of the first moment t Data determine unmanned vehicle in the third location information at t-1 moment, which is specially that RTK Differential positioning is sat Mark, which may include longitude and latitude and height of the unmanned vehicle at the t-1 moment.

Step S704, the 4th location information of moveable platform is determined according to the satellite-signal of the historical juncture.

Meanwhile first module also according to the first moment t the corresponding satellite number of previous moment, that is, t-1 moment satellite-signal According to fourth location information of the unmanned vehicle at the t-1 moment is determined, the 4th location information is specially One-Point Location coordinate, the list Point location coordinate may include longitude and latitude and height of the unmanned vehicle at the t-1 moment.

Step S705, the second position error between the third location information and the 4th location information is determined as The first switching offset.

The second position error between the third location information and the 4th location information may include the t-1 moment Longitude and latitude error between the corresponding longitude and latitude of RTK Differential positioning coordinate and the corresponding longitude and latitude of t-1 moment One-Point Location coordinate, And the height between the corresponding height of t-1 moment RTK Differential positioning coordinate and the corresponding height of t-1 moment One-Point Location coordinate Error.

Second position error is determined as the first switching offset of the first moment t by the first module, and described first cuts Changing offset may include longitude and latitude offset and altimetric compensation value, specifically, t-1 moment RTK Differential positioning coordinate is corresponding Longitude and latitude error between longitude and latitude and the corresponding longitude and latitude of t-1 moment One-Point Location coordinate is as longitude and latitude offset, when t-1 Carve the height error conduct between the corresponding height of RTK Differential positioning coordinate and the corresponding height of t-1 moment One-Point Location coordinate Altimetric compensation value.

First module exports the second location information and the first switching offset to the second module in the first moment t, is somebody's turn to do Second location information is specially One-Point Location coordinate, which includes longitude and latitude of the unmanned vehicle in the first moment t Degree and height, the second module execute navigation task according to the second location information and the first switching offset in the first moment t, Specifically, the second module fills longitude and latitude offset in the longitude and latitude that the first moment t is One-Point Location coordinate, in the first moment t Altimetric compensation value is filled for the height of One-Point Location coordinate, obtains the compensated One-Point Location coordinate of the first moment t, and according to The compensated One-Point Location coordinate of one moment t executes navigation task.

Similarly, such as t+1 moment after the first moment t, if RTK data are still invalid, the first module is according to fixed The receiver satellite-signal that arrives in t+1 reception in position determines unmanned vehicle in the One-Point Location coordinate at t+1 moment, and by t The One-Point Location coordinate at+1 moment and the first switching offset are transferred to the second module, and the second module is the list at t+1 moment The longitude and latitude of point location coordinate fills longitude and latitude offset, and the height for the One-Point Location coordinate at t+1 moment fills altimetric compensation Value, obtains t+1 moment compensated One-Point Location coordinate, and execute navigation according to t+1 moment compensated One-Point Location coordinate Task.If the t+2 moment and later at the time of RTK data it is still invalid, the second module according to the output of the first module execute The principle of navigation task is consistent according to the output of the first module execution principle of navigation task with the second module of t+1 moment, herein It repeats no more.

In the present embodiment, in the first moment RTK data invalid, flight controller is by according to RTK data and satellite-signal It executes navigation task and is switched to and navigation task is executed according to satellite-signal and the first switching offset, enable unmanned vehicle Motion profile motion profile before the first moment was smoothly transitted into for the first moment and later.

The embodiment of the present invention provides a kind of control method of moveable platform.Fig. 8 be another embodiment of the present invention provides The flow chart of the control method of moveable platform.As shown in figure 8, the side on the basis of embodiment shown in Fig. 1, in the present embodiment Method may include：

Step S801, RTK data are received by communication interface.

Step S801 is consistent with step S101, and details are not described herein again for concrete principle and process.

Step S802, satellite-signal is received by location receiver.

Step S802 is consistent with step S102, and details are not described herein again for concrete principle and process.

Step S803, it when the RTK data invalid arrived in the first reception, according to the RTK data and described will defend Star signal control moveable platform executes navigation task and is switched to according to satellite-signal control moveable platform execution Navigation task.

Step S803 is consistent with step S103, and details are not described herein again for concrete principle and process.

Step S804, determine the second reception to RTK data whether become effective.

In the present embodiment, the second moment can be in above-described embodiment after the first moment sometime.According to upper Embodiment is stated it is found that over time, RTK data may become effectively in the first moment RTK data invalid, therefore, Whether can become effective after the first moment with real-time detection RTK data.

Specifically, the determination the second reception to RTK data whether become effectively, including it is as follows：

Step 1 obtains the RTK data that communication interface is arrived in the second reception.

Step 2 obtains the satellite-signal that location receiver is arrived in the second reception.

As shown in figure 5, the first module obtains the RTK data that communication interface is arrived in the second reception, meanwhile, the first module Obtain the satellite-signal that location receiver is arrived in the second reception.

Step 3, the 5th location information that moveable platform is determined according to the RTK data and the satellite-signal.

First module according to communication interface the second reception to RTK data and location receiver connect at the second moment The satellite-signal received determines unmanned vehicle in the 5th location information at the second moment, and the 5th location information is specially RTK Differential positioning coordinate, the RTK Differential positioning coordinate may include longitude and latitude and height of the unmanned vehicle at the second moment.

Step 4, the 6th location information that moveable platform is determined according to the satellite-signal.

Meanwhile first satellite-signal that is arrived also according to location receiver in the second reception of module, determine unmanned flight Sixth location information of the device at the second moment, the 6th location information is specially One-Point Location coordinate, which can To include longitude and latitude and height of the unmanned vehicle at the second moment.

Step 5 determines the RTK arrived in the second reception according to the 5th location information and the 6th location information Whether data become effective.

First module determines communication interface second according to the RTK Differential positioning coordinate and One-Point Location coordinate at the second moment Reception to RTK data whether become effective.

Specifically, described determined according to the 5th location information and the 6th location information is arrived in the second reception RTK data whether become effectively, including：Determine that the third between the 5th location information and the 6th location information is fixed Position error；According to the third position error determine the second reception to RTK data whether become effective.

For example, the first module is fixed according to the third between the RTK Differential positioning coordinate and One-Point Location coordinate at the second moment Position error determine communication interface the second reception to RTK data whether become effective.Specifically, third position error packet Include longitude and latitude error and height error.First module is according to the corresponding longitude and latitude of RTK Differential positioning coordinate and list at the second moment The corresponding longitude and latitude of point location coordinate determines longitude and latitude error, according to the corresponding height of RTK Differential positioning coordinate at the second moment Height corresponding with One-Point Location coordinate determines height error, the first module according to the longitude and latitude error and/or the height error, Determine communication interface the second reception to RTK data whether become effective.

It is described according to the third position error determine the second reception to RTK data whether become effectively, wrap It includes：When the third position error is less than or equal to preset position error threshold value, the RTK arrived in the second reception is determined Data become effective.For example, the first module determines logical when longitude and latitude error is less than or equal to preset longitude and latitude error threshold Communication interface the second reception to RTK data become effective；And/or when height error is less than or equal to preset height When error threshold, the first module determine communication interface the second reception to RTK data become effective.

Step S805, when the second reception to RTK data become effective when, will be according to the satellite-signal and institute The first switching offset control moveable platform execution navigation task is stated to be switched to according to the RTK data and the satellite Signal controls moveable platform and executes the navigation task.

According to above-described embodiment it is found that flight controller is according to the satellite-signal when the first moment RTK data invalid The navigation task is executed with the first switching offset, in the present embodiment, when the RTK data arrived in the second reception When becoming effective, flight controller according to the satellite-signal and the first switching offset by executing the navigation task and cutting It is changed to and executes the navigation task according to the RTK data and the satellite-signal.

The present embodiment detects whether RTK data become effectively, when RTK data by the second moment after the first moment When becoming effective, flight controller according to satellite-signal and the first switching offset by executing navigation task and being switched to according to RTK Data and satellite-signal execute navigation task, allow flight controller to execute navigation according to RTK Differential positioning coordinate and appoint Business, improves the accuracy of navigation.

The embodiment of the present invention provides a kind of control method of moveable platform.Fig. 9 be another embodiment of the present invention provides The flow chart of the control method of moveable platform.As shown in figure 9, on the basis of embodiment shown in Fig. 8, the control of moveable platform Method processed further includes：Determine the second switching offset；Correspondingly, described will mend according to the satellite-signal and first switching Repay value control moveable platform execute the navigation task be switched to it is removable according to the RTK data and satellite-signal control Moving platform executes the navigation task, including：It will be removable according to the satellite-signal and the first switching offset control Platform executes the navigation task and is switched to according to the satellite-signal, the RTK data, the second switching offset control Moveable platform executes the navigation task.

Such as described in above-described embodiment, when the second reception to RTK data become effective when, flight controller By according to the satellite-signal and the first switching offset execute the navigation task be switched to according to the RTK data and The satellite-signal executes the navigation task.Due to when RTK data are effective, in synchronization according to RTK data and satellite The RTK Differential positioning coordinate that signal is determined and the One-Point Location coordinate determined according to satellite-signal and the first switching offset Between there are certain location error, when the second reception to RTK data become effective when, if directly according to The RTK Differential positioning coordinate that RTK data and the satellite-signal are determined executes navigation task, may result in unmanned vehicle Can not motion profile since the motion profile before the second moment was smoothly transitted into for the second moment and later, in order to avoid this Problem, in the present embodiment, when the second reception to RTK data become effective when, flight controller is as according to Satellite-signal and the first switching offset execute the navigation task and are switched to according to the satellite-signal, the RTK number The navigation task is executed according to, the second switching offset.

Specifically, the determination second switches offset, including：When the third position error is less than or equal to preset When position error threshold value, second switching is determined according to the 5th location information, the 6th location information and the first switching offset Offset.Second switching offset may include longitude and latitude offset and altimetric compensation value.

For example, the height of the unmanned vehicle determined according to RTK data and satellite-signal is 11 meters, root at the second moment The height of the unmanned vehicle determined according to satellite-signal is 7 meters, and the height error between 11 meters and 7 meters is missed less than preset height Poor threshold value determines that the RTK data at the second moment become effective.Assuming that the altimetric compensation value of the first switching offset is 3 meters, if At the second moment, RTK data are still invalid, then the second module as shown in Figure 5 will mend 3 meters on the basis of 7 meters and obtain 10 meters, By 10 meters as its second moment execute navigation task when based on unmanned vehicle positioning height, still, when second It when moment RTK data restore effective, needs to execute navigation task according to RTK data and satellite-signal, if directly made 11 meters For the second module the second moment execute navigation task when based on unmanned vehicle positioning height, may result in nobody The flying height of aircraft is jumped, and therefore, it is necessary to an altimetric compensation value, the altimetric compensation value are mended on the basis of 11 meters It can be -1, so that the positioning height of the second module unmanned vehicle based on when executing navigation task at the second moment is still 10 meters.Details are not described herein again to be determined using similar method for the longitude and latitude offset of the second switching offset.

At the second moment, the first module determines the RTK Differential positioning of unmanned vehicle according to RTK data and satellite-signal Coordinate, and RTK Differential positioning coordinate and the second switching offset are transferred to the second module, the second module is in RTK Differential positioning The second switching offset is filled on the basis of coordinate and obtains compensated RTK Differential positioning coordinate, and poor according to compensated RTK Positioning coordinate is divided to execute navigation task.

Since the accuracy of RTK Differential positioning coordinate is higher than the accuracy of One-Point Location coordinate, after the second moment, institute The second switching offset is stated to successively decrease at any time.

In addition, the navigation task is the navigation task based on reference point, institute in the present embodiment and above-described embodiment It states reference point and includes at least make a return voyage one of point, target endpoint, circumvolant target point.Correspondingly, moveable platform Control method further includes：

Step S901, before executing the navigation task, the RTK data and location receiver that are received according to communication interface The satellite-signal received determines the first reference point.

Step S902, the second reference point is determined according to the satellite-signal that location receiver receives.

Before flight controller executes navigation task, if RTK data and location receiver that communication interface receives connect The satellite-signal received is effective, then flight controller can be according to the RTK data and location receiver that communication interface receives The satellite-signal received determines the first reference point, determines the second reference point according to the satellite-signal that location receiver receives, And the marker that the first reference point has recorded and the marker that the second reference point has recorded are set.First reference point specifically can be RTK reference point, RTK reference point include flight controller execute navigation task before unmanned vehicle RTK coordinate and height, second Reference point specifically can be GPS reference point, and GPS reference point includes that flight controller executes unmanned vehicle before navigation task GPS coordinate and height.

Before flight controller executes navigation task, if the RTK data invalid that communication interface receives, location receiver The satellite-signal received is effective, then flight controller determines the second reference according to the satellite-signal that location receiver receives Point, and prompt information is sent by the communication system ground station of unmanned vehicle, the prompt information is for prompting user second Reference point has recorded, the first reference point does not record.

Before flight controller executes navigation task, if RTK data and location receiver that communication interface receives connect The satellite-signal received is invalid, then flight controller will be unable to the first reference point of record and the second reference point, at this point, flight control Device processed sends prompt information by the communication system ground station of unmanned vehicle, and the prompt information is for prompting user first to join Examination point and the second reference point can not record, and can not execute the navigation task based on reference point.

As shown in figure 5, checking whether that record has the first reference point, the second ginseng when flight controller executes navigation task Examination point, and check whether the first switch between the first module and communication interface opens, the first module and location receiver it Between the no unlatching of second switch.

If flight controller does not record the first reference point, but record has the second reference point, even if the first module and communication First switch closure between interface, the first module only determine the One-Point Location coordinate of unmanned vehicle according to satellite-signal, the Two modules execute navigation task according to the One-Point Location coordinate and the second reference point.

If flight controller, which records, the first reference point and the second reference point, first between the first module and communication interface It closes the switch, the second switch closure between the first module and location receiver, then the first module default according to RTK data and is defended Star signal determines the RTK Differential positioning coordinate of unmanned vehicle, and the second module is referred to according to the RTK Differential positioning coordinate and first Point executes navigation task.

If the first switch between the first module and communication interface disconnects, the first module default is determined according to satellite-signal The One-Point Location coordinate of unmanned vehicle, the second module execute navigation task according to the One-Point Location coordinate and the second reference point.

Step S903, when the RTK data invalid arrived in the first reception, determine that reference point switches offset.

When executing navigation task, when RTK data are effective, default reference point is the first reference point, if at the first moment The RTK data invalid received, then flight controller is cut by executing navigation task according to the RTK data and the satellite-signal It is changed to and the navigation task is executed according to the satellite-signal and the first switching offset, correspondingly, the ginseng of navigation task Examination point i.e. the first reference point is also required to switch, and before switching the first reference point, determines that reference point switches offset.The determination Reference point switches offset, including：Determine that reference point switches offset according to the first switching offset.Optionally, the first switching Offset is that reference point switches offset.

Step S904, offset is switched according to the reference point and the second reference point determines third reference point.

Specifically, filling the reference point switching offset on the basis of the second reference point obtains third reference point.

Step S905, the reference point of navigation task is switched to third reference point from the first reference point.

At the first moment, the reference point of navigation task is switched to third reference point from the first reference point by flight controller. After the reference point of navigation task is switched to third reference point from the first reference point, flight controller according to third reference point again Guidance path is planned, and according to the guidance path control unmanned vehicle flight after planning again, so that unmanned vehicle is smooth Guidance path after being transitioned into planning again.

When the second moment RTK data become effective, flight controller is by according to the satellite-signal and described first Switching offset executes the navigation task and is switched to according to the satellite-signal, the RTK data, the second switching compensation Value executes the navigation task.Correspondingly, the reference point of navigation task, that is, third reference point is also required to switch, in switching third ginseng Before examination point, determine that reference point switches offset, which, which switches offset, to be the second switching offset, in the first ginseng Reference point switching offset is filled on the basis of examination point obtains the 4th reference point.At the second moment, flight controller will navigate The reference point of task is switched to the 4th reference point from third reference point.The reference point of navigation task is switched to from third reference point After four reference points, flight controller plans guidance path according to the 4th reference point again, and according to the navigation after planning again Path clustering unmanned vehicle flight, so that unmanned vehicle is smoothly transitted into the guidance path after planning again.

In addition, the navigation task can also appoint in the present embodiment and above-described embodiment for the navigation without reference point Business.

The present embodiment by determine second switching offset, when the second reception to RTK data become effective when, Flight controller according to the satellite-signal and the first switching offset by executing the navigation task and being switched to according to institute It states satellite-signal, the RTK data, the second switching offset and executes the navigation task, enable unmanned vehicle Motion profile motion profile before the second moment was smoothly transitted into for the second moment and later.

The embodiment of the present invention provides a kind of control equipment of moveable platform.Figure 10 is provided in an embodiment of the present invention removable The structure chart of the control equipment of moving platform, as shown in Figure 10, the control equipment 100 of moveable platform includes：Communication interface 101, Location receiver 102, processor 103；The processor 103 can be one or more, one or more of processors 103 It works alone or synergistically；Processor 103 respectively with 102 communication connection of communication interface 101 and location receiver；Communication interface 101 For receiving RTK data；Location receiver 102 is for receiving satellite-signal；Processor 103 is used for：When in the first reception When the RTK data invalid arrived, it will execute navigation task according to the RTK data and satellite-signal control moveable platform and cut It is changed to and the moveable platform execution navigation task is controlled according to the satellite-signal.

The concrete principle and implementation of the control equipment of moveable platform provided in an embodiment of the present invention are and shown in Fig. 1 Embodiment is similar, and details are not described herein again.

The embodiment of the present invention provides a kind of control equipment of moveable platform.In the technical side that embodiment illustrated in fig. 10 provides On the basis of case, processor 103 is also used to：Determine whether the RTK data arrived in the first reception are effective.Processor 103 is true Be scheduled on RTK data that the first reception arrives it is whether effective when, be specifically used for：Obtain what communication interface was arrived in the first reception RTK data；Obtain the satellite-signal that location receiver is arrived in the first reception；Believed according to the RTK data and the satellite Number determine moveable platform the first location information；The second location information of moveable platform is determined according to the satellite-signal； Determine whether the RTK data arrived in the first reception are effective according to first location information and second location information.

Processor 103 is arrived according to first location information and second location information determination in the first reception When whether RTK data are effective, it is specifically used for：Determine that first between first location information and second location information determines Position error；Determine whether the RTK data arrived in the first reception are effective according to first position error.

Processor 103 is determining when whether the RTK data that the first reception arrives are effective according to first position error, It is specifically used for：When first position error is greater than or equal to preset position error threshold value, determine in the first reception The RTK data invalid arrived.

The concrete principle and implementation of the control equipment of moveable platform provided in an embodiment of the present invention are and shown in Fig. 6 Embodiment is similar, and details are not described herein again.

The embodiment of the present invention provides a kind of control equipment of moveable platform.In technical solution provided by the above embodiment On the basis of, processor 103 is also used to：Determine the first switching offset；Processor 103 according to the RTK data and described will be defended Star signal control moveable platform executes navigation task and is switched to according to satellite-signal control moveable platform execution When navigation task, it is specifically used for：Navigation task will be executed according to the RTK data and satellite-signal control moveable platform It is switched to and the navigation task is executed according to the satellite-signal and the first switching offset control moveable platform.

When processor 103 determines the first switching offset, it is specifically used for：Obtain history of the communication interface before the first moment The RTK data that reception arrives；The satellite-signal that historical juncture of the acquisition location receiver before the first moment receives；According to The RTK data and the satellite-signal of the historical juncture of the historical juncture determine the third location information of moveable platform；Root The 4th location information of moveable platform is determined according to the satellite-signal of the historical juncture；By the third location information and described The second position error between 4th location information is determined as the first switching offset.

Concrete principle and implementation provided in an embodiment of the present invention is similar with embodiment illustrated in fig. 7, herein no longer It repeats.

The embodiment of the present invention provides a kind of control equipment of moveable platform.In technical solution provided by the above embodiment On the basis of, processor 103 is also used to：Determine the second reception to RTK data whether become effective.Specifically, processing Device 103 determine the second reception to RTK data whether become effective when, be specifically used for：Communication interface is obtained second The RTK data that reception arrives；Obtain the satellite-signal that location receiver is arrived in the second reception；According to the RTK data The 5th location information of moveable platform is determined with the satellite-signal；The of moveable platform is determined according to the satellite-signal Six location informations；The RTK number arrived in the second reception is determined according to the 5th location information and the 6th location information According to whether becoming effective.

Processor 103 is arrived according to the 5th location information and the 6th location information determination in the second reception When whether RTK data become effective, it is specifically used for：Determine between the 5th location information and the 6th location information Three position errors；According to the third position error determine the second reception to RTK data whether become effective.

Processor 103 according to the third position error determine the second reception to RTK data whether become having When effect, it is specifically used for：When the third position error is less than or equal to preset position error threshold value, determine at the second moment The RTK data received become effective.

When the second reception to RTK data become effective when, processor 103 is also used to：It will be according to the satellite Signal and the first switching offset control moveable platform execute the navigation task be switched to according to the RTK data and The satellite-signal control moveable platform executes the navigation task.

The concrete principle and implementation of the control equipment of moveable platform provided in an embodiment of the present invention are and shown in Fig. 8 Embodiment is similar, and details are not described herein again.

The embodiment of the present invention provides a kind of control equipment of moveable platform.In technical solution provided by the above embodiment On the basis of, processor 103 is also used to：Determine the second switching offset；Processor 103 will be according to the satellite-signal and described One switching offset control moveable platform executes the navigation task and is switched to according to the RTK data and the satellite-signal When controlling the moveable platform execution navigation task, it is specifically used for：It will be mended according to the satellite-signal and first switching The value control moveable platform execution navigation task is repaid to be switched to according to the satellite-signal, the RTK data, described second Switch offset control moveable platform and executes the navigation task.

When processor 103 determines the second switching offset, it is specifically used for：When the third position error is less than or equal in advance If position error threshold value when, according to the 5th location information, the 6th location information and first switching offset determine described second Switch offset.Optionally, the second switching offset successively decreases at any time.

In addition, the navigation task is the navigation task based on reference point；Processor 103 is also used to：It leads described in the execution Before boat task, the satellite-signal that the RTK data and location receiver received according to communication interface receive determines the first reference Point；The second reference point is determined according to the satellite-signal that location receiver receives；When the RTK data arrived in the first reception without When effect, determine that reference point switches offset；Switch offset according to the reference point and the second reference point determines third reference point； The reference point of navigation task is switched to third reference point from the first reference point.

When processor 103 determines reference point switching offset, it is specifically used for：Reference point is determined according to the first switching offset Switch offset.

The reference point includes at least make a return voyage one of point, target endpoint, circumvolant target point.

The moveable platform includes unmanned vehicle.

The concrete principle and implementation of the control equipment of moveable platform provided in an embodiment of the present invention are and shown in Fig. 9 Embodiment is similar, and details are not described herein again.

The embodiment of the present invention provides a kind of moveable platform, which is specially unmanned vehicle.Figure 11 is this The structure chart for the unmanned vehicle that inventive embodiments provide, as shown in figure 11, unmanned vehicle 1100 includes：Fuselage, dynamical system System and flight controller 1118, the dynamical system include following at least one：Motor 1107, propeller 1106 and electronic speed regulation Device 1117, dynamical system is mounted on the fuselage, for providing flying power；Flight controller 1118 and the dynamical system are logical News connection, for controlling the unmanned vehicle flight.

In addition, as shown in figure 11, unmanned vehicle 1100 further includes：Sensor-based system 1108, communication system 1110, support are set Standby 1102, capture apparatus 1104, wherein support equipment 1102 specifically can be holder, and communication system 1110 can specifically include Receiver, the wireless signal that receiver is sent for the antenna 1114 of satellite receiver 1112,1116 indicate receiver and antenna The electromagnetic wave generated in 1114 communication process.

In the present embodiment, the concrete principle of flight controller 1118 and implementation are similar to the above embodiments, this Place repeats no more.

In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.

The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various It can store the medium of program code.

Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims

1. a kind of control method of moveable platform, which is characterized in that including：

RTK data are received by communication interface；

Satellite-signal is received by location receiver；

It, will be removable according to the RTK data and satellite-signal control when the RTK data invalid arrived in the first reception Moving platform executes navigation task and is switched to according to the satellite-signal control moveable platform execution navigation task.

2. the method according to claim 1, wherein the method also includes：

Determine whether the RTK data arrived in the first reception are effective.

3. according to the method described in claim 2, it is characterized in that, the determination the first reception to RTK data be It is no effective, including：

Obtain the RTK data that communication interface is arrived in the first reception；

Obtain the satellite-signal that location receiver is arrived in the first reception；

The first location information of moveable platform is determined according to the RTK data and the satellite-signal；

The second location information of moveable platform is determined according to the satellite-signal；

According to first location information and second location information determine the first reception to RTK data whether have Effect.

4. according to the method described in claim 3, it is characterized in that, described determine according to first location information with described second Position information determines whether the RTK data arrived in the first reception are effective, including：

Determine the first position error between first location information and second location information；

Determine whether the RTK data arrived in the first reception are effective according to first position error.

5. according to the method described in claim 4, it is characterized in that, described determine according to first position error at first Whether effective carve the RTK data received, including：

When first position error is greater than or equal to preset position error threshold value, what determination was arrived in the first reception RTK data invalid.

6. according to the described in any item methods of claim 3-5, which is characterized in that the method also includes：

Determine the first switching offset；

It is described to execute navigation task according to the RTK data and satellite-signal control moveable platform and be switched to according to institute It states satellite-signal control moveable platform and executes the navigation task, including：

It will be switched to and be defended according to according to the RTK data and satellite-signal control moveable platform execution navigation task Star signal and the first switching offset control moveable platform execute the navigation task.

7. according to the method described in claim 6, it is characterized in that, the determination first switch offset, including：

The RTK data that historical juncture of the acquisition communication interface before the first moment receives；

The satellite-signal that historical juncture of the acquisition location receiver before the first moment receives；

The third positioning of moveable platform is determined according to the RTK data of the historical juncture and the satellite-signal of the historical juncture Information；

The 4th location information of moveable platform is determined according to the satellite-signal of the historical juncture；

The second position error between the third location information and the 4th location information is determined as first switching Offset.

8. method according to claim 6 or 7, which is characterized in that the method also includes：

When the second reception to RTK data become effective when, will according to the satellite-signal and it is described first switching mend Repay value control moveable platform execute the navigation task be switched to it is removable according to the RTK data and satellite-signal control Moving platform executes the navigation task.

9. according to the method described in claim 8, it is characterized in that, the method also includes：

Determine the second reception to RTK data whether become effective.

10. according to the method described in claim 9, it is characterized in that, the determination the second reception to RTK data be It is no to become effectively, including：

Obtain the RTK data that communication interface is arrived in the second reception；

Obtain the satellite-signal that location receiver is arrived in the second reception；

The 5th location information of moveable platform is determined according to the RTK data and the satellite-signal；

The 6th location information of moveable platform is determined according to the satellite-signal；

According to the 5th location information and the 6th location information determine the second reception to RTK data whether become It is effective.

11. according to the method described in claim 10, it is characterized in that, described according to the 5th location information and the described 6th Location information determine the second reception to RTK data whether become effectively, including：

Determine the third position error between the 5th location information and the 6th location information；

According to the third position error determine the second reception to RTK data whether become effective.

12. according to the method for claim 11, which is characterized in that described to be determined according to the third position error second Reception to RTK data whether become effectively, including：

When the third position error is less than or equal to preset position error threshold value, what determination was arrived in the second reception RTK data become effective.

13. the described in any item methods of 0-12 according to claim 1, which is characterized in that the method also includes：

Determine the second switching offset；

It is described to execute the navigation task according to the satellite-signal and the first switching offset control moveable platform It is switched to and executes the navigation task according to the RTK data and satellite-signal control moveable platform, including：

It will execute the navigation task according to the satellite-signal and the first switching offset control moveable platform and switch The navigation times is executed to control moveable platform according to the satellite-signal, the RTK data, the second switching offset Business.

14. according to the method for claim 13, which is characterized in that the determination second switches offset, including：

When third position error is less than or equal to preset position error threshold value, believed according to the 5th location information, the 6th positioning Breath and the first switching offset determine the second switching offset.

15. method described in 3 or 14 according to claim 1, which is characterized in that the second switching offset is to successively decrease at any time 's.

16. according to the described in any item methods of claim 3-15, which is characterized in that the navigation task is based on reference point Navigation task, the method also includes：

Before executing the navigation task, satellite that the RTK data and location receiver received according to communication interface receive Signal determines the first reference point；

The second reference point is determined according to the satellite-signal that location receiver receives；

When the RTK data invalid arrived in the first reception, determine that reference point switches offset；

Switch offset according to the reference point and the second reference point determines third reference point；

The reference point of navigation task is switched to third reference point from the first reference point.

17. according to the method for claim 16, which is characterized in that the determining reference point switches offset, including：

Determine that reference point switches offset according to the first switching offset.

18. method according to claim 16 or 17, which is characterized in that the reference point includes at least make a return voyage point, target One of terminal, circumvolant target point.

19. -18 described in any item methods according to claim 1, which is characterized in that the moveable platform includes unmanned flight Device.

20. a kind of control equipment of moveable platform, which is characterized in that including：Communication interface, location receiver, processor；

The communication interface, for receiving RTK data；

The location receiver, for receiving satellite-signal；

The processor is used for：

21. control equipment according to claim 20, which is characterized in that the processor is also used to：

Determine whether the RTK data arrived in the first reception are effective.

22. control equipment according to claim 21, which is characterized in that the processor determination is arrived in the first reception RTK data it is whether effective when, be specifically used for：

23. control equipment according to claim 22, which is characterized in that the processor is according to first location information It determines with second location information when whether the RTK data that the first reception arrives are effective, is specifically used for：

24. control equipment according to claim 23, which is characterized in that the processor is according to first position error It determines when whether the RTK data that the first reception arrives are effective, is specifically used for：

25. according to the described in any item control equipment of claim 22-24, which is characterized in that the processor is also used to：It determines First switching offset；

The processor will execute navigation task and be switched to according to the RTK data and satellite-signal control moveable platform When controlling the moveable platform execution navigation task according to the satellite-signal, it is specifically used for：

26. control equipment according to claim 25, which is characterized in that the processor determines the first switching offset When, it is specifically used for：

27. the control equipment according to claim 25 or 26, which is characterized in that the processor is also used to：

28. control equipment according to claim 27, which is characterized in that the processor is also used to：

Determine the second reception to RTK data whether become effective.

29. control equipment according to claim 28, which is characterized in that the processor determination is arrived in the second reception RTK data when whether becoming effective, be specifically used for：

30. control equipment according to claim 29, which is characterized in that the processor is according to the 5th location information With the 6th location information determine the second reception to RTK data whether become effective when, be specifically used for：

31. control equipment according to claim 30, which is characterized in that the processor is according to the third position error Determine the second reception to RTK data whether become effective when, be specifically used for：

32. according to the described in any item control equipment of claim 29-31, which is characterized in that the processor is also used to：It determines Second switching offset；

The processor will be led described in being executed according to the satellite-signal and the first switching offset control moveable platform When boat task is switched to according to the RTK data and the satellite-signal control moveable platform execution navigation task, tool Body is used for：

33. control equipment according to claim 32, which is characterized in that the processor determines the second switching offset When, it is specifically used for：

34. the control equipment according to claim 32 or 33, which is characterized in that the second switching offset is at any time Successively decrease.

35. according to the described in any item control equipment of claim 22-34, which is characterized in that the navigation task is based on ginseng The navigation task of examination point；

The processor is also used to：

36. control equipment according to claim 35, which is characterized in that the processor determines that reference point switches offset When, it is specifically used for：

37. the control equipment according to claim 35 or 36, which is characterized in that the reference point include at least make a return voyage point, One of target endpoint, circumvolant target point.

38. according to the described in any item control equipment of claim 20-37, which is characterized in that the moveable platform includes nothing People's aircraft.

39. a kind of moveable platform, which is characterized in that including：

Fuselage；

Dynamical system is mounted on the fuselage, for providing operation power；

And such as the described in any item control equipment of claim 20-38.

40. moveable platform according to claim 39, which is characterized in that the moveable platform includes unmanned flight Device.