CN112649823A - Unmanned aerial vehicle navigation positioning method and device - Google Patents
Unmanned aerial vehicle navigation positioning method and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
Unmanned aerial vehicle navigation positioning method and device. The application is suitable for the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle navigation and positioning method, the unmanned aerial vehicle navigation and positioning method is applied to the unmanned aerial vehicle, and the unmanned aerial vehicle navigation and positioning method comprises the following steps: determining first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and an RTK carrier phase difference technology; acquiring attitude data of the unmanned aerial vehicle; and correcting the first position information of the unmanned aerial vehicle according to the attitude data, and navigating according to the corrected first position information. By the method, the navigation accuracy can be improved.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle navigation positioning method and device.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device or an unmanned plane autonomously operated by a vehicle-mounted computer. Although the related art of unmanned aerial vehicles is gradually maturing, there still exist problems to be solved urgently. For example, the accuracy of the position information of the drone used by the present drone during navigation is low, resulting in low navigation accuracy.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle navigation positioning method and device, and can solve the following problems: the accuracy of the position information of the unmanned aerial vehicle used by the existing unmanned aerial vehicle during navigation is low, so that the navigation accuracy is low.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle navigation and positioning method, where the unmanned aerial vehicle navigation and positioning method is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle navigation and positioning method includes:
determining first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and an RTK carrier phase difference technology;
acquiring attitude data of the unmanned aerial vehicle;
and correcting the first position information of the unmanned aerial vehicle according to the attitude data, and navigating according to the corrected first position information.
In a second aspect, the embodiment of the present application provides an unmanned aerial vehicle navigation positioning device, unmanned aerial vehicle navigation positioning device is applied to unmanned aerial vehicle, and unmanned aerial vehicle navigation positioning device includes:
the first unit is used for determining first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and an RTK carrier phase difference technology;
the second unit is used for acquiring attitude data of the unmanned aerial vehicle;
and the third unit is used for correcting the first position information of the unmanned aerial vehicle according to the attitude data and navigating according to the corrected first position information.
In a third aspect, an embodiment of the present application provides a terminal device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method such as drone navigation positioning when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program which, when executed by a processor, performs the steps of the method, such as drone navigation positioning.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when running on a terminal device, causes the terminal device to perform the steps of the unmanned aerial vehicle navigation positioning method in the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: the Real-time kinematic (RTK) carrier-phase differential technique is implemented on the premise that the unmanned aerial vehicle is considered as a particle, that is, the attitude of the unmanned aerial vehicle is not considered in the process of determining the first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and the RTK carrier-phase differential technique. In the embodiment of the application, after the first position information of the unmanned aerial vehicle is determined according to the first satellite navigation system signal and the RTK carrier phase difference technology, the attitude data of the unmanned aerial vehicle is also acquired, the first position information of the unmanned aerial vehicle is corrected according to the attitude data, and the corrected first position information is high in accuracy, so that navigation is performed according to the corrected first position information, and the navigation accuracy can be greatly improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a first method for positioning and navigating a drone according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a navigation coordinate system provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a body coordinate system provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of a second method for positioning and navigating a drone according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle navigation positioning device provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The first embodiment is as follows:
fig. 1 shows a schematic flow diagram of a first method for positioning and navigating an unmanned aerial vehicle provided in an embodiment of the present application, where the first method for positioning and navigating an unmanned aerial vehicle is applied to an unmanned aerial vehicle, and is detailed as follows:
the unmanned aerial vehicle can comprise a satellite-based time service device, the precision of the satellite-based time service device can reach 20 nanoseconds, and the satellite-based time service device is used for transmitting standard time.
And S101, determining first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and an RTK carrier phase difference technology.
The first satellite navigation system signal and the second satellite navigation system signal mentioned below are signals received from a specific satellite navigation system, which may be a global positioning system or a beidou satellite navigation system, at different time points. The first position information of the drone may include coordinates (x1, y1, z1) of the drone in a navigation coordinate system, a time point at which the first position information of the drone is determined is recorded as t1, and correspondingly, x1, y1, and z1 may respectively represent longitude, latitude, and height of the position of the drone at the time point t 1.
By way of example and not limitation, the navigation coordinate system may be as shown in fig. 2, the navigation coordinate system being a three-dimensional coordinate system, three axes in the navigation coordinate system being a first axis, a second axis, and a third axis, respectively, an origin Q1 of the navigation coordinate system being located at the earth's centroid, the third axis passing through a point of intersection Q2 of the greenwich mean line and the equator, the third axis having a positive direction in which the origin Q1 points in a direction of the point of intersection Q2, the second axis passing through the point of origin Q1, and the second axis having a positive direction in which the origin Q1 points in a north pole, the first axis, the second axis, and the third axis constituting a right.
In addition, the principle of the RTK carrier phase differential technology is that the unmanned aerial vehicle receives a signal transmitted by a ground-end reference station, and determines the position information of the unmanned aerial vehicle according to a satellite navigation system signal and the signal transmitted by the ground-end reference station.
And S102, acquiring attitude data of the unmanned aerial vehicle.
Wherein, this unmanned aerial vehicle's attitude data includes roll angle, pitch angle and yaw angle.
For convenience of description, a body coordinate system may be established on the drone, and the body coordinate system (three-dimensional coordinate system) may be as shown in fig. 3, where three coordinate axes of the body coordinate system are respectively denoted as: x2 axle, Y2 axle, Z2 axle, the original point Q3 of organism coordinate system is located aircraft barycenter department, Z2 axle is in unmanned aerial vehicle's plane of symmetry and be on a parallel with unmanned aerial vehicle's design axis, the positive direction of Z2 axle is the direction of original point Q3 directional unmanned aerial vehicle's aircraft nose, Y2 axle perpendicular to unmanned aerial vehicle's plane of symmetry, and the positive direction of Y2 axle is original point Q3 directional unmanned aerial vehicle's fuselage top, X2 axle is in unmanned aerial vehicle's plane of symmetry, X2 axle constitutes the right-hand coordinate system with Y2 axle and Z2 axle.
The roll angle is an included angle between an X2 axis of the body coordinate system and a first axis of the navigation coordinate system; the pitch angle is an included angle between a Y2 shaft of the body coordinate system and a second shaft of the navigation coordinate system; the yaw angle is the angle between the axis Z2 of the body coordinate system and the third axis of the navigational coordinate system.
By way of example and not limitation, this step S102 may specifically include: and acquiring attitude data of the unmanned aerial vehicle through an attitude sensor. The attitude sensor is a three-dimensional motion attitude measurement system based on a micro electro mechanical system technology, the attitude sensor can comprise motion sensors such as a three-axis gyroscope, a three-axis electronic compass and the like, and the attitude sensor can obtain attitude data subjected to temperature compensation through an embedded ARM processor.
And S103, correcting the first position information of the unmanned aerial vehicle according to the attitude data, and navigating according to the corrected first position information.
As an example and not by way of limitation, navigating according to the corrected first position information specifically includes: and automatically planning a route according to the corrected first position information, and navigating according to the planned route.
In some embodiments, navigating according to the modified first position information comprises: determining the distance between the unmanned aerial vehicle and the designated no-fly area according to the corrected first position information; if the distance between the unmanned aerial vehicle and the designated no-fly area is smaller than or equal to the preset distance, planning a target air route which avoids the designated no-fly area; and navigating according to the target route. Because the target air route avoiding the appointed no-fly area can be planned and the navigation is carried out according to the target air route, the risk caused by the flight of the unmanned aerial vehicle can be reduced, and the national public safety is effectively maintained.
Wherein, the designated no-fly area includes but is not limited to: military airport areas, civilian airport areas, and areas overhead of government agencies.
In some embodiments, navigating according to the modified first position information comprises: determining the distance between the unmanned aerial vehicle and the designated no-fly area according to the corrected first position information; and if the distance between the unmanned aerial vehicle and the designated no-fly area is greater than the preset distance, correcting the original route according to the corrected first position information, and navigating according to the original route.
By way of example and not limitation, the original routing line is: and before navigation is carried out according to the corrected first position information, the air route planned by the unmanned aerial vehicle.
If the distance between the unmanned aerial vehicle and the designated no-fly area is larger than the preset distance, the influence of the designated no-fly area on the unmanned aerial vehicle can be ignored, the original route is directly corrected according to the corrected first position information, and then navigation is performed according to the original route, so that the navigation accuracy can be greatly improved.
In the embodiment of the present application, the RTK carrier phase difference technique is implemented on the premise that the unmanned aerial vehicle is regarded as a particle, that is, the attitude of the unmanned aerial vehicle is not considered in the process of determining the first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and the RTK carrier phase difference technique. In the embodiment of the application, after the first position information of the unmanned aerial vehicle is determined according to the first satellite navigation system signal and the RTK carrier phase difference technology, the attitude data of the unmanned aerial vehicle is also acquired, the first position information of the unmanned aerial vehicle is corrected according to the attitude data, and the corrected first position information is high in accuracy, so that navigation is performed according to the corrected first position information, and the navigation accuracy can be greatly improved.
Example two:
corresponding to the above embodiment, fig. 4 shows a schematic diagram of a second method for positioning and navigating an unmanned aerial vehicle provided in the embodiment of the present application, where the second method for positioning and navigating an unmanned aerial vehicle is applied to an unmanned aerial vehicle, and steps S401 and S403 in this embodiment are the same as steps S101 and S102 in the first embodiment, and are not repeated here:
step S401, determining first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and an RTK carrier phase difference technology.
And S402, determining second position information of the unmanned aerial vehicle according to the second satellite navigation system signal and an RTK carrier phase difference technology.
The second position information of the drone may include coordinates (x3, y3, z3) of the drone in a navigation coordinate system, a time point at which the second position information of the drone is determined is recorded as a time point t2, and correspondingly, x3, y3, and z3 may respectively represent longitude, latitude, and height of the position of the drone at the time point t 2.
For convenience of description, a time period corresponding to the first position information of the drone, but the second position information of the drone is not determined, is denoted as a time period H, that is, a time period between t1 and t2 may be denoted as a time period H, and the time period H may also be denoted as an open interval (t1, t2), where the time period H does not include two time points of t1 and t2, but includes a time point between t1 and t 2.
And S403, acquiring attitude data of the unmanned aerial vehicle.
Wherein, this unmanned aerial vehicle's gesture data includes: attitude data calculated by the attitude sensor at the time point t1, the attitude data of the drone may further include: attitude data calculated by the attitude sensor during the time period H.
Step S404, calculating a target distance according to the attitude data, wherein the target distance is as follows: in time quantum H, the corresponding displacement distance of unmanned aerial vehicle.
By way of example and not limitation, assuming time t1 is 10 o 'clock 01 min 01 s and time t2 is 10 o' clock 01 min 10 s, the target distance is correspondingly: in the time period between 10 o 'clock 01 min 01 sec and 10 o' clock 01 min 10 sec, the corresponding moving distance of the drone, i.e. the target distance is the distance that the drone moves in the time period H (the time period between 10 o 'clock 01 min 01 sec and 10 o' clock 01 min 10 sec).
Step S405, correcting the first position information of the unmanned aerial vehicle according to the target distance, and navigating according to the corrected first position information.
Optionally, the first location information of the drone includes: the coordinate of unmanned aerial vehicle in the navigation coordinate system, the navigation coordinate system is three-dimensional coordinate system, and three axles in the navigation coordinate system are first axle, second axle, third axle respectively, correspondingly, according to attitude data calculation target distance, include:
calculating a target distance from the attitude data and the accelerometer of the drone, the target distance comprising: after the first position information of the unmanned aerial vehicle is determined, but in a time period corresponding to the second position information of the unmanned aerial vehicle is not determined, the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft are determined;
correspondingly, the first position information of the unmanned aerial vehicle is corrected according to the target distance, and the method comprises the following steps:
and correcting the first position information of the unmanned aerial vehicle according to the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft.
Wherein, unmanned aerial vehicle's acceleration is the acceleration that the accelerometer in unmanned aerial vehicle exported, because accelerometer and unmanned aerial vehicle's organism link firmly together, consequently, this unmanned aerial vehicle's acceleration can be expressed as the three-dimensional vector acceleration in the organism coordinate system.
In addition, calculating the target distance according to the attitude data and the acceleration of the drone specifically includes: resolving a first acceleration from the acceleration of the drone according to a roll angle in the attitude data, resolving a second acceleration from the acceleration of the drone according to a pitch angle in the attitude data, and resolving a third acceleration from the acceleration of the drone according to a yaw angle in the attitude data, wherein the first acceleration is a linear acceleration component of the acceleration of the drone on a first axis on the navigation coordinate system, the second acceleration is a linear acceleration component of the acceleration of the drone on a second axis on the navigation coordinate system, the third acceleration is a linear acceleration component of the acceleration of the drone on a third axis on the navigation coordinate system, calculating a moving distance of the drone in the direction of the first axis in a time period H according to the first acceleration, calculating a moving distance of the drone in the direction of the second axis in the time period H according to the second acceleration, and calculating the moving distance of the unmanned aerial vehicle in the direction of the third axis in the time period H according to the third acceleration.
Because the attitude data of the unmanned aerial vehicle comprises a roll angle, a pitch angle and a yaw angle, the roll angle is an included angle between an X2 axis of a body coordinate system and a first axis of a navigation coordinate system, the pitch angle is an included angle between a Y2 axis of the body coordinate system and a second axis of the navigation coordinate system, and the yaw angle is an included angle between a Z2 axis of the body coordinate system and a third axis of the navigation coordinate system, the acceleration of the unmanned aerial vehicle can be converted between the body coordinate system and the navigation coordinate system according to the roll angle, the pitch angle and the yaw angle, in this embodiment, the acceleration (three-dimensional vector acceleration in the body coordinate system) of the unmanned aerial vehicle is decomposed into a first acceleration, a second acceleration and a third acceleration (in three axes of the navigation coordinate system), and then the moving distance of the unmanned aerial vehicle in three axes of the navigation coordinate system in a time period H can be calculated more accurately, to improve the accuracy of the corrected first position information.
By way of example and not limitation, assuming that the first position information of the drone is coordinates (x1, y1, z1) of the drone in the navigation coordinate system, correspondingly, the corrected first position information is coordinates (x11, y11, z11) of the drone in the navigation coordinate system, the attitude data of the drone includes: the yaw angle P10 calculated by the attitude sensor at the time point t1, the pitch angle P20 acquired at the time point t1, and the yaw angle P30 acquired at the time point t1, the acceleration of the unmanned aerial vehicle includes: at time point t1, the acceleration a10 output by the accelerometer correspondingly resolves the first acceleration from the acceleration of the drone according to the roll angle in the attitude data, which may specifically include: multiplying the cos P10 by a10, determining the product of a10 and cos P10 as the first acceleration, and correspondingly, calculating the moving distance s1 of the drone in the direction of the first axis in the time period H according to the first acceleration may specifically include: calculating none at time t1 from the first accelerationThe instantaneous speed v of the man-machine in the direction of the first axis is determined according to the instantaneous speed v and the formula
S1 is calculated, where t represents time. Analogize with this, calculate unmanned aerial vehicle at the ascending migration distance s2 of the direction of second axis and unmanned aerial vehicle at the ascending migration distance s3 of the direction of third axle, correspondingly, according to the ascending migration distance of unmanned aerial vehicle in the direction of first axis, unmanned aerial vehicle at the ascending migration distance of the direction of second axis and unmanned aerial vehicle at the ascending migration distance of the direction of third axle correction unmanned aerial vehicle's first positional information, include: adding x1 to s1, determining the sum of s1 and x1 as x11, adding y1 to s2, determining the sum of s2 and y1 as y11, and adding z1 to s3, determining the sum of s1 and z1 as z11, the corrected first position information (x11, y11, z11) can be obtained.
Optionally, navigating according to the corrected first position information includes: and navigating according to the corrected first position information and the time point for determining the second position information of the unmanned aerial vehicle.
Specifically, the corrected first position information and the time point for determining the second position information of the unmanned aerial vehicle are fused, the fused data can be expressed as four-dimensional coordinates, and navigation is performed according to the fused data.
Since the target distance is: in a time period corresponding to "after the first position information of the drone is determined, but the second position information of the drone is not determined", the moving distance corresponding to the drone is determined, and therefore, the corrected first position information may be regarded as: the information of the position of the unmanned aerial vehicle at the time point of determining the second position information of the unmanned aerial vehicle can be correspondingly fused with the corrected first position information and the time point of determining the second position information of the unmanned aerial vehicle, and then navigation is carried out according to the fused data, so that the navigation accuracy can be greatly improved.
By way of example and not limitation, the corrected first position information (x11, y11, z11) and the time point at which the second position information of the drone is determined are fused, and the fused data may be represented as four-dimensional coordinates (x11, y11, z11, t2) and navigated according to (x11, y11, z11, t 2).
Generally, when the drone is in the working state, the position of the drone is constantly changing, and accordingly, the drone needs to continuously update its position information, which may be embodied as "after determining the first position information of the drone according to the first satellite navigation system signal and the RTK carrier-phase difference division technique, the second position information of the drone needs to be determined according to the second satellite navigation system signal and the RTK carrier-phase difference division technique" in this embodiment of the application. In a time period corresponding to the time period after the first position information of the unmanned aerial vehicle is determined but the second position information of the unmanned aerial vehicle is not determined, the unmanned aerial vehicle can move for a certain distance, so that the first position information can be corrected accurately, the target distance needs to be calculated according to the attitude data, the first position information of the unmanned aerial vehicle needs to be corrected according to the target distance, then navigation is performed according to the corrected first position information, and the navigation accuracy can be improved.
Example three:
corresponding to above-mentioned embodiment, fig. 5 shows the structural schematic diagram of an unmanned aerial vehicle navigation positioning device that this application embodiment provided, and this unmanned aerial vehicle navigation positioning device is applied to unmanned aerial vehicle, and this unmanned aerial vehicle navigation positioning device includes: a first cell 501, a second cell 502, and a third cell 503. Wherein:
the unmanned aerial vehicle can comprise a satellite-based time service device, the precision of the satellite-based time service device can reach 20 nanosecond magnitude, and the satellite-based time service device can be used for transmitting standard time to the unmanned aerial vehicle navigation positioning device.
A first unit 501, configured to determine first position information of the drone according to the first satellite navigation system signal and an RTK carrier-phase differential technique.
The first satellite navigation system signal and the second satellite navigation system signal mentioned below are signals received from a specific satellite navigation system, which may be a global positioning system or a beidou satellite navigation system, at different time points. The first position information of the drone may include coordinates (x1, y1, z1) of the drone in a navigation coordinate system, a time point at which the first position information of the drone is determined is recorded as t1, and correspondingly, x1, y1, and z1 may respectively represent longitude, latitude, and height of the position of the drone at the time point t 1.
By way of example and not limitation, the navigation coordinate system may be as shown in fig. 2, the navigation coordinate system being a three-dimensional coordinate system, three axes in the navigation coordinate system being a first axis, a second axis, and a third axis, respectively, an origin Q1 of the navigation coordinate system being located at the earth's centroid, the third axis passing through a point of intersection Q2 of the greenwich mean line and the equator, the third axis having a positive direction in which the origin Q1 points in a direction of the point of intersection Q2, the second axis passing through the point of origin Q1, and the second axis having a positive direction in which the origin Q1 points in a north pole, the first axis, the second axis, and the third axis constituting a right.
In addition, the principle of the RTK carrier phase differential technology is that the unmanned aerial vehicle receives a signal transmitted by a ground-end reference station, and determines the position information of the unmanned aerial vehicle according to a satellite navigation system signal and the signal transmitted by the ground-end reference station.
A second unit 502, configured to obtain attitude data of the drone.
Wherein, this unmanned aerial vehicle's attitude data includes roll angle, pitch angle and yaw angle.
For convenience of description, a body coordinate system may be established on the drone, and the body coordinate system (three-dimensional coordinate system) may be as shown in fig. 3, where three coordinate axes of the body coordinate system are respectively denoted as: x2 axle, Y2 axle, Z2 axle, the original point Q3 of organism coordinate system is located aircraft barycenter department, Z2 axle is in unmanned aerial vehicle's plane of symmetry and be on a parallel with unmanned aerial vehicle's design axis, the positive direction of Z2 axle is the direction of original point Q3 directional unmanned aerial vehicle's aircraft nose, Y2 axle perpendicular to unmanned aerial vehicle's plane of symmetry, and the positive direction of Y2 axle is original point Q3 directional unmanned aerial vehicle's fuselage top, X2 axle is in unmanned aerial vehicle's plane of symmetry, X2 axle constitutes the right-hand coordinate system with Y2 axle and Z2 axle.
The roll angle is an included angle between an X2 axis of the body coordinate system and a first axis of the navigation coordinate system; the pitch angle is an included angle between a Y2 shaft of the body coordinate system and a second shaft of the navigation coordinate system; the yaw angle is the angle between the axis Z2 of the body coordinate system and the third axis of the navigational coordinate system.
By way of example and not limitation, the second unit 502, when acquiring pose data of the drone, may be specifically configured to: and acquiring attitude data of the unmanned aerial vehicle through an attitude sensor. The attitude sensor is a three-dimensional motion attitude measurement system based on a micro electro mechanical system technology, the attitude sensor can comprise motion sensors such as a three-axis gyroscope, a three-axis electronic compass and the like, and the attitude sensor can obtain attitude data subjected to temperature compensation through an embedded ARM processor.
A third unit 503, configured to modify the first position information of the drone according to the attitude data, and perform navigation according to the modified first position information.
By way of example and not limitation, the third unit 503, when navigating according to the corrected first position information, is specifically configured to: and automatically planning a route according to the corrected first position information, and navigating according to the planned route.
In some embodiments, the third unit 503, when navigating according to the modified first position information, is configured to: determining the distance between the unmanned aerial vehicle and the designated no-fly area according to the corrected first position information; if the distance between the unmanned aerial vehicle and the designated no-fly area is smaller than or equal to the preset distance, planning a target air route which avoids the designated no-fly area; and navigating according to the target route. Because the target air route avoiding the appointed no-fly area can be planned and the navigation is carried out according to the target air route, the risk caused by the flight of the unmanned aerial vehicle can be reduced, and the national public safety is effectively maintained.
Wherein, the designated no-fly area includes but is not limited to: military airport areas, civilian airport areas, and areas overhead of government agencies.
In some embodiments, the third unit 503, when navigating according to the modified first position information, is configured to: determining the distance between the unmanned aerial vehicle and the designated no-fly area according to the corrected first position information; and if the distance between the unmanned aerial vehicle and the designated no-fly area is greater than the preset distance, correcting the original route according to the corrected first position information, and navigating according to the original route.
By way of example and not limitation, the original routing line is: and before navigation is carried out according to the corrected first position information, the air route planned by the unmanned aerial vehicle.
If the distance between the unmanned aerial vehicle and the designated no-fly area is larger than the preset distance, the influence of the designated no-fly area on the unmanned aerial vehicle can be ignored, the original route is directly corrected according to the corrected first position information, and then navigation is performed according to the original route, so that the navigation accuracy can be greatly improved.
Optionally, the first unit 501 determines the second position information of the drone according to the second satellite navigation system signal and the RTK carrier-phase differential technique after determining the first position information of the drone according to the first satellite navigation system signal and the RTK carrier-phase differential technique; correspondingly, the third unit 503, when correcting the first position information of the drone according to the attitude data, is configured to: calculating a target distance according to the attitude data, wherein the target distance is as follows: after the first position information of the unmanned aerial vehicle is determined, the first position information of the unmanned aerial vehicle is corrected according to the target distance according to the moving distance corresponding to the unmanned aerial vehicle in the time period corresponding to the second position information of the unmanned aerial vehicle which is not determined.
The second position information of the drone may include coordinates (x3, y3, z3) of the drone in a navigation coordinate system, a time point at which the second position information of the drone is determined is recorded as a time point t2, and correspondingly, x3, y3, and z3 may respectively represent longitude, latitude, and height of the position of the drone at the time point t 2.
For convenience of description, a time period corresponding to the first position information of the drone, but the second position information of the drone is not determined, is denoted as a time period H, that is, a time period between t1 and t2 may be denoted as a time period H, and the time period H may also be denoted as an open interval (t1, t2), where the time period H does not include two time points of t1 and t2, but includes a time point between t1 and t 2.
Wherein, this unmanned aerial vehicle's gesture data includes: attitude data calculated by the attitude sensor at the time point t1, the attitude data of the drone may further include: attitude data calculated by the attitude sensor during the time period H.
By way of example and not limitation, assuming time t1 is 10 o 'clock 01 min 01 s and time t2 is 10 o' clock 01 min 10 s, the target distance is correspondingly: in the time period between 10 o 'clock 01 min 01 sec and 10 o' clock 01 min 10 sec, the corresponding moving distance of the drone, i.e. the target distance is the distance that the drone moves in the time period H (the time period between 10 o 'clock 01 min 01 sec and 10 o' clock 01 min 10 sec).
Generally, when the drone is in the working state, the position of the drone is constantly changing, and accordingly, the drone needs to continuously update its position information, which may be embodied as "after determining the first position information of the drone according to the first satellite navigation system signal and the RTK carrier-phase difference division technique, the second position information of the drone needs to be determined according to the second satellite navigation system signal and the RTK carrier-phase difference division technique" in this embodiment of the application. In a time period corresponding to the time period after the first position information of the unmanned aerial vehicle is determined but the second position information of the unmanned aerial vehicle is not determined, the unmanned aerial vehicle can move for a certain distance, so that the first position information can be corrected accurately, the target distance needs to be calculated according to the attitude data, the first position information of the unmanned aerial vehicle needs to be corrected according to the target distance, then navigation is performed according to the corrected first position information, and the navigation accuracy can be improved.
Optionally, the first location information of the drone includes: the coordinates of the unmanned aerial vehicle in the navigation coordinate system, the navigation coordinate system is a three-dimensional coordinate system, three axes in the navigation coordinate system are respectively a first axis, a second axis, and a third axis, and correspondingly, the third unit 503 is configured to, when calculating the target distance according to the attitude data: calculating a target distance from the attitude data and the accelerometer of the drone, the target distance comprising: after the first position information of the unmanned aerial vehicle is determined, but in a time period corresponding to the second position information of the unmanned aerial vehicle is not determined, the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft are determined; correspondingly, the third unit 503, when correcting the first position information of the drone according to the target distance, is configured to: and correcting the first position information of the unmanned aerial vehicle according to the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft.
Wherein, unmanned aerial vehicle's acceleration is the acceleration that the accelerometer in unmanned aerial vehicle exported, because accelerometer and unmanned aerial vehicle's organism link firmly together, consequently, this unmanned aerial vehicle's acceleration can be expressed as the three-dimensional vector acceleration in the organism coordinate system.
In addition, the third unit 503 is specifically configured to, when calculating the target distance according to the attitude data and the accelerometer of the drone: resolving a first acceleration from the acceleration of the drone according to a roll angle in the attitude data, resolving a second acceleration from the acceleration of the drone according to a pitch angle in the attitude data, and resolving a third acceleration from the acceleration of the drone according to a yaw angle in the attitude data, wherein the first acceleration is a linear acceleration component of the acceleration of the drone on a first axis on the navigation coordinate system, the second acceleration is a linear acceleration component of the acceleration of the drone on a second axis on the navigation coordinate system, the third acceleration is a linear acceleration component of the acceleration of the drone on a third axis on the navigation coordinate system, calculating a moving distance of the drone in the direction of the first axis in a time period H according to the first acceleration, calculating a moving distance of the drone in the direction of the second axis in the time period H according to the second acceleration, and calculating the moving distance of the unmanned aerial vehicle in the direction of the third axis in the time period H according to the third acceleration.
Because the attitude data of the unmanned aerial vehicle comprises a roll angle, a pitch angle and a yaw angle, the roll angle is an included angle between an X2 axis of a body coordinate system and a first axis of a navigation coordinate system, the pitch angle is an included angle between a Y2 axis of the body coordinate system and a second axis of the navigation coordinate system, and the yaw angle is an included angle between a Z2 axis of the body coordinate system and a third axis of the navigation coordinate system, the acceleration of the unmanned aerial vehicle can be converted between the body coordinate system and the navigation coordinate system according to the roll angle, the pitch angle and the yaw angle, in this embodiment, the acceleration (three-dimensional vector acceleration in the body coordinate system) of the unmanned aerial vehicle is decomposed into a first acceleration, a second acceleration and a third acceleration (in three axes of the navigation coordinate system), and then the moving distance of the unmanned aerial vehicle in three axes of the navigation coordinate system in a time period H can be calculated more accurately, to improve the accuracy of the corrected first position information.
By way of example and not limitation, assuming that the first position information of the drone is coordinates (x1, y1, z1) of the drone in the navigation coordinate system, correspondingly, the corrected first position information is coordinates (x11, y11, z11) of the drone in the navigation coordinate system, the attitude data of the drone includes: the yaw angle P10 calculated by the attitude sensor at the time point t1, the pitch angle P20 acquired at the time point t1, and the yaw angle P30 acquired at the time point t1, the acceleration of the unmanned aerial vehicle includes: at time point t1, the acceleration a10 output by the accelerometer, correspondingly, when the third unit 503 resolves the first acceleration from the acceleration of the drone according to the roll angle in the attitude data, it may specifically be configured to: multiplying cos P10 by a10, determining the product of a10 and cos P10 as the first acceleration, and correspondingly, the third unit 503, when calculating the moving distance s1 of the drone in the direction of the first axis in the time period H according to the first acceleration, may be specifically configured to: calculating the instantaneous speed v of the unmanned aerial vehicle in the direction of the first axis at the time point t1 according to the first acceleration, and calculating the instantaneous speed v according to the instantaneous speed v and a formula
S1 is calculated, where t represents time. By analogy, the third unit 503 calculates a moving distance s2 of the unmanned aerial vehicle in the direction of the second axis and a moving distance s3 of the unmanned aerial vehicle in the direction of the third axis, and correspondingly, when the first position information of the unmanned aerial vehicle is corrected according to the moving distance of the unmanned aerial vehicle in the direction of the first axis, the moving distance of the unmanned aerial vehicle in the direction of the second axis, and the moving distance of the unmanned aerial vehicle in the direction of the third axis, the third unit 503 is specifically configured to: adding x1 by using s1,the corrected first position information (x11, y11, z11) can be obtained by determining the sum of s1 and x1 as x11, adding y1 to s2, determining the sum of s2 and y1 as y11, and adding z1 to s3, and determining the sum of s1 and z1 as z 11.
Optionally, when navigating according to the corrected first position information, the third unit 503 is specifically configured to: and navigating according to the corrected first position information and the time point for determining the second position information of the unmanned aerial vehicle.
Specifically, the third unit 503 fuses the corrected first position information and the time point at which the second position information of the unmanned aerial vehicle is determined, and the fused data can be expressed as four-dimensional coordinates, and navigation is performed according to the fused data.
Since the target distance is: in a time period corresponding to "after the first position information of the drone is determined, but the second position information of the drone is not determined", the moving distance corresponding to the drone is determined, and therefore, the corrected first position information may be regarded as: the information of the position of the unmanned aerial vehicle at the time point of determining the second position information of the unmanned aerial vehicle is correspondingly fused by the third unit 503 with the corrected first position information and the time point of determining the second position information of the unmanned aerial vehicle, and then navigation is performed according to the fused data, so that the navigation accuracy can be greatly improved.
By way of example and not limitation, the corrected first position information (x11, y11, z11) and the time point at which the second position information of the drone is determined are fused, and the fused data may be represented as four-dimensional coordinates (x11, y11, z11, t2) and navigated according to (x11, y11, z11, t 2).
In the embodiment of the present application, the RTK carrier phase difference technique is implemented on the premise that the unmanned aerial vehicle is regarded as a particle, that is, the attitude of the unmanned aerial vehicle is not considered in the process of determining the first position information of the unmanned aerial vehicle according to the first satellite navigation system signal and the RTK carrier phase difference technique. In the embodiment of the application, after the first position information of the unmanned aerial vehicle is determined according to the first satellite navigation system signal and the RTK carrier phase difference technology, the attitude data of the unmanned aerial vehicle is also acquired, the first position information of the unmanned aerial vehicle is corrected according to the attitude data, and the corrected first position information is high in accuracy, so that navigation is performed according to the corrected first position information, and the navigation accuracy can be greatly improved.
Example four:
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle navigation positioning terminal device provided in an embodiment of the present application. As shown in fig. 4, the unmanned aerial vehicle navigation positioning terminal device 4 of this embodiment includes: at least one processor 40 (only one shown in fig. 4), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, the processor 40 implementing the steps in any of the various drone navigation positioning method embodiments described above when executing the computer program 42.
The unmanned aerial vehicle navigation and positioning terminal device 4 can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The drone navigation positioning terminal device may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will understand that fig. 4 is only an example of the drone navigation positioning terminal device 4, and does not constitute a limitation to the drone navigation positioning terminal device 4, and may include more or less components than those shown, or combine some components, or different components, for example, may also include input and output devices, network access devices, and the like.
The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the drone navigation positioning terminal device 4 in some embodiments, such as a hard disk or a memory of the drone navigation positioning terminal device 4. The memory 41 may also be an external storage device of the drone navigation positioning terminal device 4 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like equipped on the drone navigation positioning terminal device 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the drone navigation positioning terminal device 4. The memory 41 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the contents of information interaction, execution process, and the like between the above units are based on the same concept as that of the embodiment of the method of the present application, specific functions and technical effects thereof may be specifically referred to a part of the embodiment of the method, and details thereof are not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application also provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or apparatus capable of carrying computer program code to a photographing terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed network device and method may be implemented in other ways. For example, the above described network device embodiments are merely illustrative, and for example, the division of the module or unit is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiment is only used to illustrate the technical solution of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The unmanned aerial vehicle navigation and positioning method is applied to an unmanned aerial vehicle, and comprises the following steps:
determining first position information of the unmanned aerial vehicle according to a first satellite navigation system signal and an RTK carrier phase differential technology;
acquiring attitude data of the unmanned aerial vehicle;
and correcting the first position information of the unmanned aerial vehicle according to the attitude data, and navigating according to the corrected first position information.
2. The drone navigation positioning method of claim 1, comprising, after the determining the first position information of the drone according to the first satellite navigation system signal and the RTK carrier-phase differential technique:
determining second position information of the unmanned aerial vehicle according to a second satellite navigation system signal and an RTK carrier phase difference technology;
correspondingly, the correcting the first position information of the unmanned aerial vehicle according to the attitude data comprises:
calculating a target distance according to the attitude data, wherein the target distance is as follows: after the first position information of the unmanned aerial vehicle is determined, but the moving distance corresponding to the unmanned aerial vehicle is not determined in a time period corresponding to the second position information of the unmanned aerial vehicle;
and correcting the first position information of the unmanned aerial vehicle according to the target distance.
3. The drone navigation positioning method of claim 2, wherein the first location information of the drone includes: the coordinate of the unmanned aerial vehicle in a navigation coordinate system, the navigation coordinate system is a three-dimensional coordinate system, three axes in the navigation coordinate system are respectively a first axis, a second axis and a third axis, correspondingly, calculating a target distance according to the attitude data includes:
calculating a target distance from the attitude data and an accelerometer of the drone, the target distance comprising: after the first position information of the unmanned aerial vehicle is determined, but in a time period corresponding to the second position information of the unmanned aerial vehicle is not determined, the moving distance of the unmanned aerial vehicle in the direction of the first axis, the moving distance of the unmanned aerial vehicle in the direction of the second axis and the moving distance of the unmanned aerial vehicle in the direction of the third axis;
correspondingly, the correcting the first position information of the unmanned aerial vehicle according to the target distance includes:
and correcting the first position information of the unmanned aerial vehicle according to the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft.
4. The method of claim 2, wherein navigating according to the corrected first position information comprises:
and navigating according to the corrected first position information and the time point for determining the second position information of the unmanned aerial vehicle.
5. The method of claim 1, wherein navigating according to the corrected first position information comprises:
determining the distance between the unmanned aerial vehicle and the designated no-fly area according to the corrected first position information;
if the distance between the unmanned aerial vehicle and the designated no-fly area is smaller than or equal to a preset distance, planning a target air route which avoids the designated no-fly area;
and navigating according to the target route.
6. The utility model provides an unmanned aerial vehicle navigation positioning device, its characterized in that, unmanned aerial vehicle navigation positioning device is applied to unmanned aerial vehicle, unmanned aerial vehicle navigation positioning device includes:
a first unit, configured to determine first position information of the drone according to a first satellite navigation system signal and an RTK carrier-phase differential technique;
a second unit, configured to acquire attitude data of the unmanned aerial vehicle;
and the third unit is used for correcting the first position information of the unmanned aerial vehicle according to the attitude data and navigating according to the corrected first position information.
7. The drone navigation positioning device of claim 6, wherein the first unit, after determining the first position information of the drone according to a first satellite navigation system signal and an RTK carrier-phase differential technique, determines the second position information of the drone according to a second satellite navigation system signal and an RTK carrier-phase differential technique;
correspondingly, when the first position information of the unmanned aerial vehicle is corrected according to the attitude data, the third unit is configured to: calculating a target distance according to the attitude data, wherein the target distance is as follows: after the first position information of the unmanned aerial vehicle is determined, the first position information of the unmanned aerial vehicle is corrected according to the target distance according to the moving distance corresponding to the unmanned aerial vehicle in the time period corresponding to the second position information of the unmanned aerial vehicle which is not determined.
8. The drone navigation locator of claim 7, wherein the first location information of the drone includes: the coordinate of the unmanned aerial vehicle in a navigation coordinate system, the navigation coordinate system is a three-dimensional coordinate system, three axes in the navigation coordinate system are respectively a first axis, a second axis and a third axis, and correspondingly, when the third unit calculates the target distance according to the attitude data, the third unit is configured to:
calculating a target distance from the attitude data and an accelerometer of the drone, the target distance comprising: after the first position information of the unmanned aerial vehicle is determined, but in a time period corresponding to the second position information of the unmanned aerial vehicle is not determined, the moving distance of the unmanned aerial vehicle in the direction of the first axis, the moving distance of the unmanned aerial vehicle in the direction of the second axis and the moving distance of the unmanned aerial vehicle in the direction of the third axis;
correspondingly, when the first position information of the unmanned aerial vehicle is corrected according to the target distance, the third unit is configured to:
and correcting the first position information of the unmanned aerial vehicle according to the moving distance of the unmanned aerial vehicle in the direction of the first shaft, the moving distance of the unmanned aerial vehicle in the direction of the second shaft and the moving distance of the unmanned aerial vehicle in the direction of the third shaft.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN115164901A (en) * | 2022-07-06 | 2022-10-11 | 河南工业贸易职业学院 | Unmanned aerial vehicle navigation method |
| CN115164901B (en) * | 2022-07-06 | 2023-04-14 | 河南工业贸易职业学院 | Unmanned aerial vehicle navigation method |
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