WO2021031158A1

WO2021031158A1 - Positioning system and method for movable object, movable object, and storage medium

Info

Publication number: WO2021031158A1
Application number: PCT/CN2019/101817
Authority: WO
Inventors: 黄振昊; 贾向华; 陈建林
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2021-02-25
Also published as: CN112334790A

Abstract

A positioning system and method for a movable object, the movable object, and a storage medium. The positioning system comprises: a movable object (211); a positioning device (212) used for acquiring a positioning parameter of a preset reference position; a measurement device (213) provided on a preset benchmark position and used for measuring a relative position parameter between the movable object (211) and the benchmark position, and a relative position parameter between the reference position and the benchmark position; and a control device (214) used for establishing a unified coordinate system according to the relative position parameter between the movable object (211) and the benchmark position and the relative position parameter between the reference position and the benchmark position, and calculating the relative position parameter and a positioning parameter of the reference position on the basis of the unified coordinate system, so as to determine a positioning parameter of the movable object. The movable object can be accurately positioned in an environment where a barrier exists.

Description

Movable object positioning system and positioning method, movable object, storage medium

Technical field

The present disclosure relates to the technical field of navigation and positioning, and in particular to a positioning system for a movable object, a positioning method for a movable object, a movable object and a computer-readable storage medium.

Background technique

For movable objects such as unmanned aerial vehicles and unmanned vehicles, real-time positioning is required during their operations in order to achieve precise control and detection. In the high-altitude unobstructed operating environment, due to the good positioning signals such as GNSS (Global Navigation Satellite System), the operation can proceed smoothly. However, most of the operation scenes in the project are sheltered environments. As shown in Figure 1, inside the tunnel, in the mine, under the bridge, or the part of the curtain wall close to the curtain wall, the underground part of the pipeline inspection, etc., are all positioning signals There are operating environments that are severely obstructed or even unable to receive positioning signals at all, and operations in these environments require high accuracy, usually with an absolute accuracy of centimeter level or higher. In the prior art, GNSS positioning, ultra-wideband positioning, visual signal positioning, or WIFI (Wireless Fidelity, wireless fidelity) positioning, etc. are difficult to perform.

Therefore, how to accurately locate a movable object in an obstructed environment is a problem to be solved in the prior art.

It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

Summary of the invention

The present disclosure provides a positioning system for a movable object, a positioning method for a movable object, a movable object, and a computer-readable storage medium, thereby improving at least to a certain extent the existing technology that cannot be moved in a sheltered environment The problem of accurate positioning of objects.

Other characteristics and advantages of the present disclosure will become apparent through the following detailed description, or partly learned through the practice of the present disclosure.

According to a first aspect of the present disclosure, there is provided a positioning system for a movable object, including: the movable object; a positioning device for obtaining positioning parameters of a preset reference position; a measuring device set at the preset reference position, For measuring the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position; and a control device for measuring the relative position parameter between the movable object and the reference position; The relative position parameters between the reference positions and the relative position parameters between the reference positions and the reference positions establish a unified coordinate system, and based on the unified coordinate system, the movable object and the The relative position parameter between the reference positions, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position are calculated to determine the positioning parameter of the movable object .

According to a second aspect of the present disclosure, a method for positioning a movable object is provided, which is applied to a positioning system for a movable object. The method includes: acquiring a positioning parameter of a preset reference position; measuring the movable object and the preset The relative position parameter between the reference positions, and the relative position parameter between the reference position and the reference position; according to the relative position parameter between the movable object and the reference position, and the reference position and The relative position parameters between the reference positions establish a unified coordinate system; based on the unified coordinate system, the relative position parameters between the movable object and the reference position, the reference position and the reference position The relative position parameters between the reference positions and the positioning parameters of the reference positions are calculated to determine the positioning parameters of the movable object.

According to a third aspect of the present disclosure, there is provided a method for positioning a movable object, which is applied to a movable object, and the method includes: obtaining a positioning parameter of a preset reference position; obtaining the movable object and a preset reference The relative position parameter between the positions, and the relative position parameter between the reference position and the reference position; according to the relative position parameter between the movable object and the reference position, and the reference position and the reference position The relative position parameters between the reference positions establish a unified coordinate system; based on the unified coordinate system, the relative position parameters between the movable object and the reference position, the reference position and the reference position The relative position parameter between the positions and the positioning parameter of the reference position are calculated to determine the positioning parameter of the movable object.

According to a fourth aspect of the present disclosure, there is provided a movable object, including: a fuselage; a power system; and a control device provided in the fuselage; the control device executes the above-mentioned positioning method of the movable object to The movable object is positioned.

According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, wherein the computer program is characterized in that the above-mentioned method for positioning a movable object is implemented when the computer program is executed by a processor.

The technical solution of the present disclosure has the following beneficial effects:

In the above-mentioned positioning system for movable objects, the positioning device is used to measure the positioning parameters of the reference position, and the measurement device at the reference position is used to measure the relative position parameters of the movable object, the reference position and the reference position, and then the control device The above parameters are calculated in the unified coordinate system to determine the positioning parameters of the movable object. On the one hand, it provides a positioning system for movable objects in a sheltered environment, which can overcome the problem that the movable object cannot receive positioning signals and achieve accurate positioning, so as to facilitate the control and control of movable objects in a sheltered environment. Engineering operations. On the other hand, the composition of the positioning system is relatively simple, each component device is a relatively common device in engineering operations, the implementation cost is low, and the practicability is high.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments consistent with the disclosure, and together with the specification are used to explain the principle of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

Figure 1 shows a sheltered working environment;

Fig. 2 shows a schematic diagram of a positioning system for a movable object in this exemplary embodiment;

FIG. 3 shows a schematic diagram of measuring relative position parameters in this exemplary embodiment;

4 shows a schematic diagram of a reflective prism installed on a movable object in this exemplary embodiment;

FIG. 5 shows a schematic diagram of multiple measuring devices measuring a movable object in this exemplary embodiment;

Fig. 6 shows a flowchart of a method for positioning a movable object in this exemplary embodiment;

Fig. 7 shows a flowchart of another method for positioning a movable object in this exemplary embodiment;

FIG. 8 shows a flowchart of still another method for positioning a movable object in this exemplary embodiment;

Fig. 9 shows a block diagram of a movable object in this exemplary embodiment.

detailed description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms, and should not be construed as being limited to the examples set forth herein; on the contrary, the provision of these embodiments makes the present disclosure more comprehensive and complete, and fully conveys the concept of the example embodiments To those skilled in the art. The described features, structures or characteristics may be combined in one or more embodiments in any suitable way.

The exemplary embodiment of the present disclosure first provides a positioning system for a movable object. As shown in FIG. 2, the positioning system 210 may include: a movable object 211, a positioning device 212, a measuring device 213 and a control device 214. Among them, the movable object 211 may be an unmanned movable electromechanical device such as an unmanned aerial vehicle, an unmanned vehicle, or a robot. In one embodiment, the movable object 211 is in a blocked environment. As shown in FIG. 1, the movable object 211 is in a tunnel, and cannot receive the positioning signal transmitted by the satellite 220, and therefore cannot directly perform positioning. The positioning device 212 may be a GPS (Global Positioning System, Global Positioning System) sensor or a Beidou navigation receiver. The measuring device 213 can be a total station, a laser rangefinder and other instruments for measuring relative positions. It is located at a preset reference position and is mainly used to track and measure the movable object 211. The reference position can be any position selected in advance, usually It is convenient to track the position of the movable object 211, such as the opening of the tunnel, the fork in the tunnel, etc., which is not limited herein. The control device 214 can be a remote control, a mobile phone, a tablet, or a computer for controlling the movable object 211, or the control device 214 is a control device that is set inside the movable object 211 and used to control the movement of the movable object 211. In the embodiment, the control device 214 may also be a control device with cloud computing function, etc., which is not limited herein.

In this exemplary embodiment, a reference position may be determined in advance in an unobstructed area. For example, in tunnel operations, a reference position may be selected in an open area outside the tunnel, and then the positioning device 212 may be used to measure the positioning parameters of the reference position. The positioning device 212 is set at the reference position, and the positioning parameters of the reference position are obtained by receiving the positioning signal of the satellite 220. Positioning parameters refer to absolute position coordinates, GNSS coordinates can be used, such as coordinates based on the geodetic coordinate system WGS1984, BD-09 or GCJ-02, etc. The specific coordinate parameters used depend on the type of positioning device 212 and actual requirements; In an embodiment, the positioning parameter may be a positioning parameter in a Gaussian coordinate system. Taking the positioning device 212 as a GPS sensor as an example, the longitude and latitude coordinates of the reference position can be obtained through static GNSS baseline calculation, and then projected according to the Gaussian 3 degree projection zone to obtain the Gaussian coordinates PAr of the reference position, including the reference position in the true east Gaussian projection coordinates toward and true north, and altitude coordinates (for example, may be altitude), that is, east-north-sky coordinates.

In this exemplary embodiment, the measuring device 213 measures the relative position parameter between the movable object 211 and the reference position, and measures the relative position parameter between the reference position and the reference position. For example, the measurement device 213 can be set up at the reference position to determine the position of the movable object 211 by emitting measurement signals such as laser, infrared, and acoustic waves. After the signal is transmitted, the signal reaches the movable object 211 and then reflects, and the measurement device 213 receives the reflection. Signal, the relative position parameter of the movable object 211 can be calculated by analyzing the reflected signal, which can include at least one of distance, angle, and elevation difference. Referring to the example shown in FIG. 3, after the measuring device 213 receives the reflected signal, it can calculate the distance between the movable object 211 and the reference position according to the phase difference between the reflected signal and the transmitted signal; according to the direction of the reflected signal, it is mapped to the horizontal plane, It can calculate the horizontal angle (horizontal angle) of the movable object 211 relative to the reference position; it can also calculate the movable object based on the angle (vertical angle) between the reflected signal signal and the horizontal plane, combined with the distance between the movable object 211 and the reference position 211 The elevation difference ΔH relative to the reference position. It should be noted that the position or reference position of the movable object 211 can be used as a reference to indicate the relative position parameter between the two positions, which is not limited here. Measuring the relative position parameters between the reference position and the reference position is similar to the process described above.

In an alternative embodiment, the measuring device 213 may perform measurement by emitting light signals, for example, it may be a total station; the movable object 211 may be equipped with a reflective component, as shown in FIG. 4, for the reflection measuring device The light signal emitted by the 213 makes the reflected light signal stronger, and the measuring device 213 can detect the position of the movable object 211 more accurately. The reflective component can adopt a reflective prism, such as a 360-degree reflective prism, a total reflection prism, etc., which can reflect light signals from various directions. In order to improve the reliability of the measurement, reflecting prisms can also be installed on multiple surfaces of the body of the movable object 211 to prevent the problem of not reflecting the light signal when the reflecting prisms are located in the opposite direction of the measuring device 213. In other embodiments, the reflective component can also be configured to be rotatable, for example, the reflective component is fixedly provided with a rotating component, or is detachably connected to the rotating component, which is not limited herein.

The control device 214 can be connected to the positioning device 212 and the measurement device 213 through a wired or wireless connection to maintain communication, and obtain relevant data from the positioning device 212 and the measurement device 213, including the relative relationship between the above-mentioned movable object 211 and the reference position. The position parameter, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position, and then the three parameters are analyzed and calculated to obtain the positioning parameter of the movable object 211. The calculation process is described in detail below:

According to the relative position parameters between the movable object 211 and the reference position, and the relative position parameters between the reference position and the reference position, a unified coordinate system is established. The unified coordinate system can be any type of coordinate system, for example, the earth is referenced An absolute coordinate system, or a relative coordinate system with a reference position as a reference, etc., so as to incorporate the movable object 211, the reference position, and the reference position into the same coordinate system;

Based on the unified coordinate system, the relative position parameters between the movable object 211 and the reference position, the relative position parameters between the reference position and the reference position, and the positioning parameters of the reference position are calculated to obtain the movable object 211, the reference position, The coordinates of the reference position in the unified coordinate system are used to determine the positional relationship between each other, which is then mapped to the scale in the positioning parameter to determine the positioning parameter of the movable object 211.

It can be seen from the above that the control device 214 is responsible for both data communication and data calculation tasks. In an alternative embodiment, the control device 214 may include: a communication unit responsible for the above-mentioned data communication tasks, a receiving and measuring device 213 and a positioning device 212 data sent; calculation unit, responsible for the task of calculating the above data, calculating the positioning parameters of movable objects.

In an optional implementation manner, a unified coordinate system can be established in the following manner:

First, obtain the global coordinate system corresponding to the positioning parameter of the reference position. The global coordinate system is the absolute coordinate system. If the positioning parameter adopts Gaussian coordinates, the global coordinate system can be a Gaussian coordinate system, such as an east-north-sky coordinate system;

Then, with the reference position as the origin, a local coordinate system is established. The local coordinate system represents the relative coordinate system within the measuring range of the measuring device 213. For example, the true east direction of the horizontal plane may be the +X axis, and the true north direction of the horizontal plane may be + Y axis;

Then establish a unified coordinate system based on the local coordinate system and the global coordinate system. By determining the mapping relationship between the local coordinate system and the global coordinate system, the reference position can be included in the local coordinate system, or the reference position can be included in the global coordinate system, thereby placing In a unified coordinate system.

Based on this, the positioning parameters of the movable object 211 can be calculated in the following manner:

According to the relative position parameter between the movable object 211 and the reference position, calculate the local coordinate PR1 of the movable object 211, where the local coordinates can be Cartesian coordinates or polar coordinates;

Establish the association between the local coordinate system and the global coordinate system. For example, it can include the mapping or conversion relationship between the two coordinate systems. According to the relative position parameter between the reference position and the reference position, the local coordinate PRr of the reference position is calculated, or the reference position Global coordinate PA0 (ie the positioning parameter of the reference position);

Finally, using the local coordinate PRr of the reference position or the global coordinate PA0 of the reference position as a reference, the local coordinate PR1 of the movable object 211 is mapped to the global coordinate system, and its global coordinate PA1 (that is, the positioning parameter of the movable object 211) is calculated.

It should be noted that in the above calculation, after the association between the local coordinate system and the global coordinate system is established, all positions (reference position, reference position, position of movable object 211) can be mapped to any one of these coordinate systems. Analytical calculations are performed according to the mutual positional relationship to determine the coordinates of each position.

In an optional implementation manner, when calculating the positioning parameters of the movable object 211, the relative position parameters between the reference position and the reference position may be mapped from the local coordinate system to the global coordinate according to the positioning parameters of the reference position. In the system, the positioning parameter of the reference position is obtained. For example, the relative position parameter between the reference position and the reference position can be used to calculate the offset between the reference position and the reference position in the global coordinate system, and the positioning parameter of the reference position can be added to the offset The relative position parameter between the movable object 211 and the reference position is mapped from the local coordinate system to the global coordinate system by using a similar method to obtain the positioning parameter of the reference position; Positioning parameters of the moving object 211.

The mathematical expression of the above process is as follows: assuming that the mapping coefficient from the local coordinate system to the global coordinate system is ν, which can be a 3*3 conversion matrix, the global coordinate of the reference position is PA0=PAr-PRr×ν, the global of the movable object 211 The coordinates are PA1=PA0+PR1×ν.

Further, in an embodiment, the measuring device 213 may also include a tracking mode. For example, it will be described by taking the measuring device 213 as a total station supporting the tracking mode as an example. In the tracking mode, the total station emits pulses to track the movable object at a certain frequency, and the relative position parameter between the movable object 211 and the reference position can be measured in real time by laser. In this exemplary embodiment, wireless communication between the total station and the control device 214 is established, so that the measurement data of the total station in each epoch can be sent to the control device 214 for analysis. The measurement data is sent in the form of data packets, which can include UTC time (Coordinated Universal Time) at each moment and the relative position parameters between the movable object 211 and the reference position (including distance, azimuth, vertical angle) And elevation difference etc.). Based on this, the state equation of the movable object 211 can be established to achieve precise positioning and control. In an optional implementation manner, any suitable mathematical algorithm may be used to improve the positioning accuracy, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used to improve the positioning accuracy. Taking Kalman filtering as an example, the calculation unit can perform Kalman filtering according to the relative position parameters between the movable object 211 and the reference position at the previous time and the current time. Since the relative position parameters are measured by the measuring device 213, there is a measurement Error, Kalman filter can reduce the influence of error through optimization, so as to estimate the optimal relative position parameter of the movable object 211 and the reference position at the current moment, which is closer to the real situation. In the above calculation of the positioning parameters of the movable object 211, the optimal relative position parameter between the movable object 211 and the reference position is used to replace the measured relative position parameter for calculation, and the positioning parameter of the movable object 211 is obtained, which is more accurate. high.

In this exemplary embodiment, after the control device 214 calculates the positioning parameters of the movable object 211, it can also plan the travel route of the movable object 211 according to the positioning parameters of the movable object 211, so as to realize accurate route planning and automatic navigation. .

It should be understood that the positioning system 210 shown in FIG. 2 is only exemplary. According to actual needs, any number of movable objects 211 can be set to locate each movable object 211, or any number of measuring devices 213 can be set to track and measure the movable objects 211 together; or the positioning device 212 can be set On the measuring device 213, if a GPS sensor is installed on the total station, the reference position and the reference position can be the same position; the control device 214 can also be a control device inside the movable object 211, so that the movable object 211 is flying while flying The data sent by the measuring device 213 and the positioning device 212 are received, and functions such as travel control and automatic navigation are realized by calculating its own positioning parameters. In an embodiment, other sensors, such as visual positioning sensors, ultrasonic sensors, lidars, etc., can also be added to the positioning system 210, and the acquired data is fused with the above-mentioned relative position parameters to finally obtain the movable object 211 Positioning parameters, the result is more reliable.

In an optional implementation, the positioning system may include N measuring devices, and N is a positive integer not less than 2, that is, at least two measuring devices may be provided. The N measuring devices are respectively located at N preset reference positions, where the first measuring device is set at the first reference position and is used to measure the first relative position parameter of the movable object, and the reference position relative to the first reference position Relative position parameters; the second to Nth measuring devices are respectively set at the second to Nth reference positions, respectively used to measure the second relative position parameter to the Nth relative position parameter of the movable object; wherein, the i-th relative position parameter represents : The relative position parameter of the movable object measured by the i-th measuring device relative to the i-th reference position, i is any integer in [1,N].

Correspondingly, the control device may, based on the above-mentioned unified coordinate system, determine at least one of the relative position parameters of the reference position relative to the first reference position, the positioning parameter of the reference position, the first relative position parameter to the Nth relative position parameter of the movable object A relative position parameter and the position relationship between the N reference positions are calculated to determine the positioning parameter of the movable object. Because the measurement device has errors when measuring the relative position of the movable object, the measurement results are separately measured by N measuring devices, and the measurement results are combined to perform the positioning calculation of the movable object, which can reduce the influence of the error, further improve the positioning accuracy, and guarantee any There are measuring devices that can track movable objects at all times to further improve positioning reliability.

Take the tunnel operation as an example, refer to Figure 5, you can select the tunnel entrance and 3 points with good visibility in the tunnel as the reference position, set up the

total station

501, 502, 503, the total station 501 measurement and the total station The relative positions between the

meters

502 and 503 are used to obtain the positional relationship between the three reference positions, and to measure the relative position with the reference position. When the UAV 504 is operating, the

total stations

501, 502, and 503 are all tracking and measuring. Due to terrain obstructions and other reasons, some total stations may not be able to track the UAV 504, so only the first One to a part of the third relative position parameter.

Assuming that at time t, the

total stations

501, 502, and 503 all track the UAV 504, and separately measure the first to third relative position parameters PR1, PR2, and PR3. For example, it can be each total station and unmanned The distance and elevation difference between the aircraft 504 and the triangle formed by any two total stations and the UAV 504 are solved to obtain PR1, PR2, and PR3 including the angle. Next, it can be processed in the following two ways:

(1) According to the positional relationship between the three reference positions, convert PR1, PR2, and PR3 into relative position parameters relative to the same reference position (such as the first reference position), take the average value, and then combine the reference position The positioning parameters of the location, the positioning parameters of the UAV 504 are calculated.

(2) Combining the reference position and the relative position parameters of the second and third reference positions relative to the first reference position, and the positioning parameters of the reference position, the positioning parameters of the first, second, and third reference positions can be calculated respectively, Then solve a set of positioning parameters of the drone 504 according to the positioning parameters of each reference position and the corresponding relative position parameters. For example, combining the positioning parameters of the first reference position and PR1 can calculate the first positioning parameter PA1 of the drone 504, Similarly, the second positioning parameter PA2 and the third positioning parameter PA3 can be obtained, and PA1, PA2, and PA3 are averaged to obtain the positioning parameters of the UAV 504.

Further, the control device can receive the relative position parameters sent by the N measuring devices in real time, analyze it according to the above method, and use the filtering algorithm to optimize the real-time positioning of the drone to obtain its real-time position in the global coordinate system. Through the location of the preset route and waypoint in the global coordinate system, you can realize the planning and feedback of the UAV route; or through the mapping from the global coordinate system to the local coordinate system, the preset route and waypoint can be localized. It is identified in the coordinate system, so that the UAV is planned in the local coordinate system, and the local coordinates are tracked in real time to achieve precise flight control. Of course, the above method is also applicable to other types of movable objects such as unmanned vehicles and robots. The movable object positioning system provided by this embodiment has a good tracking effect and can achieve sub-centimeter positioning accuracy.

To sum up, in the movable object positioning system of this exemplary embodiment, the positioning device is used to measure the positioning parameters of the reference position, and the measuring device set at the reference position is used to measure the movable object, the reference position and the reference position. The relative position parameters are calculated by the control device in the unified coordinate system to determine the positioning parameters of the movable object. On the one hand, it provides a positioning system for movable objects in a sheltered environment, which can overcome the problem that the movable object cannot receive positioning signals and achieve accurate positioning, so as to facilitate the control and control of movable objects in a sheltered environment. Engineering operations. On the other hand, the composition of the positioning system is relatively simple, each component device is a relatively common device in engineering operations, the implementation cost is low, and the practicability is high.

Of course, it can be understood that the positioning system provided in this embodiment can also be used in an unobstructed environment. For example, in one embodiment, if the movable object is operated in an unobstructed environment, its positioning parameters can be directly obtained through the positioning sensor on the movable object, and the positioning system 210 of FIG. 2 is used to measure and calculate the position of the movable object. Positioning parameters, fusing the positioning parameters obtained by the two methods is equivalent to adopting a dual positioning method for movable objects, which can reduce the measurement error of either method and achieve higher accuracy and reliability.

Exemplary embodiments of the present disclosure also provide a method for positioning a movable object, which can be applied to the above-mentioned positioning system for movable objects, such as the positioning system 210 in FIG. 2. As shown in FIG. 6, the positioning method may include the following steps S610 to S640:

Step S610, obtaining the positioning parameters of the preset reference position;

Step S620, measuring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position;

Step S630, establishing a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;

Step S640, based on the unified coordinate system, calculate the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position to determine the position of the movable object parameter.

Wherein, the positioning system includes a movable object, a measuring device, a positioning device and a control device, and the movable object includes at least one of an unmanned aerial vehicle, an unmanned vehicle, and a robot. Step S610 is executed by the positioning device, step S620 is executed by the measuring device, and steps S630 and S640 are executed by the control device. The reference position can be any position point in the unobstructed area. The positioning signal can be better received at the reference position to measure the positioning parameters of the reference position. The positioning parameters can use any type of global coordinates (ie absolute position coordinates), such as Gaussian coordinates etc. The measuring device can perform measurement by emitting light signals, for example, it can be a total station; a reflective component can be installed on the movable object, so that the measuring device can transmit light signals to the reflective component and receive the light signals reflected by the reflective component. Measure relative position parameters of movable objects; the reflective component can use reflective prisms, such as 360-degree reflective prisms, total reflection prisms, etc., which can reflect light signals from all directions. The relative position parameter measured by the measuring device may include at least one of distance, angle (including horizontal angle and vertical angle, etc.) and elevation difference. For example, the relative position parameter of the movable object is measured to obtain the distance between the movable object and the reference position. The distance, angle and elevation difference of.

Based on the method flow in Figure 6, when the movable object is in an occluded environment and cannot receive the positioning signal, it can be calculated based on the relative position relationship between the movable object, the reference position, and the reference position, combined with the positioning parameters of the reference position The positioning parameters of the movable object, and the positioning accuracy is high, so as to solve the problem that the movable object cannot be accurately positioned under the obstructed environment.

In an alternative embodiment, step S630 can be implemented in the following ways: obtaining the global coordinate system corresponding to the positioning parameter of the reference position; establishing a local coordinate system based on the reference position; establishing a unified coordinate based on the local coordinate system and the global coordinate system system. When a unified coordinate system is established, the mapping between the global coordinate system and the local coordinate system is actually realized. The movable object, the reference position, and the reference position can be included in the same coordinate system to facilitate subsequent calculations.

Further, in an optional implementation manner, step S640 may be specifically implemented in the following manner: according to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system In, the positioning parameters of the reference position are obtained; according to the positioning parameters of the reference position, the relative position parameters between the movable object and the reference position are mapped from the local coordinate system to the global coordinate system to obtain the positioning parameters of the movable object. This method calculates the relative position relationship between the movable object, the reference position, and the reference position separately, and first reduces it to the position analysis problem between the reference position and the reference position. After determining the positioning parameters of the reference position, the problem is simplified It is the problem of position analysis between the movable object and the reference position, thus simplifying the whole calculation process and improving efficiency.

In an optional implementation manner, in step S620, the relative position parameter between the movable object and the reference position can be measured in real time; when calculating the positioning parameter of the movable object, it can also be based on the movable object and the reference position. The relative position parameter between the previous moment and the current moment is obtained, and the optimal relative position parameter between the movable object and the reference position at the current moment is obtained. Wherein, to obtain the optimal relative position parameter between the movable object and the reference position at the current moment, any suitable mathematical algorithm may be used, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used, and the purpose is In order to improve the position accuracy: Take Kalman filter as an example. Since the relative position parameter is measured by the measuring device, there is a measurement error. Kalman filter can reduce the influence of the error, thereby estimating the current moment between the movable object and the reference position The optimal relative position parameter of, which is closer to the real situation. When calculating the positioning parameters of the movable object, the optimal relative position parameter between the movable object and the reference position is used to replace the measured relative position parameter for calculation, and the positioning parameter of the movable object is obtained with higher accuracy.

In an alternative embodiment, the positioning system of the movable object may include N measuring devices, which are respectively set at N preset reference positions, where N is a positive integer not less than 2, and the reference position is usually a general view. Good, measure the location point with larger coverage. The positioning method of the movable object may be as shown in FIG. 7 and includes the following steps S710 to S750:

Step S710: Acquire positioning parameters of a preset reference position;

Step S720, using N measuring devices to measure the first to Nth relative position parameters of the movable object, the i-th relative position parameter of the movable object is: the i-th reference position of the movable object measured by the i-th measuring device The relative position parameter of, i is any integer within [1,N];

Step S730, using the first measuring device among the N measuring devices to measure the relative position parameter of the reference position relative to the first reference position;

Step S740, according to the relative position parameter of the reference position relative to the first reference position, at least one relative position parameter from the first relative position parameter to the Nth relative position parameter of the movable object, and the position relationship between the N reference positions , Establish a unified coordinate system;

Step S750: Based on the unified coordinate system, at least one relative position parameter of the relative position parameter of the reference position relative to the first reference position, the positioning parameter of the reference position, the first relative position parameter to the Nth relative position parameter of the movable object , And the positional relationship between the N reference positions are calculated to determine the positioning parameters of the movable object.

Among them, at each moment, due to terrain obstructions and other reasons, the measurement device may not be able to track the movable object. Multiple measurement devices can improve the reliability of positioning. Moreover, because the measurement has errors, the measurement of multiple measurement devices is integrated. The result of calculation can further improve the positioning accuracy.

Further, after the positioning parameters of the movable object are determined, the travel route of the movable object may be planned according to the positioning parameters of the movable object, so as to realize accurate route planning and automatic navigation.

The exemplary embodiment of the present disclosure also provides another method for positioning a movable object, which can be applied to a movable object, such as the movable object 211 in FIG. 2, which includes unmanned aerial vehicles, unmanned vehicles, and robots. at least one. Referring to FIG. 8, the positioning method may include the following steps S810 to S840:

Step S810: Acquire positioning parameters of a preset reference position;

Step S820, acquiring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position;

Step S830, establishing a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;

Step S840, based on the unified coordinate system, calculate the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position to determine the position of the movable object parameter.

Among them, the positioning parameters of the reference position are measured by the positioning device and sent to the movable object, which can be any type of absolute position coordinates, such as Gaussian coordinates; the relative position parameters between the movable object and the reference position, and the reference position and reference The relative position parameter between the positions is measured by the measuring device set at the reference position and sent to the movable object; the measuring device can be a total station; the relative position parameter can include the distance of the movable object or the reference position from the reference position, At least one of an angle (which may include a horizontal angle and a vertical angle, etc.) and an elevation difference; the movable object may have processing functions, such as various data processing and calculations through a built-in control device. In this exemplary embodiment, The control device 214 in FIG. 2 is integrated on the movable object 211, and the method shown in FIG. 8 is the method executed by the control device 214 in the positioning process, so that the movable object 211 can realize its own positioning. Based on this, the movable object synchronizes its own positioning during the execution of the work task, and can plan the travel route according to the positioning information to achieve a high degree of automation of the work.

In an optional implementation manner, step S830 can be implemented in the following ways: obtaining the global coordinate system corresponding to the positioning parameter of the reference position; establishing a local coordinate system based on the reference position; establishing a unified coordinate based on the local coordinate system and the global coordinate system system. When a unified coordinate system is established, the mapping between the global coordinate system and the local coordinate system is actually realized. The movable object, the reference position, and the reference position can be included in the same coordinate system to facilitate subsequent calculations.

Further, in an optional implementation manner, step S840 may be specifically implemented in the following manner: according to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system In, the positioning parameters of the reference position are obtained; according to the positioning parameters of the reference position, the relative position parameters between the movable object and the reference position are mapped from the local coordinate system to the global coordinate system to obtain the positioning parameters of the movable object. This method calculates the relative position relationship between the movable object, the reference position, and the reference position separately, and first reduces it to the position analysis problem between the reference position and the reference position. After determining the positioning parameters of the reference position, the problem is simplified It is the problem of position analysis between the movable object and the reference position, thus simplifying the whole calculation process and improving efficiency.

In an optional implementation manner, in step S820, the relative position parameter between the movable object and the reference position can be acquired in real time; when calculating the positioning parameter of the movable object, it can also be based on the movable object and the reference position. The relative position parameter between the previous moment and the current moment is obtained, and the optimal relative position parameter between the movable object and the reference position at the current moment is obtained. Wherein, to obtain the optimal relative position parameter between the movable object and the reference position at the current moment, any suitable mathematical algorithm may be used, for example, filtering (such as Kalman filtering, extended Kalman filtering, etc.) may be used, and the purpose is In order to improve the position accuracy: Take Kalman filter as an example. Since the relative position parameter is measured by the measuring device, there is a measurement error. Kalman filter can reduce the influence of the error, thereby estimating the current moment between the movable object and the reference position The optimal relative position parameter of, which is closer to the real situation. When calculating the positioning parameter of the movable object, the optimal relative position parameter between the movable object and the reference position is used to replace the directly obtained relative position parameter for calculation to obtain the positioning parameter of the movable object with higher accuracy.

In an optional implementation manner, the aforementioned reference positions may include N preset reference positions, where N is a positive integer not less than 2; based on this, step S820 may include:

Get the first to Nth relative position parameters of the movable object, the i-th relative position parameter of the movable object is: the relative position parameter of the movable object relative to the i-th reference position, i is any integer in [1,N] ；

Acquiring a relative position parameter of the reference position relative to the first reference position;

Correspondingly, step S840 may include:

Based on the unified coordinate system, the relative position parameter of the reference position relative to the first reference position, the positioning parameter of the reference position, at least one relative position parameter of the first to Nth relative position parameters of the movable object, and N reference positions The positional relationship between is calculated to determine the positioning parameters of the movable object.

Among them, the N reference positions are usually the position points with good visibility and large measurement coverage; at each moment, due to terrain obstructions and other reasons, the measurement device may not be able to track the movable object. Multiple measurement devices can be set up. Improve the reliability of the positioning, and because the measurement has errors, the measurement results of multiple measuring devices are combined for calculation, which can further improve the positioning accuracy.

Exemplary embodiments of the present disclosure also provide a movable object, which may include a fuselage, a power system, and a control device provided in the fuselage. The control device can execute the above-mentioned positioning method of the movable object, as shown in FIG. 8 shows the method and so on to locate the movable object.

FIG. 9 shows the movable object 900 in the form of a general electronic device. It should be understood that the movable object 900 is only an example, and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

As shown in FIG. 9, the control device of the movable object 900 may include a central processing unit (CPU) 901, which may be loaded to a random access memory (RAM) according to a program stored in a read-only memory (ROM) 902 or from a storage portion 908 ) The program in 903 executes various appropriate actions and processing. In RAM 903, various programs and data required for system operation are also stored. The CPU 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.

The following components are connected to the I/O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc. ; And a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. The drive 910 is also connected to the I/O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as required, so that the computer program read therefrom is installed into the storage portion 908 as required.

In particular, according to the embodiments of the present disclosure, the process described below with reference to the flowchart can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication part 909, and/or installed from the removable medium 911. When the computer program is executed by the central processing unit (CPU) 901, various functions defined in the method and device of the present application are executed.

The various components of the above-mentioned movable object 900 are provided in the body 912. The movable object 900 also includes a power system 913, and the control device can control the power system 913 through the I/O interface 905.

As another aspect, the present disclosure also provides a computer-readable medium. The computer-readable medium may be included in the movable object described in the above-mentioned embodiments; it may also exist alone without being assembled into the movable object. Moving objects. The foregoing computer-readable medium carries one or more programs, and when the foregoing one or more programs are executed by a processor, the method as described in the foregoing embodiment is implemented. For example, the processor may implement various steps as shown in FIG. 8 and so on.

It should be noted that the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as a part of a carrier wave, and a computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium. The computer-readable medium can send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device . The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions, and operations of the system, method, and computer program product according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of code, and the above-mentioned module, program segment, or part of code contains one or more for realizing the specified logical function Executable instructions. It should also be noted that, in some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two blocks shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be It is realized by a combination of dedicated hardware and computer instructions.

The units involved in the embodiments described in the present disclosure can be implemented in software or hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation on the unit itself under certain circumstances.

Through the description of the foregoing embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software, or can be implemented by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (can be a CD-ROM, U disk, mobile hard disk, etc.) or on the network , Including several instructions to make a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the exemplary embodiment of the present disclosure.

In addition, the above-mentioned drawings are merely schematic illustrations of the processing included in the method according to the exemplary embodiment of the present disclosure, and are not intended for limitation. It is easy to understand that the processing shown in the above drawings does not indicate or limit the time sequence of these processings. In addition, it is easy to understand that these processes can be executed synchronously or asynchronously in multiple modules, for example.

Those skilled in the art will easily think of other embodiments of the present disclosure after considering the description and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The description and the embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

A positioning system for a movable object, characterized in that it comprises:

Movable object

Positioning device for obtaining positioning parameters of preset reference positions;

A measuring device, set at a preset reference position, for measuring the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position; and

A control device for establishing a unified coordinate system based on the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position, and based on the unified Coordinate system for the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the positioning parameter of the reference position Calculation to determine the positioning parameters of the movable object.
The system according to claim 1, wherein the control device comprises:

The communication unit is configured to receive the positioning parameter of the reference position sent by the positioning device, the relative position parameter between the movable object and the reference position sent by the measuring device, and the reference position and the reference position. The relative position parameters between the reference positions;

The calculation unit is configured to establish a unified coordinate system based on the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position, to determine the Positioning parameters of the moving object.
The system according to claim 1 or 2, characterized in that, according to the relative position parameter between the movable object and the reference position, and the relative position between the reference position and the reference position Parameters, establishing a unified coordinate system to determine the positioning parameters of the movable object, including:

Acquiring the global coordinate system corresponding to the positioning parameter of the reference position;

Establishing a local coordinate system according to the reference position;

A unified coordinate system is established based on the local coordinate system and the global coordinate system to determine the positioning parameters of the movable object.
The system according to claim 3, wherein the establishing a unified coordinate system based on the local coordinate system and the global coordinate system to determine the positioning parameters of the movable object comprises:

According to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the positioning parameter of the reference position ；

According to the positioning parameter of the reference position, the relative position parameter between the movable object and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the position of the movable object Positioning parameters.
The system according to claim 1, wherein the measuring device is further used for real-time measurement of relative position parameters between the movable object and the reference position;

The control device is further configured to obtain the current position between the movable object and the reference position according to the relative position parameter between the movable object and the reference position at the previous time and the current time. The optimal relative position parameter at the moment, and the positioning parameter of the movable object is calculated based on the optimal relative position parameter.
The system according to claim 5, wherein the relative position parameters between the movable object and the reference position at the previous time and the current time are used to obtain the movable object and the current time. The optimal relative position parameters between the reference positions at the current moment include:

Filter the relative position parameters between the movable object and the reference position at the previous time and the current time to obtain the optimal relative position between the movable object and the reference position at the current time Positional parameters.
The system according to claim 1, wherein the system comprises N measuring devices, which are respectively arranged at N preset reference positions, wherein:

The first measuring device is set at a first reference position, and is used to measure the first relative position parameter of the movable object and the relative position parameter of the reference position with respect to the first reference position;

The second to Nth measuring devices are respectively set at the second to Nth reference positions, and are respectively used to measure the second relative position parameter to the Nth relative position parameter of the movable object;

Wherein, N is a positive integer not less than 2, the i-th relative position parameter of the movable object is: the relative position parameter of the movable object relative to the i-th reference position measured by the i-th measuring device, i is [ 1,N] any integer;

The control device is configured to use the relative position parameter of the reference position relative to the first reference position, the positioning parameter of the reference position, and the first to Nth relative position parameters of the movable object according to At least one relative position parameter of, and the position relationship between the N reference positions are calculated to determine the positioning parameter of the movable object.
The system according to claim 1, wherein the movable object is provided with a reflective component for reflecting the optical signal emitted by the measuring device.
The system of claim 8, wherein the reflective component includes a reflective prism.
The system according to claim 1, wherein the control device is further configured to plan the travel route of the movable object according to the positioning parameters of the movable object.
The system according to any one of claims 1 to 10, wherein the relative position parameter includes at least one of distance, angle, and elevation difference.
The system according to any one of claims 1 to 10, wherein the positioning parameters include Gaussian coordinates.
The system according to any one of claims 1 to 10, wherein the measuring device comprises a total station.
The system according to any one of claims 1 to 10, wherein the movable object includes at least one of an unmanned aerial vehicle, an unmanned vehicle, and a robot.
A positioning method of a movable object, which is applied to a positioning system of a movable object, characterized in that the method includes:

Obtain the positioning parameters of the preset reference position;

Measuring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position;

Establish a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;

Based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the reference position The positioning parameters are calculated to determine the positioning parameters of the movable object.
The method according to claim 15, characterized in that, according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position, Establish a unified coordinate system, including:

Acquiring the global coordinate system corresponding to the positioning parameter of the reference position;

Establishing a local coordinate system according to the reference position;

A unified coordinate system is established based on the local coordinate system and the global coordinate system.
The method according to claim 15 or 16, characterized in that, based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the reference position and the The calculation of the relative position parameters between the reference positions and the positioning parameters of the reference positions to determine the positioning parameters of the movable object includes:

According to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the positioning parameter of the reference position ；

According to the positioning parameter of the reference position, the relative position parameter between the movable object and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the position of the movable object Positioning parameters.
The method according to claim 15, wherein the measuring the relative position parameter between the movable object and the preset reference position comprises:

Real-time measurement of the relative position parameter between the movable object and the reference position;

The method also includes:

Obtaining an optimal relative position parameter between the movable object and the reference position at the current time according to the relative position parameter between the movable object and the reference position at the previous time and the current time;

Said based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the Calculating the positioning parameters of the reference position to determine the positioning parameters of the movable object includes:

Based on the unified coordinate system, the optimal relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the The positioning parameter of the reference position is calculated to determine the positioning parameter of the movable object.
The method according to claim 18, characterized in that, according to the relative position parameters between the movable object and the reference position at the previous time and the current time, the movable object and the reference position are obtained. The optimal relative position parameters between the reference positions at the current moment include:

Filter the relative position parameters between the movable object and the reference position at the previous time and the current time to obtain the optimal relative position between the movable object and the reference position at the current time Positional parameters.
The method according to claim 15, wherein the positioning system of the movable object comprises N measuring devices, which are respectively set at N preset reference positions, and N is a positive integer not less than 2;

The measuring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position includes:

The N measuring devices are used to measure the first relative position parameter to the Nth relative position parameter of the movable object, and the i-th relative position parameter of the movable object is: the ith relative position parameter measured by the ith measuring device The relative position parameter of the moving object relative to the i-th reference position, i is any integer within [1,N];

Measuring the relative position parameter of the reference position relative to the first reference position by using a first measuring device among the N measuring devices;

Said based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the Calculating the positioning parameters of the reference position to determine the positioning parameters of the movable object includes:

Based on the unified coordinate system, the relative position parameters of the reference position relative to the first reference position, and the positioning parameters of the reference position, the first to Nth relative position parameters of the movable object At least one relative position parameter in and the position relationship between the N reference positions are calculated to determine the positioning parameter of the movable object.
The method of claim 20, wherein the measurement device comprises a total station.
The method according to claim 21, wherein the movable object is provided with a reflective component;

The measuring device measures the relative position parameter of the movable object by transmitting an optical signal to the reflecting component and receiving the optical signal reflected by the reflecting component.
The method of claim 22, wherein the reflective component comprises a reflective prism.
The method according to claim 15, wherein after determining the positioning parameters of the movable object, the method further comprises:

Planning the travel route of the movable object according to the positioning parameters of the movable object.
The method according to any one of claims 15 to 24, wherein the relative position parameter includes at least one of distance, angle, and elevation difference.
The method according to any one of claims 15 to 24, wherein the positioning parameters include Gaussian coordinates.
The method according to any one of claims 15 to 24, wherein the movable object includes at least one of an unmanned aerial vehicle, an unmanned vehicle, and a robot.
A method for positioning a movable object, applied to a movable object, characterized in that the method includes:

Obtain the positioning parameters of the preset reference position;

Acquiring a relative position parameter between the movable object and a preset reference position, and a relative position parameter between the reference position and the reference position;

Establish a unified coordinate system according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position;

Based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the reference position The positioning parameters are calculated to determine the positioning parameters of the movable object.
28. The method according to claim 28, wherein, according to the relative position parameter between the movable object and the reference position, and the relative position parameter between the reference position and the reference position, Establish a unified coordinate system, including:

Acquiring the global coordinate system corresponding to the positioning parameter of the reference position;

Establishing a local coordinate system according to the reference position;

A unified coordinate system is established based on the local coordinate system and the global coordinate system.
The method according to claim 28 or 29, characterized in that, based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the reference position and the reference position The calculation of the relative position parameters between the reference positions and the positioning parameters of the reference positions to determine the positioning parameters of the movable object includes:

According to the positioning parameter of the reference position, the relative position parameter between the reference position and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the positioning parameter of the reference position ；

According to the positioning parameter of the reference position, the relative position parameter between the movable object and the reference position is mapped from the local coordinate system to the global coordinate system to obtain the position of the movable object Positioning parameters.
The method according to claim 28, wherein said acquiring a relative position parameter between the movable object and a preset reference position comprises:

Acquiring the relative position parameter between the movable object and the reference position in real time;

Obtaining an optimal relative position parameter between the movable object and the reference position at the current time according to the relative position parameter between the movable object and the reference position at the previous time and the current time;

Said based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the Calculating the positioning parameters of the reference position to determine the positioning parameters of the movable object includes:

Based on the unified coordinate system, the optimal relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the The positioning parameter of the reference position is calculated to determine the positioning parameter of the movable object.
The method according to claim 31, characterized in that, according to the relative position parameters between the movable object and the reference position at the previous time and the current time, the movable object and the reference position are obtained. The optimal relative position parameters between the reference positions at the current moment include:

Filter the relative position parameters between the movable object and the reference position at the previous time and the current time to obtain the optimal relative position between the movable object and the reference position at the current time Positional parameters.
The method according to claim 28, wherein the reference position comprises N preset reference positions, and N is a positive integer not less than 2;

The acquiring the relative position parameter between the movable object and the preset reference position, and the relative position parameter between the reference position and the reference position includes:

Acquire the first relative position parameter to the Nth relative position parameter of the movable object, the i-th relative position parameter of the movable object is: the relative position parameter of the movable object with respect to the i-th reference position, i is Any integer within [1,N];

Acquiring a relative position parameter of the reference position relative to the first reference position;

Said based on the unified coordinate system, the relative position parameter between the movable object and the reference position, the relative position parameter between the reference position and the reference position, and the Calculating the positioning parameters of the reference position to determine the positioning parameters of the movable object includes:

Based on the unified coordinate system, the relative position parameters of the reference position relative to the first reference position, and the positioning parameters of the reference position, the first to Nth relative position parameters of the movable object At least one relative position parameter in and the position relationship between the N reference positions are calculated to determine the positioning parameter of the movable object.
The method according to claim 28, wherein after determining the positioning parameters of the movable object, the method further comprises:

Planning the travel route of the movable object according to the positioning parameters of the movable object.
The method according to any one of claims 28 to 34, wherein the relative position parameter includes at least one of distance, angle, and elevation difference.
The method according to any one of claims 28 to 34, wherein the positioning parameters include Gaussian coordinates.
The method according to any one of claims 28 to 34, wherein the movable object includes at least one of an unmanned aerial vehicle, an unmanned vehicle, and a robot.
A movable object, characterized in that it comprises:

body;

Power system; and

The control device is located in the body;

The control device executes the movable object positioning method according to any one of claims 28 to 37 to position the movable object.
The movable object according to claim 38, wherein the movable object comprises at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, or a robot.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the method for positioning a movable object according to any one of claims 28 to 37 when the computer program is executed by a processor.