WO2021212517A1

WO2021212517A1 - Positioning method and system, and storage medium

Info

Publication number: WO2021212517A1
Application number: PCT/CN2020/086867
Authority: WO
Inventors: 刘新俊; 高翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-24
Filing date: 2020-04-24
Publication date: 2021-10-28
Also published as: CN112771411A

Abstract

A positioning method and system, and a storage medium, the method comprising: analyzing global navigation satellite system (GNSS) positioning result data by means of positioning parameters to obtain positioning quality data corresponding to the positioning parameters (S101); analyzing GNSS positioning result data on the basis of the signal-to-noise ratio of a satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio (S102); according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio, determining final positioning quality data of the GNSS positioning result data (S103); and determining a positioning mode according to the final positioning quality data of the GNSS positioning result data, and controlling a movable platform to move according to the determined positioning mode (S104).

Description

Positioning method, system and storage medium

Technical field

This application relates to the technical field of target positioning, and in particular to a positioning method, system and storage medium.

Background technique

When the UAV positioning system uses the Global Navigation Satellite System (GNSS) positioning results and the visual positioning results, if there is a large deviation between the two, weights need to be selected to ensure that the final positioning results are correct. At present, the weights of GNSS positioning results and visual positioning results are usually selected. The evaluation scheme usually adopted is: first evaluate the GNSS positioning quality; when the GNSS positioning quality meets certain conditions, use it to verify the visual positioning results. There is a big difference between the two When, the visual positioning result is not used.

GNSS can generally be used for positioning outdoors, but the GNSS positioning accuracy is greatly affected by the convergence of the board and the scene, and is affected by multipath. The positioning accuracy at the bottom of a narrow strip, near buildings, and deep well environments is poor or even abnormal. In these scenarios, the existing methods for evaluating the quality of GNSS positioning believe that the quality of GNSS positioning is very high. When using it to verify the visual positioning results, they choose not to use the visual positioning results and largely use the GNSS positioning results with poor actual positioning accuracy. The drone exploded abnormally.

Summary of the invention

Based on this, this application provides a positioning method, a positioning system, and a storage medium.

In the first aspect, this application provides a positioning method, the method is suitable for a movable platform, and the method includes:

Analyze global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters;

Analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio;

Determine the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio;

According to the final positioning quality data of the GNSS positioning result data, a positioning mode is determined, and the movable platform is controlled to move according to the determined positioning mode.

In the second aspect, the present application provides a positioning system, the system is suitable for a mobile platform, and the system includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

In a third aspect, the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the positioning method as described above.

The embodiments of the present application provide a positioning method, a positioning system, and a storage medium. The positioning quality data corresponding to the positioning parameters is obtained by analyzing the GNSS positioning result data of the global navigation satellite system through positioning parameters; The GNSS positioning result data is used to obtain the positioning quality data corresponding to the signal-to-noise ratio; the final positioning of the GNSS positioning result data is determined according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio Quality data: Determine the positioning mode according to the final positioning quality data of the GNSS positioning result data, and control the movable platform to move according to the determined positioning mode. Since the signal-to-noise ratio based on satellite signals is usually relatively related to the current scene of the mobile platform, the positioning quality of GNSS is also greatly affected by the current scene of the mobile platform, and is affected by multipath. The positioning accuracy of GNSS in a narrow space Very poor or even abnormal, and the signal-to-noise ratio based on satellite signals in a long and narrow space changes significantly, so according to the positioning quality data corresponding to the positioning parameters obtained through the positioning parameter analysis and the signal-to-noise ratio based on the signal-to-noise ratio analysis of the satellite signals Corresponding positioning quality data can obtain more detailed, more comprehensive and accurate final positioning quality data of GNSS positioning result data, which can be accurately analyzed in normal scenes and at the bottom of narrow areas, near buildings, deep well environments and other special scenes. Obtain the final positioning quality of the GNSS, and then accurately determine the positioning method, so that the movable platform can move normally in the normal scene and the bottom of the narrow zone, near the building, deep well environment and other special scenes at the same time, which can avoid abnormal movement of the movable platform .

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

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic flowchart of an embodiment of a positioning method according to the present application;

FIG. 2 is a schematic flowchart of another embodiment of the positioning method according to the present application;

Fig. 3 is a schematic structural diagram of an embodiment of the positioning system of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

UAVs can generally use GNSS for positioning outdoors, but the GNSS positioning accuracy is greatly affected by the scene. The positioning accuracy at the bottom of a narrow strip, near buildings, and deep well environments is poor or even abnormal. In these scenarios, the existing methods for evaluating the quality of GNSS positioning believe that the quality of GNSS positioning is very high. When using it to verify the visual positioning results, they choose not to use the visual positioning results and largely use the GNSS positioning results with poor actual positioning accuracy. The drone exploded abnormally.

The embodiment of the application analyzes the global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters; analyzes the GNSS positioning result data based on the signal-to-noise ratio of satellite signals to obtain the corresponding signal-to-noise ratio The positioning quality data; the final positioning quality data of the GNSS positioning result data is determined according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio; the final positioning according to the GNSS positioning result data Quality data, determine the positioning mode, and control the movable platform to move according to the determined positioning mode. Since the signal-to-noise ratio based on satellite signals is usually relatively related to the current scene of the mobile platform, the positioning quality of GNSS is also greatly affected by the current scene of the mobile platform, and is affected by multipath. The positioning accuracy of GNSS in a narrow space Very poor or even abnormal, and the signal-to-noise ratio based on satellite signals in a long and narrow space changes significantly, so according to the positioning quality data corresponding to the positioning parameters obtained through the positioning parameter analysis and the signal-to-noise ratio based on the signal-to-noise ratio analysis of the satellite signals Corresponding positioning quality data can obtain more detailed, more comprehensive and accurate final positioning quality data of GNSS positioning result data, which can be accurately analyzed in normal scenes and at the bottom of narrow areas, near buildings, deep well environments and other special scenes. Obtain the final positioning quality of the GNSS, and then accurately determine the positioning method, so that the movable platform can move normally in the normal scene and the bottom of the narrow zone, near the building, deep well environment and other special scenes at the same time, which can avoid abnormal movement of the movable platform .

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Refer to Fig. 1, which is a schematic flowchart of an embodiment of a positioning method according to the present application. The method is applicable to a movable platform. The movable platform may refer to various platforms that can move automatically or move under controlled conditions, for example: UAVs, vehicles, unmanned vehicles, ground robots, unmanned ships, etc.

The method includes: step S101, step S102, step S103, and step S104.

Step S101: Analyze global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters.

The global navigation satellite system is based on the time-coded reception and processing of satellite signals to achieve positioning. However, GNSS positioning is a very complicated process, and it is susceptible to interference from the outside world and its own errors. At all stages, the system has potential loopholes and problems, from information generation, uplink to satellite to signal transmission, to the receiver receiving and processing information. The types of potential vulnerabilities and problems of global satellite navigation systems include system errors and navigation errors; system errors refer to those problems caused by GNSS ground and space systems, depending on the location of the satellite signal transmission; navigation errors are caused by environmental impact or receiver failure of. System errors include satellite ephemeris error, satellite clock error, Selective Availability (SA, Selective Availability) interference error, hardware drift error, inter-frequency offset, orbital deviation, signal format abnormality, status information abnormality, reference coordinate error, etc. . Navigation errors include multipath effects, pseudoranges and carrier phases, frequency deviations, ionospheric refraction errors, ionospheric correction errors, tropospheric refraction errors, signal reception errors, navigation information reading errors, receiver calculation errors, system errors, satellites Ephemeris error, satellite clock error, SA interference error, etc. The accumulation of these errors affects the positioning quality of GNSS.

In this embodiment, the positioning parameter may refer to a parameter used to analyze the positioning quality of the GNSS positioning result data. Positioning parameters include but are not limited to: number of searched satellites (number of searched satellites), positioning accuracy factor (such as geometric accuracy factor, relative positioning accuracy factor, spatial position accuracy factor, etc.), positioning position and speed consistency difference ( The consistency difference between positioning position and speed obtained by different positioning methods), positioning algorithm, specific navigation system, etc. Wherein, the positioning parameter may include at least one of the number of searched stars, the positioning accuracy factor, and the consistency difference between the positioning position and the speed.

Wherein, step S101 analyzes global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters, which may be analyzed through more than one positioning parameter to obtain the positioning The positioning quality data corresponding to the parameter.

Generally speaking, using a plurality of different positioning parameters to analyze the GNSS positioning result data, the GNSS positioning result data can be comprehensively analyzed from a plurality of different angles, and the positioning quality data corresponding to the obtained positioning parameters are relatively closer. Practical application. In one embodiment, step S101 analyzes global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters. Specifically, it may be: analyzing the GNSS positioning result data through multiple positioning parameters to obtain Positioning quality data corresponding to the multiple positioning parameters.

Step S102: Analyze the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio.

The signal-to-noise ratio refers to the ratio of signal to noise. The signal-to-noise ratio based on the satellite signal in this embodiment may be based on factors that affect the signal-to-noise ratio of the satellite signal. Among them, the signal-to-noise ratio of the satellite signal may be the signal-to-noise ratio and signal strength of the received satellite signal. The signal-to-noise ratio of the satellite signal is usually more related to the current scenario of the mobile platform: in the open space, the signal-to-noise ratio of the satellite signal is usually larger, and the signal-to-noise ratio of the satellite signal in the long and narrow space changes significantly. Become smaller. Analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal can analyze and obtain positioning quality data corresponding to the signal-to-noise ratio in special scenarios such as the bottom of a narrow strip, near a building, and a deep well type environment.

It should be noted that there is no obvious sequence relationship between step S101 and step S102.

Step S103: Determine the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio.

In one embodiment, when step S101 specifically analyzes the GNSS positioning result data through multiple positioning parameters to obtain positioning quality data corresponding to the multiple positioning parameters, step S103 is based on the positioning quality data corresponding to the positioning parameters. The positioning quality data corresponding to the signal-to-noise ratio determines the final positioning quality data of the GNSS positioning result data, which may specifically be: positioning quality data corresponding to the signal-to-noise ratio and positioning corresponding to the multiple positioning parameters The quality data, the weight of the positioning quality data corresponding to the signal-to-noise ratio, and the weight of the positioning quality data corresponding to the multiple positioning parameters determine the final positioning quality data of the GNSS positioning result data. Among them, the weight can be determined by experimental actual scene data.

Specifically, the final positioning quality data of the GNSS positioning result data may be positioning quality data corresponding to the signal-to-noise ratio, positioning quality data corresponding to the multiple positioning parameters, and positioning quality data corresponding to the signal-to-noise ratio. The weight and the weight of the positioning quality data corresponding to the multiple positioning parameters are multiplied by the result.

For example, the positioning quality data corresponding to the multiple positioning parameters includes: positioning quality data corresponding to positioning parameter 1, positioning quality data corresponding to positioning parameter 2, positioning quality data 3 corresponding to positioning parameter 3, and the corresponding weights are respectively : Weight 1, weight 2, and weight 3; the final positioning quality data of the GNSS positioning result data is equal to: positioning quality data corresponding to the signal-to-noise ratio * weight of positioning quality data corresponding to the signal-to-noise ratio * positioning quality data 1 * weight 1 *Positioning quality data 2*Weight 2*Positioning quality data 3*Weight 3.

Of course, in practical applications, the final positioning quality data of the GNSS positioning result data can also be obtained in other ways, and details are not described herein again.

Since the final positioning quality data of the GNSS positioning result data is determined based on the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio, this makes the final positioning quality data of the GNSS positioning result data better. Detailed, more comprehensive and more accurate.

Step S104: Determine a positioning mode according to the final positioning quality data of the GNSS positioning result data, and control the movable platform to move according to the determined positioning mode.

The specific details of step S102 are described in detail below.

In an embodiment, step S102 analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio, which may specifically be: using the highest signal of the currently searched satellite signal The noise ratio analyzes the GNSS positioning result data to obtain first positioning quality data corresponding to the signal-to-noise ratio.

For each type of satellite signal receiver, different hardware designs have different satellite search capabilities, but the same type of satellite signal receivers have consistency in their satellite search capabilities. In a normal scenario (open space), the highest signal-to-noise ratio of the satellite signals currently searched for the same type of satellite signal receiver should be the same, but in special scenarios such as the bottom of a narrow strip, near buildings, and deep well environments Even if the number of satellites searched is relatively normal, the highest signal-to-noise ratio of the satellite signals currently searched will be lower than the normal scene due to the obvious multipath of the environment and the limitations of the satellite search. To analyze the positioning quality of GNSS. This method is relatively simple and rough.

In another embodiment, step S102 analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio, which may specifically be: analyzing the GNSS positioning by using the first difference value From the result data, the second positioning quality data corresponding to the signal-to-noise ratio is obtained, and the first difference is the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signals Difference.

In this embodiment, the average signal-to-noise ratio of the highest four positioning satellites may be the average signal-to-noise ratio of the highest four satellites used for positioning. There are multiple satellites that have been searched. Sort these satellites according to the strength of the satellite signals from strong to weak. The top four satellites are used for positioning. The satellite signals of these four satellites are averaged to get the highest four. The average signal-to-noise ratio of the positioning satellites. In a normal scenario (open space), the average signal-to-noise ratio of the highest four positioning satellites of the same type of satellite signal receiver should be the same, but in special scenarios such as the bottom of a narrow strip, near buildings, and deep well environments, Even if the number of satellites searched is relatively normal, the average signal-to-noise ratio of the highest four positioning satellites will be lower than the normal scene due to the obvious multipath of the environment and the limitations of the satellite search. The first difference is the difference between the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal. In a normal scenario (open space), the first difference of the same type of satellite signal receiver should be the same, but in special scenarios such as the bottom of a narrow strip, near a building, or a deep well environment, even if the number of satellites searched is relative There is no abnormality in the normal scene, but due to the obvious multipath of the environment and the limitations of star search, its first difference will be lower than that of the normal scene. To analyze the positioning quality of GNSS. Since this embodiment uses the average signal-to-noise ratio of the highest four positioning satellites, the fluctuation of the signal-to-noise ratio of a certain satellite caused by accidental factors can be reduced to a certain extent. The first difference is relatively stable, and this method is more Simple. Relative to using a single signal-to-noise ratio for analysis, the second positioning quality data is relatively stable.

In another embodiment, step S102 analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio, which may specifically be: analyzing the GNSS positioning by using a second difference value From the result data, the third positioning quality data corresponding to the signal-to-noise ratio is obtained, and the second difference is the difference between the average signal-to-noise ratio of all positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal .

In this embodiment, the average signal-to-noise ratio of all positioning satellites may be the average signal-to-noise ratio of all satellites used for positioning. There are currently multiple satellites that have been searched. Sort these satellites according to the strength of the satellite signal from strong to weak, determine the top satellite for positioning, and average the satellite signals of all satellites used for positioning. Obtain the average signal-to-noise ratio of all positioning satellites.

In a normal scenario (open space), the average signal-to-noise ratio of all positioning satellites of the same type of satellite signal receiver should be the same. The number of satellites is not abnormal compared to the normal scene, but due to the obvious multipath of the environment and the limitations of satellite search, the average signal-to-noise ratio of all its positioning satellites will be lower than that of the normal scene. The second difference is the difference between the average signal-to-noise ratio of all positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal. In a normal scenario (open space), the second difference of the same type of satellite signal receiver should be the same, but in special scenarios such as the bottom of a narrow strip, near a building, a deep well environment, etc., even if the number of satellites searched is relative There is no abnormality in the normal scene, but due to the obvious multipath of the environment and the limitations of star search, its second difference will be lower than the normal scene. To analyze the positioning quality of GNSS. Since this embodiment uses the average signal-to-noise ratio of all positioning satellites, it can reduce the fluctuations in the signal-to-noise ratio of a certain satellite or several satellites caused by accidental factors to a certain extent, and the second difference is relatively stable. , This method is relatively simple. Relative to using a single signal-to-noise ratio for analysis, the third positioning quality data is relatively stable.

In another embodiment, step S102 analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio. Specifically, it may be: using the highest satellite signal currently searched for. At least two of the signal-to-noise ratio, the first difference value and the second difference value are analyzed, and the GNSS positioning result data is analyzed to obtain fourth positioning quality data corresponding to the signal-to-noise ratio. The first difference value is the highest four The difference between the average signal-to-noise ratio of the positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal, and the second difference is the average signal-to-noise ratio of all positioning satellites and the current searched The difference between the highest signal-to-noise ratio of the received satellite signals.

In this embodiment, at least two of the highest signal-to-noise ratio, the first difference and the second difference of the currently searched satellite signals are used to analyze the GNSS positioning result data, which makes the fourth positioning quality data more stable. Meet the actual scene. Wherein, step S102 analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio. Specifically, the highest signal-to-noise ratio and the first difference of the currently searched satellite signal can be used. And the second difference value, analyze the GNSS positioning result data to obtain fourth positioning quality data corresponding to the signal-to-noise ratio. In this way, the fourth positioning quality data can be made more stable and comprehensive.

The specific details of step S104 are described in detail below.

Referring to FIG. 2, in an embodiment, step S104 determines a positioning mode according to the final positioning quality data of the GNSS positioning result data, and controls the movable platform to move according to the determined positioning mode, which may include: sub-step S1041 Sub-step S1042 and sub-step S1043.

Sub-step S1041: Determine whether the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold.

Sub-step S1042: When the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold, determine that the positioning mode is GNSS positioning, and control the movable platform to move according to the GNSS positioning positioning mode.

Sub-step S1043: When the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, determine that the positioning mode is to use other systems for positioning, and control the movable platform to move according to the positioning mode of other systems for positioning.

In this embodiment, the positioning quality threshold may be determined according to actual applications, and specifically may be determined by the mobile platform's quality requirements for positioning, the quality requirements for GNSS positioning, and so on.

Through the above method, when the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, other systems can be used for positioning, which can ensure that the movable platform is at the bottom of a narrow zone, near a building, in a deep well environment and other special scenarios. Normal movement can avoid abnormal movement of the movable platform.

In practical applications, the positioning quality threshold can also be divided into multiple levels, and different positioning methods are used for the positioning quality thresholds at different levels. For example: when the final positioning quality data of the GNSS positioning result data is greater than or equal to the first-level positioning quality threshold, it is determined that the positioning mode is GNSS positioning; when the final positioning quality data of the GNSS positioning result data is less than the first-level positioning quality threshold When the positioning quality threshold is greater than or equal to the second-level positioning quality threshold, it is determined that the positioning method is to use GNSS and other systems for positioning; when the final positioning quality data of the GNSS positioning result data is less than the second-level positioning quality threshold, Determine the positioning method to use other systems for positioning.

Wherein, the movable platform includes an unmanned aerial vehicle.

In an actual application, the other system includes a visual positioning system. The positioning accuracy of the visual positioning system is very high, the results produced are reliable, the stability is strong, and the positioning speed is very fast, especially suitable for positioning in special scenes such as the bottom of a narrow zone, near buildings, and deep well environments.

When it is determined that the GNSS positioning quality is not good by judging the positioning quality of GNSS in special scenes such as the bottom of narrow strips, near buildings, and deep well-type environments, restrict the use of GNSS positioning results, which can avoid the use of GNSS on the visual positioning system Excessively rigorous inspections are carried out to ensure that the correct positioning results are fully used, and to ensure flight safety in such scenarios.

Further, the visual positioning system is a positioning system in which binocular vision and an inertial measurement unit IMU are tightly coupled. Binocular vision and inertial measurement unit IMU's perception methods are complementary. In this way, the positioning system with binocular vision and IMU tightly coupled has more advantages in positioning accuracy and robustness, thereby ensuring the reliability of positioning results .

The embodiment of the present application also provides another positioning method, which is suitable for a movable platform, and the movable platform includes a positioning parameter analysis module, a signal-to-noise ratio analysis module, a positioning quality analysis module, and a control module. It should be noted that the content of the positioning method in this embodiment is basically the same as the content of the above-mentioned positioning method. For detailed descriptions of related content, please refer to the above-mentioned method section, which will not be repeated here. include:

The positioning parameter analysis module analyzes global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters.

The signal-to-noise ratio analysis module analyzes the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio.

The positioning quality analysis module determines the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio.

The control module determines the positioning mode according to the final positioning quality data of the GNSS positioning result data, and controls the movable platform to move according to the determined positioning mode.

Wherein, the signal-to-noise ratio analysis module uses the highest signal-to-noise ratio of the currently searched satellite signal to analyze the GNSS positioning result data to obtain the first positioning quality data corresponding to the signal-to-noise ratio.

Wherein, the signal-to-noise ratio analysis module analyzes the GNSS positioning result data by using the first difference value to obtain the second positioning quality data corresponding to the signal-to-noise ratio, and the first difference value is the average of the highest four positioning satellites The difference between the signal-to-noise ratio and the highest signal-to-noise ratio of the currently searched satellite signal.

Wherein, the signal-to-noise ratio analysis module analyzes the GNSS positioning result data by using a second difference value to obtain third positioning quality data corresponding to the signal-to-noise ratio, and the second difference value is the average signal-to-noise value of all positioning satellites The difference between the ratio and the highest signal-to-noise ratio of the currently searched satellite signal.

Wherein, the signal-to-noise ratio analysis module uses at least two of the highest signal-to-noise ratio, the first difference and the second difference of the currently searched satellite signals to analyze the GNSS positioning result data to obtain the signal The fourth positioning quality data corresponding to the noise ratio, the first difference is the difference between the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signals, the The second difference is the difference between the average signal-to-noise ratio of all positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal.

Wherein, the positioning parameter analysis module analyzes the GNSS positioning result data through a plurality of positioning parameters to obtain positioning quality data corresponding to the plurality of positioning parameters.

Wherein, the positioning quality analysis module is based on the positioning quality data corresponding to the signal-to-noise ratio, the positioning quality data corresponding to the multiple positioning parameters, the weight of the positioning quality data corresponding to the signal-to-noise ratio, and the multiple positioning The weight of the positioning quality data corresponding to the parameter determines the final positioning quality data of the GNSS positioning result data.

Wherein, the positioning parameter includes at least one of the number of searched stars, the positioning accuracy factor, and the consistency difference between the positioning position and the speed.

Wherein, when the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold, the control module determines that the positioning method is GNSS positioning, and controls the movable platform to perform positioning in accordance with the GNSS positioning method Movement; when the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, the positioning mode is determined to use other systems for positioning, and the movable platform is controlled to move according to the positioning mode of other systems.

Wherein, the movable platform includes an unmanned aerial vehicle.

Wherein, the other system includes a visual positioning system.

Refer to Figure 3, which is a schematic structural diagram of an embodiment of the positioning system of the present application. It should be noted that the system of this embodiment can implement the steps in the above positioning method. For detailed descriptions of related content, please refer to the above method section. I won't repeat it again.

The system 100 is suitable for a mobile platform. The system 100 includes: a memory 1 and a processor 2; the memory 1 and the processor 2 are connected by a bus.

Among them, the processor 2 may be a micro control unit, a central processing unit, or a digital signal processor, and so on.

Among them, the memory 1 can be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, etc.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and when the computer program is executed, the following steps are implemented:

Analyze global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters; analyze the GNSS positioning result data based on the signal-to-noise ratio of satellite signals to obtain positioning quality data corresponding to the signal-to-noise ratio Determine the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio; determine the final positioning quality data of the GNSS positioning result data Positioning mode, and control the movable platform to move according to the determined positioning mode.

Wherein, when the processor executes the computer program, the following steps are implemented: use the highest signal-to-noise ratio of the currently searched satellite signal to analyze the GNSS positioning result data to obtain the first positioning corresponding to the signal-to-noise ratio Quality data.

Wherein, when the processor executes the computer program, the following steps are implemented: use the first difference to analyze the GNSS positioning result data to obtain the second positioning quality data corresponding to the signal-to-noise ratio, and the first difference The value is the difference between the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signals.

Wherein, when the processor executes the computer program, it implements the following steps: analyze the GNSS positioning result data using a second difference value to obtain third positioning quality data corresponding to the signal-to-noise ratio, and the second difference The value is the difference between the average signal-to-noise ratio of all positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal.

Wherein, when the processor executes the computer program, the following steps are implemented: using at least two of the highest signal-to-noise ratio, the first difference, and the second difference of the currently searched satellite signals to analyze the GNSS positioning result data to obtain fourth positioning quality data corresponding to the signal-to-noise ratio, and the first difference is the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal The second difference is the difference between the average signal-to-noise ratio of all positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signal.

Wherein, when the processor executes the computer program, the following steps are implemented: analyzing the GNSS positioning result data through a plurality of positioning parameters to obtain positioning quality data corresponding to the plurality of positioning parameters.

Wherein, when the processor executes the computer program, the following steps are implemented: according to the positioning quality data corresponding to the signal-to-noise ratio, the positioning quality data corresponding to the multiple positioning parameters, and the positioning corresponding to the signal-to-noise ratio The weight of the quality data and the weight of the positioning quality data corresponding to the multiple positioning parameters determine the final positioning quality data of the GNSS positioning result data.

Wherein, when the processor executes the computer program, the following steps are implemented: when the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold, determining that the positioning mode is to use GNSS for positioning, and controlling all The movable platform moves according to the GNSS positioning method; when the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, the positioning method is determined to be positioning by other systems, and the movable platform is controlled to follow Other systems perform positioning in the positioning mode to move.

Wherein, the movable platform includes an unmanned aerial vehicle.

Wherein, the other system includes a visual positioning system.

Wherein, the visual positioning system is a positioning system in which binocular vision and inertial measurement unit IMU are tightly coupled.

The present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the positioning method as described in any one of the preceding items. For a detailed description of the relevant content, please refer to the above method content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the aforementioned system, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the aforementioned system, such as an equipped plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, and so on.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the items listed in the associated and all possible combinations, and includes these combinations.

The above are only specific embodiments of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A positioning method, characterized in that the method is suitable for a movable platform, and the method includes:

Analyze global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters;

Analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio;

Determine the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio;

According to the final positioning quality data of the GNSS positioning result data, a positioning mode is determined, and the movable platform is controlled to move according to the determined positioning mode.
The method according to claim 1, wherein the analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio comprises:

The GNSS positioning result data is analyzed by using the highest signal-to-noise ratio of the currently searched satellite signal to obtain the first positioning quality data corresponding to the signal-to-noise ratio.
The method according to claim 1, wherein the analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio comprises:

The first difference is used to analyze the GNSS positioning result data to obtain the second positioning quality data corresponding to the signal-to-noise ratio. The first difference is the average signal-to-noise ratio of the highest four positioning satellites and the currently searched The difference between the highest signal-to-noise ratio of the satellite signal.
The method according to claim 1, wherein the analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio comprises:

The second difference is used to analyze the GNSS positioning result data to obtain the third positioning quality data corresponding to the signal-to-noise ratio. The second difference is the average signal-to-noise ratio of all positioning satellites and the currently searched satellite signal The difference between the highest signal-to-noise ratio.
The method according to claim 1, wherein the analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain the positioning quality data corresponding to the signal-to-noise ratio comprises:

Use at least two of the highest signal-to-noise ratio, the first difference and the second difference of the currently searched satellite signals to analyze the GNSS positioning result data to obtain the fourth positioning quality data corresponding to the signal-to-noise ratio The first difference is the difference between the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signals, and the second difference is the difference between all positioning satellites The difference between the average signal-to-noise ratio and the highest signal-to-noise ratio of the currently searched satellite signal.
The method according to claim 1, wherein the analyzing the GNSS positioning result data of a global navigation satellite system through positioning parameters to obtain positioning quality data corresponding to the positioning parameters comprises:

The GNSS positioning result data is analyzed through multiple positioning parameters to obtain positioning quality data corresponding to the multiple positioning parameters.
The method according to claim 6, wherein the determining the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio, include:

According to the positioning quality data corresponding to the signal-to-noise ratio, the positioning quality data corresponding to the multiple positioning parameters, the weight of the positioning quality data corresponding to the signal-to-noise ratio, and the weight of the positioning quality data corresponding to the multiple positioning parameters To determine the final positioning quality data of the GNSS positioning result data.
The method according to claim 1, wherein the positioning parameter includes at least one of the number of searched stars, a positioning accuracy factor, and a consistency difference between positioning position and speed.
The method according to claim 1, wherein the determining a positioning mode according to the final positioning quality data of the GNSS positioning result data, and controlling the movable platform to move according to the determined positioning mode, comprises:

When the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold, determining that the positioning mode is GNSS positioning, and controlling the movable platform to move according to the positioning mode of GNSS positioning;

When the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, it is determined that the positioning mode is positioning using other systems, and the movable platform is controlled to move in accordance with the positioning mode of other systems.
The method of claim 9, wherein the movable platform comprises an unmanned aerial vehicle.
The method of claim 10, wherein the other system includes a visual positioning system.
The method according to claim 11, wherein the visual positioning system is a positioning system in which binocular vision and an inertial measurement unit (IMU) are tightly coupled.
A positioning system, characterized in that the system is suitable for a movable platform, and the system includes: a memory and a processor;

The memory is used to store a computer program;

The processor is used to execute the computer program and when executing the computer program, implement the following steps:

Analyze global navigation satellite system GNSS positioning result data through positioning parameters to obtain positioning quality data corresponding to the positioning parameters;

Analyzing the GNSS positioning result data based on the signal-to-noise ratio of the satellite signal to obtain positioning quality data corresponding to the signal-to-noise ratio;

Determine the final positioning quality data of the GNSS positioning result data according to the positioning quality data corresponding to the positioning parameters and the positioning quality data corresponding to the signal-to-noise ratio;

According to the final positioning quality data of the GNSS positioning result data, a positioning mode is determined, and the movable platform is controlled to move according to the determined positioning mode.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

The GNSS positioning result data is analyzed by using the highest signal-to-noise ratio of the currently searched satellite signal to obtain the first positioning quality data corresponding to the signal-to-noise ratio.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

The first difference is used to analyze the GNSS positioning result data to obtain the second positioning quality data corresponding to the signal-to-noise ratio. The first difference is the average signal-to-noise ratio of the highest four positioning satellites and the currently searched The difference between the highest signal-to-noise ratio of the satellite signal.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

The second difference is used to analyze the GNSS positioning result data to obtain the third positioning quality data corresponding to the signal-to-noise ratio. The second difference is the average signal-to-noise ratio of all positioning satellites and the currently searched satellite signal The difference between the highest signal-to-noise ratio.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

Use at least two of the highest signal-to-noise ratio, the first difference and the second difference of the currently searched satellite signals to analyze the GNSS positioning result data to obtain the fourth positioning quality data corresponding to the signal-to-noise ratio , The first difference is the difference between the average signal-to-noise ratio of the highest four positioning satellites and the highest signal-to-noise ratio of the currently searched satellite signals, and the second difference is the difference between all positioning satellites The difference between the average signal-to-noise ratio and the highest signal-to-noise ratio of the currently searched satellite signal.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

The GNSS positioning result data is analyzed through multiple positioning parameters to obtain positioning quality data corresponding to the multiple positioning parameters.
The system according to claim 18, wherein the processor implements the following steps when executing the computer program:

According to the positioning quality data corresponding to the signal-to-noise ratio, the positioning quality data corresponding to the multiple positioning parameters, the weight of the positioning quality data corresponding to the signal-to-noise ratio, and the weight of the positioning quality data corresponding to the multiple positioning parameters To determine the final positioning quality data of the GNSS positioning result data.
The system according to claim 13, wherein the positioning parameter includes at least one of the number of searched stars, a positioning accuracy factor, and a consistency difference between positioning position and speed.
The system according to claim 13, wherein the processor implements the following steps when executing the computer program:

When the final positioning quality data of the GNSS positioning result data is greater than or equal to the positioning quality threshold, determining that the positioning mode is GNSS positioning, and controlling the movable platform to move according to the positioning mode of GNSS positioning;

When the final positioning quality data of the GNSS positioning result data is less than the positioning quality threshold, it is determined that the positioning mode is positioning using other systems, and the movable platform is controlled to move in accordance with the positioning mode of other systems.
The system of claim 21, wherein the movable platform comprises an unmanned aerial vehicle.
The system of claim 22, wherein the other system includes a visual positioning system.
The system according to claim 23, wherein the visual positioning system is a positioning system in which binocular vision and an inertial measurement unit (IMU) are tightly coupled.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes any one of claims 1-12. The positioning method.