CN104395778A - Unmanned airplane positioning method and unmanned airplane, personal wireless terminal, positioning system - Google Patents
Unmanned airplane positioning method and unmanned airplane, personal wireless terminal, positioning system Download PDFInfo
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- CN104395778A CN104395778A CN201480000642.XA CN201480000642A CN104395778A CN 104395778 A CN104395778 A CN 104395778A CN 201480000642 A CN201480000642 A CN 201480000642A CN 104395778 A CN104395778 A CN 104395778A
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- Prior art keywords
- wireless terminal
- unmanned plane
- positioning system
- personal wireless
- system information
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
Abstract
The present invention discloses an unmanned airplane positioning method and an unmanned airplane, a personal wireless terminal, a positioning system. The unmanned airplane positioning method comprises establishing a connection with the wireless terminal of one person; obtaining the assisted-global positioning system information from the personal wireless terminal; and realizing the positioning function based on the assisted-global positioning system information. In this way, the present invention is capable of increasing the positioning speed of the unmanned airplane without increasing the manufacturing cost of the unmanned airplane.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of localization method and unmanned plane, personal wireless terminal, positioning system of unmanned plane.
Background technology
Unmanned spacecraft is called for short " unmanned plane ", and GPS location is the gordian technique in unmanned plane field, and the functions such as fixed point is maked a return voyage, tramp-liner automatic cruising all depend on effective GPS locating information.GPS location first time, when starting, must be started from scratch and accept the signal of gps satellite, progressively analyzes the frequency of the satellite of every transmission signal on the current crown, is what numbering, running orbit, the final locking satellite of ability; Lock satellite, GPS terminal could locate oneself position.So first time location slowly, generally will at open ground 2-3 minute, and place that is indoor or poor signal, within several hours, all not necessarily locate.
Once GPS terminal is located successfully, in the internal memory of GPS receiving chip, generally can retain always/upgrade following data: 1. the longitude and latitude of last location; 2. the position of these satellites within the quantity of last overhead, position location satellite and track and prediction four hours.After GPS shutdown or lossing signal, again start when receiving satellite-signal, just can not spend calculating satellite orbit, as long as simply adjust pairing, just can locking satellite, quick position.This shutdown start that namely why GPS is of short duration, the cause that the speed of again locating is all very fast.
But twice departure time interval and space interval all may be larger in unmanned plane application, thus it is all so slow as first time location to cause each GPS of unmanned plane to locate.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of localization method and unmanned plane, personal wireless terminal, positioning system of unmanned plane, can accelerate unmanned plane locating speed.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: the localization method providing a kind of unmanned plane, described method comprises: described unmanned plane and a personal wireless terminal connect, and obtains auxiliary global satellite positioning system information from described personal wireless terminal; Described unmanned plane positions according to described auxiliary global satellite positioning system information.
Wherein, the step that described unmanned plane and personal wireless terminal connect comprises: described unmanned plane is accessed by WiFi, bluetooth, 4G LTE, worldwide interoperability for microwave, any one and described personal wireless terminal in self-defining modulation system or communications protocol connects.
Wherein, described auxiliary global satellite positioning system information is obtained from base station by cellular network by described personal wireless terminal.
For solving the problems of the technologies described above, another technical solution used in the present invention is: the localization method providing a kind of unmanned plane, and described method comprises: personal wireless terminal obtains auxiliary global satellite positioning system information from base station; Described auxiliary global satellite positioning system information is sent to the unmanned plane be connected with described personal wireless terminal, position according to described auxiliary global satellite positioning system information to make described unmanned plane.
Wherein, the step that described personal wireless terminal obtains auxiliary global satellite positioning system information from base station comprises: described personal wireless terminal obtains auxiliary global satellite positioning system information by cellular network from base station.
For solving the problems of the technologies described above, a technical scheme in addition provided by the invention is: provide a kind of unmanned plane, described unmanned plane comprises acquisition module and locating module, wherein: described acquisition module is used for after described unmanned plane and personal wireless terminal connect, auxiliary global satellite positioning system information is obtained from described personal wireless terminal; The described auxiliary global satellite positioning system information that described locating module is used for obtaining according to described acquisition module positions.
Wherein, described unmanned plane is connected by any one in WiFi, bluetooth, 4G LTE, worldwide interoperability for microwave access, self-defining modulation system or communications protocol and described personal wireless terminal.
For solving the problems of the technologies described above, provided by the invention also have a technical scheme: provide a kind of personal wireless terminal, described personal wireless terminal comprises acquisition module and sending module, wherein: described acquisition module is used for obtaining auxiliary global satellite positioning system information from base station; The described auxiliary global satellite positioning system information that described sending module is used for described acquisition module obtains sends to the unmanned plane be connected with described personal wireless terminal, positions according to described auxiliary global satellite positioning system information to make described unmanned plane.
Wherein, described acquisition module obtains described auxiliary global satellite positioning system information by cellular network from base station.
For solving the problems of the technologies described above, another technical scheme provided by the invention is: provide a kind of positioning system, and described positioning system comprises above-mentioned unmanned plane and above-mentioned personal wireless terminal.
The invention has the beneficial effects as follows: the situation being different from prior art, the present invention obtains auxiliary global satellite positioning system information by personal wireless terminal, unmanned plane obtains auxiliary global satellite positioning system information from connected personal wireless terminal, then positions according to auxiliary global satellite positioning system information.By such mode, do not need to increase manufacture, use cost, can realize the quick position of unmanned plane yet.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the localization method of the first unmanned plane that the embodiment of the present invention provides;
Fig. 2 is the process flow diagram of the localization method of the second unmanned plane that the embodiment of the present invention provides;
Fig. 3 is the structural representation of the first unmanned plane that the embodiment of the present invention provides;
Fig. 4 is the structural representation of the first personal wireless terminal that the embodiment of the present invention provides.
Embodiment
Refer to Fig. 1, Fig. 1 is the process flow diagram of the localization method of the first unmanned plane that the embodiment of the present invention provides, and the present embodiment is described with the angle of unmanned plane, and the localization method of the unmanned plane of the present embodiment comprises:
S101: unmanned plane and a personal wireless terminal connect, obtains auxiliary global satellite positioning system information from personal wireless terminal;
Wherein, in the embodiment of the present invention, the mode that unmanned plane and a personal wireless terminal connect can be, but not limited to be any one mode being accessed (WIMAX, Worldwide Interoperability for Microwave Access), self-defining modulation system or communications protocol by WiFi, bluetooth, 4G LTE, worldwide interoperability for microwave.
Auxiliary global satellite positioning system information (Assisted Global Positioning System, AGPS) be locate in conjunction with GSM/GPRS and conventional satellite, base station generation is utilized to send assistance satellite information, to reduce the time delay that GPS chip obtains satellite-signal, the indoor hidden also can borrow base station signal to make up, and alleviate the dependency degree of GPS chip to satellite.
AGPS can accelerate GPS locating speed.AGPS is by cellular radio communication network real-time update GPS ephemeris, the base station of cellular radio communication network connects with AGPS server, AGPS server saves the complete track data of satellite, base station connects with AGPS server, just can obtain the ephemeris of present position, base station (longitude and latitude of base station is all have record), so again these different data are passed through GSM, the agreements such as CDMA are dealt on wireless terminal, real-time renewal GPS ephemeris, such GPS locating speed and precision all have greatly improved.In any place having cellular radio signal, the ephemeris information of wireless terminal locality can be told in local base station, no longer worries the Problem of Failure of ephemeris.
The advantage of AGPS auxiliary positioning is the time of catching gps signal first generally only need several seconds, unlike the capture time first 2 ~ 3 minutes possibly of GPS.
The localization method of unmanned plane of the present invention, by personal wireless terminal as mobile phone, panel computer, notebook computer or PDA etc., obtain AGPS information from base station, then unmanned plane is by being connected with personal wireless terminal, obtain AGPS information from personal wireless terminal, position with auxiliary.
Wherein, AGPS information can be personal wireless terminal by cellular network as cellular radio, wired, WiFi etc. obtain from base station.
S102: unmanned plane positions according to auxiliary global satellite positioning system information;
After unmanned plane obtains AGPS information from personal wireless terminal, position according to AGPS information is auxiliary.
By the elaboration of the above embodiments, be appreciated that, the localization method embodiment of unmanned plane of the present invention, auxiliary global satellite positioning system information is obtained by personal wireless terminal, unmanned plane obtains auxiliary global satellite positioning system information from connected personal wireless terminal, then positions according to auxiliary global satellite positioning system information.By such mode, do not need to increase manufacture, use cost, can realize the quick position of unmanned plane yet.
Refer to Fig. 2, Fig. 2 is the process flow diagram of the localization method of the second unmanned plane that the embodiment of the present invention provides, and the present embodiment is described with the angle of personal wireless terminal, and the localization method of the unmanned plane of the present embodiment comprises:
S201: personal wireless terminal obtains auxiliary global satellite positioning system information from base station;
Personal wireless terminal, as mobile phone, panel computer, notebook computer or PDA etc., obtains AGPS information from base station.
Wherein, AGPS information can be personal wireless terminal by cellular network as cellular radio, wired, WiFi etc. obtain from base station.
S202: auxiliary global satellite positioning system information is sent to the unmanned plane be connected with personal wireless terminal, positions according to auxiliary global satellite positioning system information to make unmanned plane;
Personal wireless terminal by the AGPS obtained from base station by being wirelessly sent to connected unmanned plane.Wherein, unmanned plane can be, but not limited to be connected with personal wireless terminal by any one mode of WiFi, bluetooth, 4G LTE, WIMAX, self-defining modulation system or communications protocol.
Unmanned plane positions according to AGPS information is auxiliary.
Refer to Fig. 3, Fig. 3 is the structural representation of the first unmanned plane that the embodiment of the present invention provides, and the unmanned plane 100 of the present embodiment comprises acquisition module 11 and locating module 12, wherein:
Acquisition module 11, for after unmanned plane and personal wireless terminal connect, obtains auxiliary global satellite positioning system information from personal wireless terminal;
Wherein, in the embodiment of the present invention, the mode that unmanned plane and personal wireless terminal connect can be, but not limited to be any one mode by WiFi, bluetooth, 4G LTE, WIMAX, self-defining modulation system or communications protocol.
Auxiliary global satellite positioning system information (Assisted Global Positioning System, AGPS) be locate in conjunction with GSM/GPRS and conventional satellite, base station generation is utilized to send assistance satellite information, to reduce the time delay that GPS chip obtains satellite-signal, the indoor hidden also can borrow base station signal to make up, and alleviate the dependency degree of GPS chip to satellite.
AGPS can accelerate GPS locating speed.AGPS is by cellular radio communication network real-time update GPS ephemeris, the base station of cellular radio communication network connects with AGPS server, AGPS server saves the complete track data of satellite, base station connects with AGPS server, just can obtain the ephemeris of present position, base station (longitude and latitude of base station is all have record), so again these different data are passed through GSM, the agreements such as CDMA are dealt on wireless terminal, real-time renewal GPS ephemeris, such GPS locating speed and precision all have greatly improved.In any place having cellular radio signal, the ephemeris information of wireless terminal locality can be told in local base station, no longer worries the Problem of Failure of ephemeris.
The advantage of AGPS auxiliary positioning is the time of catching gps signal first generally only need several seconds, unlike the capture time first 2 ~ 3 minutes possibly of GPS.
Wherein, AGPS information can be personal wireless terminal by cellular network as cellular radio, wired, WiFi etc. obtain from base station.
Locating module 12 positions for the auxiliary global satellite positioning system information obtained according to acquisition module 11.
After acquisition module 11 obtains AGPS information from personal wireless terminal, the AGPS information that locating module 12 obtains according to acquisition module 11, assists and positions.
Refer to Fig. 4, Fig. 4 is the structural representation of the first personal wireless terminal that the embodiment of the present invention provides, and the personal wireless terminal 200 of the present embodiment comprises acquisition module 21 and sending module 22, wherein:
Obtain module 21 for obtaining auxiliary global satellite positioning system information from base station;
Wherein, obtaining module 21 can by cellular network as cellular radio, wired, WiFi etc. obtains AGPS information from base station.
Sending module 22 sends to for auxiliary global satellite positioning system information acquisition module 21 obtained the unmanned plane be connected with personal wireless terminal, positions according to auxiliary global satellite positioning system information to make unmanned plane.
The AGPS information that acquisition module 21 obtains by sending module 22 is by being wirelessly sent to the unmanned plane be connected with personal wireless terminal.Wherein, unmanned plane can be, but not limited to be connected with personal wireless terminal by any one mode of WiFi, bluetooth, 4G LTE, WIMAX, self-defining modulation system or communications protocol.
Unmanned plane, according to the AGPS information received from personal wireless terminal, is assisted and is positioned.
On the unmanned plane provided in the invention described above embodiment and the basis of personal wireless terminal, the embodiment of the present invention provides a kind of positioning system further, and this positioning system comprises unmanned plane and the personal wireless terminal of above-described embodiment.Wherein, the functional realiey process of unmanned plane and personal wireless terminal refers to the detailed description of above-described embodiment, does not repeat them here.
The localization method of the unmanned plane that the above embodiment of the present invention provides, unmanned plane, personal wireless terminal, positioning system, be appreciated that, the present invention obtains auxiliary global satellite positioning system information by personal wireless terminal, unmanned plane obtains auxiliary global satellite positioning system information from connected personal wireless terminal, then positions according to auxiliary global satellite positioning system information.Because AGPS auxiliary positioning makes one aspect of the present invention can improve the accuracy of unmanned plane location, accelerate unmanned plane locating speed on the other hand.
In addition, the present invention sends to unmanned plane again by obtaining AGPS information with the personal wireless terminal of unmanned plane wireless connections, and therefore not needing increases the quick position that unmanned plane manufacturing cost and use cost also can realize unmanned plane.
In several embodiment provided by the present invention, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a localization method for unmanned plane, is characterized in that, described method comprises:
Described unmanned plane and a personal wireless terminal connect, and obtain auxiliary global satellite positioning system information from described personal wireless terminal;
Described unmanned plane positions according to described auxiliary global satellite positioning system information.
2. method according to claim 1, is characterized in that, the step that described unmanned plane and personal wireless terminal connect comprises:
Described unmanned plane is connected by any one in WiFi, bluetooth, 4G LTE, worldwide interoperability for microwave access, self-defining modulation system or communications protocol and described personal wireless terminal.
3. method according to claim 1, is characterized in that, described auxiliary global satellite positioning system information is obtained from base station by cellular network by described personal wireless terminal.
4. a localization method for unmanned plane, is characterized in that, described method comprises:
Personal wireless terminal obtains auxiliary global satellite positioning system information from base station;
Described auxiliary global satellite positioning system information is sent to the unmanned plane be connected with described personal wireless terminal, position according to described auxiliary global satellite positioning system information to make described unmanned plane.
5. localization method according to claim 4, it is characterized in that, described personal wireless terminal obtains auxiliary global satellite positioning system information step from base station comprises: described personal wireless terminal obtains auxiliary global satellite positioning system information by cellular network from base station.
6. a unmanned plane, is characterized in that, described unmanned plane comprises acquisition module and locating module, wherein:
Described acquisition module is used for after described unmanned plane and a personal wireless terminal connect, and obtains auxiliary global satellite positioning system information from described personal wireless terminal;
The described auxiliary global satellite positioning system information that described locating module is used for obtaining according to described acquisition module positions.
7. unmanned plane according to claim 6, is characterized in that, described unmanned plane is connected by any one in WiFi, bluetooth, 4G LTE, worldwide interoperability for microwave access, self-defining modulation system or communications protocol and described personal wireless terminal.
8. a personal wireless terminal, is characterized in that, described personal wireless terminal comprises acquisition module and sending module, wherein:
Described acquisition module is used for obtaining auxiliary global satellite positioning system information from base station;
The described auxiliary global satellite positioning system information that described sending module is used for described acquisition module obtains sends to the unmanned plane be connected with described personal wireless terminal, positions according to described auxiliary global satellite positioning system information to make described unmanned plane.
9. personal wireless terminal according to claim 8, is characterized in that, described acquisition module obtains described auxiliary global satellite positioning system information by cellular network from base station.
10. a positioning system, is characterized in that, described positioning system comprises the unmanned plane described in any one of claim 6-7 and the personal wireless terminal described in any one of claim 8-9.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/073241 WO2015135144A1 (en) | 2014-03-11 | 2014-03-11 | Method for positioning unmanned aerial vehicle, unmanned aerial vehicle, personal wireless terminal, and positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104395778A true CN104395778A (en) | 2015-03-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201480000642.XA Pending CN104395778A (en) | 2014-03-11 | 2014-03-11 | Unmanned airplane positioning method and unmanned airplane, personal wireless terminal, positioning system |
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| CN (1) | CN104395778A (en) |
| WO (1) | WO2015135144A1 (en) |
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| CN104931025A (en) * | 2015-05-20 | 2015-09-23 | 东北电力大学 | Drawing coordinate positioning system for civil construction process |
| CN106483499A (en) * | 2016-09-21 | 2017-03-08 | 深圳智航无人机有限公司 | Unmanned plane alignment system and unmanned plane take off, landing method |
| CN106483538A (en) * | 2016-09-29 | 2017-03-08 | 广东乐心医疗电子股份有限公司 | Positioning method of positioning terminal and positioning terminal |
| CN106772447A (en) * | 2015-11-13 | 2017-05-31 | 鹦鹉无人机股份有限公司 | Almanac data is loaded into unmanned plane |
| CN107024940A (en) * | 2016-01-29 | 2017-08-08 | 中国移动通信集团贵州有限公司 | A kind of automatic cruising system, method and terminal |
| CN108401501A (en) * | 2017-12-08 | 2018-08-14 | 北京小米移动软件有限公司 | Data transmission method, device and unmanned plane |
| WO2019028791A1 (en) * | 2017-08-10 | 2019-02-14 | 华为技术有限公司 | Method for positioning unmanned aerial vehicle, and server |
| CN112492520A (en) * | 2020-12-15 | 2021-03-12 | 北京百度网讯科技有限公司 | Positioning method, device, equipment and storage medium |
| WO2021081815A1 (en) * | 2019-10-30 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Video transmission method and device, and computer-readable storage medium |
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| CN112492520A (en) * | 2020-12-15 | 2021-03-12 | 北京百度网讯科技有限公司 | Positioning method, device, equipment and storage medium |
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| WO2015135144A1 (en) | 2015-09-17 |
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Application publication date: 20150304 |