CN106908822A - Unmanned plane positioning changing method, device and unmanned plane - Google Patents
Unmanned plane positioning changing method, device and unmanned plane Download PDFInfo
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- CN106908822A CN106908822A CN201710148831.7A CN201710148831A CN106908822A CN 106908822 A CN106908822 A CN 106908822A CN 201710148831 A CN201710148831 A CN 201710148831A CN 106908822 A CN106908822 A CN 106908822A
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of unmanned plane positioning changing method, device and unmanned plane, is related to unmanned plane field.Wherein by detecting the present level of unmanned plane, if present level is in the range of more than the first threshold value and less than the second threshold value, the second place information that the first position information and aided positioning system that then GPS is provided are provided is weighted treatment, as the positional information of unmanned plane, wherein the first threshold value is less than the second threshold value.By the way that GPS location and auxiliary positioning are carried out into data fusion within a predetermined range, so as to contribute to the location data smooth excessiveness that unmanned plane is used before and after positioning method switching, there is larger shake so as to avoid location data while positioning precision is ensured, it is ensured that the flight safety of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of unmanned plane positioning changing method, device and unmanned plane.
Background technology
Traditional unmanned plane positioning is generally fixed using GPS (Global Positioning System, global positioning system)
Realize position.However, apart from the closer place in ground (such as unmanned plane landing point), gps signal is highly susceptible to periphery
Object is blocked, and causes that positioning is inaccurate, and even with precision Differential GPS Technology higher, this problem cannot also be avoided.Cause
This only relies on GPS location cannot meet the positioning requirements of unmanned plane.
With the development of indoor wireless location technology, its precision can reach a centimetre rank.Therefore can be located in unmanned plane
High-precision positioning service is provided when near drop point.
Current unmanned plane generally by the way of simple switching, i.e., is set when using aided positioning system at certain
Aided positioning system is used below height, GPS location is used more than the height.However, due to GPS location and auxiliary positioning it
Between there is certain deviation, therefore before and after using this switching mode, the location data that unmanned plane is used can occur compared with
Big shake, this brings hidden danger to the flight safety of unmanned plane.
The content of the invention
The embodiment of the present invention provides a kind of unmanned plane positioning changing method, device and unmanned plane, by within a predetermined range
GPS location and auxiliary positioning are carried out into data fusion, so as to determining of contributing to the unmanned plane before and after positioning method switching to be used
, there is larger shake so as to avoid location data while positioning precision is ensured, it is ensured that unmanned plane in position data smooth excessiveness
Flight safety.
According to an aspect of the present invention, there is provided a kind of unmanned plane positions changing method, including：
Detect the present level of unmanned plane；
If present level is in the range of more than the first threshold value and less than the second threshold value, by global positioning system
The second place information that the first position information and aided positioning system that GPS is provided are provided is weighted treatment, as nothing
Man-machine positional information, wherein the first threshold value is less than the second threshold value.
In one embodiment, if present level is not more than the first threshold value, second that aided positioning system is provided
Positional information as unmanned plane positional information.
In one embodiment, if present level is not less than the second threshold value, the first position information that GPS is provided is made
It is the positional information of unmanned plane.
In one embodiment, the first position information and aided positioning system for global position system GPS being provided are carried
The second place information of confession is weighted treatment to be included：
Determine that GPS provides first bit-weight and aided positioning system of first position information and provides the second place
Second bit-weight of information；
Using the first bit-weight and the second bit-weight, the weighted sum of first position information and the second place is calculated.
In one embodiment, determine that GPS provides the first bit-weight and the auxiliary positioning system of first position information
The second bit-weight that system provides second place information includes：
Calculate GPS location error；
Normalized first positioning precision is obtained using GPS location error；
The signal quality information for providing second place information using aided positioning system obtains normalized second positioning
Precision；
First positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the first bit-weight；
Second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.
In one embodiment, calculating GPS location error includes：
From the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision；
By the quadratic sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision
Arithmetic square root is used as GPS location error.
In one embodiment, obtaining normalized first positioning precision using GPS location error includes：
The inverse of GPS location error is normalized operation, to obtain normalized first positioning precision.
According to another aspect of the present invention, there is provided a kind of unmanned plane positions switching device, including：
Information receiving module, the first position information provided for receiving world locational system GPS and auxiliary positioning system
The second place information that system is provided；
Height detection module, the present level for detecting unmanned plane；
Level identification module, for judging present level whether more than the first threshold value and less than the model of the second threshold value
In enclosing, wherein the first threshold value is less than the second threshold value；
First locating module, for the judged result according to level identification module, if present level is more than the first thresholding
Value and less than the second threshold value in the range of, then by global position system GPS provide first position information and auxiliary positioning
The second place information that system is provided is weighted treatment, as the positional information of unmanned plane.
In one embodiment, the second locating module, for the judged result according to level identification module, if present level
No more than the first threshold value, then positional information of second place information aided positioning system being provided as unmanned plane.
In one embodiment, the 3rd locating module, for the judged result according to level identification module, if present level
Not less than the second threshold value, then positional information of the first position information for providing GPS as unmanned plane.
In one embodiment, the first locating module includes：
Weight determining unit, for determining that GPS provides first bit-weight and auxiliary positioning of first position information
System provides the second bit-weight of second place information；
Weighted sum computing unit, for utilize the first bit-weight and the second bit-weight, calculate first position information and
The weighted sum of the second place.
In one embodiment, weight determining unit specifically calculates GPS location error, is returned using GPS location error
One the first positioning precision changed, the signal quality information for providing second place information using aided positioning system is normalized
The second positioning precision, the ratio that the first positioning precision and the first positioning precision add the second positioning precision sum is determined as first
Position weight, the second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.
In one embodiment, weight determining unit specifically divides from the satellite reception horizontal component positioning precision factor, vertically
Amount the positioning precision factor and clock correction dilution of precision, by the horizontal component positioning precision factor, the vertical component positioning precision factor with
And the arithmetic square root of the quadratic sum of clock correction dilution of precision is used as GPS location error.
In one embodiment, the inverse of GPS location error is specifically normalized operation by weight determining unit, with
To normalized first positioning precision.
According to another aspect of the present invention, there is provided a kind of unmanned plane positions switching device, including：
Memory；And
The processor of memory is coupled to, processor is configured as the instruction based on storage in memory, performs as above
State the unmanned plane positioning changing method that any embodiment is related to.
According to another aspect of the present invention, there is provided a kind of unmanned plane, including such as above-mentioned any embodiment the unmanned plane being related to
Positioning switching device.
According to another aspect of the present invention, there is provided a kind of computer-readable recording medium, wherein computer-readable storage medium
Matter is stored with computer instruction, and instruction is when executed by realizing that the unmanned plane being related to such as above-mentioned any embodiment positions switching
Method.
By referring to the drawings to the detailed description of exemplary embodiment of the invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is the schematic diagram that unmanned plane of the present invention positions changing method one embodiment.
Fig. 2 is the schematic diagram that unmanned plane of the present invention positions another embodiment of changing method.
Fig. 3 is the schematic diagram of present invention weighting treatment one embodiment.
Fig. 4 is the schematic diagram that unmanned plane of the present invention positions switching device one embodiment.
Fig. 5 is the schematic diagram that unmanned plane of the present invention positions another embodiment of switching device.
Fig. 6 is the schematic diagram of the first locating module one embodiment of the invention.
Fig. 7 is the schematic diagram that unmanned plane of the present invention positions the another embodiment of switching device.
Fig. 8 is the schematic diagram of unmanned plane one embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, and never conduct is to the present invention and its application or makes
Any limitation.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step for otherwise illustrating in these embodiments
Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
Fig. 1 is the schematic diagram that unmanned plane of the present invention positions changing method one embodiment.Alternatively, the method for the present embodiment
Step can be performed by unmanned plane positioning switching device.Wherein：
Step 101, detects the present level of unmanned plane.
For example, unmanned plane can determine present level according to framing signal.Due to how to determine unmanned plane present level simultaneously
It is not inventive point place of the invention, therefore does not launch description here.
Step 102, if present level is in the range of more than the first threshold value and less than the second threshold value, will the whole world it is fixed
The second place information that the first position information and aided positioning system that position system GPS is provided are provided is weighted treatment, with
As the positional information of unmanned plane, wherein the first threshold value is less than the second threshold value.
Wherein, aided positioning system can be wireless location system, for example bluetooth alignment system, WLAN positioning system
System or narrow bandwidth alignment system.Aided positioning system can also be vision aided positioning system.
For example, treatment can be weighted according to formula (1).
P=Qg × Pg+Qw × Pw (1)
Wherein, P represents the position of the unmanned plane after weighting treatment, and Pg represents the first position information that GPS is provided, and Pw is represented
The second place information that aided positioning system is provided, Qg represents the bit-weight of GPS, and Qw represents the positioning power of aided positioning system
Weight.
Changing method is positioned based on the unmanned plane that the above embodiment of the present invention is provided, by within a predetermined range determining GPS
Position and auxiliary positioning carry out data fusion, so as to contribute to the location data that unmanned plane is used before and after positioning method switching to put down
, there is larger shake in degree of slipping over, it is ensured that the flight peace of unmanned plane so as to avoid location data while positioning precision is ensured
Entirely.
Fig. 2 is the schematic diagram that unmanned plane of the present invention positions another embodiment of changing method.Alternatively, the method for the present embodiment
Step can be performed by unmanned plane positioning switching device.Wherein：
Step 201, detects the present level of unmanned plane.
Whether step 202, judge present level more than the first threshold value.If present level is not more than the first threshold value,
Perform step 203；If present level is more than the first threshold value, step 204 is performed.
Step 203, positional information of the second place information that aided positioning system is provided as unmanned plane.
Whether step 204, judge present level less than the second threshold value.Wherein the first threshold value is less than the second threshold value.
If present level is not less than the second threshold value, step 205 is performed；If present level is less than the second threshold value, step is performed
206。
Step 205, positional information of the first position information that GPS is provided as unmanned plane.
The second place information that step 206, the first position information that GPS is provided and aided positioning system are provided is carried out
Weighting is processed, as the positional information of unmanned plane.
The second place that the above-mentioned first position information for providing global position system GPS and aided positioning system are provided
The step of information is weighted treatment is as shown in Figure 3.
Step 301, determines that GPS provides first bit-weight and aided positioning system of first position information and provided
Second bit-weight of second place information.
Alternatively, normalized first positioning precision can be obtained using GPS location error by calculating GPS location error；
The signal quality information for providing second place information using aided positioning system obtains normalized second positioning precision.
For example, the inverse of GPS location error can be normalized operation, to obtain normalized first positioning precision.
For example, can be from the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction essence
The degree factor, by the quadratic sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision
Arithmetic square root is used as GPS location error.
First positioning precision and the first positioning precision are added into the ratio of the second positioning precision sum as the first bit-weight,
Second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.
Step 302, using the first bit-weight and the second bit-weight, calculate first position information and the second place plus
Quan He.
For example, unmanned plane can obtain HDOP (horizontal dilution of precision, level point from satellite
The accuracy of measurement factor), VDOP (vertical dilution of precision, the vertical component positioning precision factor) and TDOP
(time dilution of precision) clock correction dilution of precision.Wherein, HDOP represents gps system positioning in the horizontal direction
Error, VDOP represents position error of the gps system in vertical direction, table offset error when TDOP represents unmanned plane.Unmanned plane root
PDOP (position dilution of precision, three-dimensional position dilution of precision), and further root are calculated according to formula (2)
Calculate GPS location error GDOP according to formula (3), i.e. by the horizontal component positioning precision factor, the vertical component positioning precision factor with
And the arithmetic square root of the quadratic sum of clock correction dilution of precision is used as GPS location error, wherein, GDOP can reflect the positioning of GPS
Precision.
HDOP2+VDOP2=PDOP2 (2)
PDOP2+TDOP2=GDOP2 (3)
By inverted to GDOP and normalize, normalization GPS location precision G ' is obtained.Additionally, unmanned plane is fixed to auxiliary
Position system signal quality information is normalized operation, obtains normalization auxiliary positioning precision R '.
Next, the bit-weight Qg of GPS and determining for aided positioning system can be determined according to formula (4) and formula (5)
Position weight Qw.
Qg=G '/(G '+R ') (4)
Qw=R '/(G '+R ') (5)
By the above formula, the bit-weight Qw of the bit-weight Qg of GPS and aided positioning system can be with returning
One changes GPS location precision G ' and normalizes the change of auxiliary positioning precision R ' and change.
For example, in the take-off process of unmanned plane, the aided positioning system signal intensity in Near Ground is stronger, there is provided
Positional accuracy it is high, therefore bit-weight Qw is larger.As unmanned plane is apart from the increase of ground level, aided positioning system letter
Number gradually weaken, confidence level reduction.Comparatively, gradually become open due to environment, gps signal quality gradually improves, and GPS is fixed
Position weight Qg increases.When unmanned plane reaches certain height, so that it may be smoothly transitted into using only GPS location.Therefore along with nothing
Man-machine take-off process, realizes the process that GPS is gradually switched to from aided positioning system.Conversely, aiding in determining in descent
The weight of position system can also be stepped up, and after unmanned plane is less than predetermined altitude, will be smoothly transitted into merely with auxiliary positioning
System is positioned.
Thus, the location data smooth excessiveness that unmanned plane is used before and after positioning method switching is can help to, so that
Ensure to avoid location data that larger shake occurs while positioning precision, it is ensured that the flight safety of unmanned plane.
Counted according to actual conditions, the method provided using the present embodiment can significantly improve the accurate positioning of unmanned plane
Property, the desired position precision of unmanned plane can be reached within 10cm, and average positioning precision can be reached within 20cm.
Fig. 4 is the schematic diagram that unmanned plane of the present invention positions switching device one embodiment.Wherein, unmanned plane positioning switching dress
Putting may include information receiving module 401, height detection module 402, the locating module 404 of level identification module 403 and first, its
In：
Information receiving module 401 is used for the first position information and auxiliary positioning that receiving world locational system GPS is provided
The second place information that system is provided.
Height detection module 402 is used to detect the present level of unmanned plane.
Whether level identification module 403 is used to judge present level more than the first threshold value and less than the second threshold value
In the range of, wherein the first threshold value is less than the second threshold value.
First locating module 404 is used for the judged result according to level identification module 403, if present level is more than first
Threshold value and less than the second threshold value in the range of, then by global position system GPS provide first position information and auxiliary
The second place information that alignment system is provided is weighted treatment, as the positional information of unmanned plane.
Switching device is positioned based on the unmanned plane that the above embodiment of the present invention is provided, by within a predetermined range determining GPS
Position and auxiliary positioning carry out data fusion, so as to contribute to the location data that unmanned plane is used before and after positioning method switching to put down
, there is larger shake in degree of slipping over, it is ensured that the flight peace of unmanned plane so as to avoid location data while positioning precision is ensured
Entirely.
Fig. 5 is the schematic diagram that unmanned plane of the present invention positions another embodiment of switching device.Compared with embodiment illustrated in fig. 4,
In the embodiment shown in fig. 5, except including information receiving module 501, height detection module 502, level identification module 503 and first
Outside locating module 504, also including the second locating module 505 and the 3rd locating module 506.Wherein：
Second locating module 505 is used for the judged result according to level identification module 503, if present level is not more than first
Threshold value, then positional information of second place information aided positioning system being provided as unmanned plane.
3rd locating module 506 is used for the judged result according to level identification module 503, if present level is not less than second
Threshold value, then positional information of first position information GPS being provided as unmanned plane.
As shown in fig. 6, in the above-described embodiments, the first locating module 404,504 can further include weight determining unit
601 and weighted sum computing unit 602, wherein：
Weight determining unit 601 is used to determine that GPS provides the first bit-weight of first position information and aids in determining
Position system provides the second bit-weight of second place information.
Alternatively, weight determining unit 601 specifically calculates GPS location error, obtains normalized using GPS location error
First positioning precision, the signal quality information for providing second place information using aided positioning system obtains normalized second
Positioning precision, the first positioning precision and the first positioning precision is added the ratio of the second positioning precision sum weighed as the first positioning
Weight, the second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.
Wherein, weight determining unit 601 can be from the satellite reception horizontal component positioning precision factor, vertical component positioning precision
The factor and clock correction dilution of precision, by the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction precision
The arithmetic square root of the quadratic sum of the factor is used as GPS location error.
Additionally, the inverse of GPS location error can be also normalized operation by weight determining unit 601, to obtain normalizing
The first positioning precision changed.
Weighted sum computing unit 602 is used to utilize the first bit-weight and the second bit-weight, calculates first position information
With the weighted sum of the second place.
Fig. 7 is the schematic diagram that unmanned plane of the present invention positions the another embodiment of switching device.As shown in fig. 7, unmanned plane is positioned
Switching device includes memory 701 and processor 702.Wherein：
Memory 701 is used for store instruction, and processor 702 is coupled to memory 701, and processor 702 is configured as being based on
The instruction of memory storage performs the method for realizing being related to such as any embodiment in Fig. 1-Fig. 3.
As shown in fig. 7, books contour extraction apparatus also include communication interface 703, handed over for entering row information with miscellaneous equipment
Mutually.Meanwhile, the device also includes bus 704, and processor 702, communication interface 703 and memory 701 are complete by bus 704
Into mutual communication.
Memory 701 can include high-speed RAM memory, also can also include nonvolatile memory (non-volatile
Memory), for example, at least one magnetic disk storage.Memory 701 can also be memory array.Memory 701 be also possible to by
Piecemeal, and block can be combined into virtual volume by certain rule.
Additionally, processor 702 can be a central processor CPU, or it can be application-specific integrated circuit ASIC
(Application Specific Integrated Circuit), or be arranged to implement the one of the embodiment of the present invention
Individual or multiple integrated circuits.
Fig. 8 is the schematic diagram of unmanned plane one embodiment of the present invention.As shown in figure 8, unmanned plane 801 includes that unmanned plane is determined
Position switching device 802, wherein unmanned plane positioning switching device 802 are positioned for the unmanned plane that any embodiment in Fig. 4-Fig. 7 is related to
Switching device.
Present invention additionally comprises a kind of computer-readable recording medium, computer instruction is stored thereon with, the instruction is processed
Device realizes the unmanned plane positioning changing method in foregoing any one embodiment when performing.
By implementing the present invention, by the way that GPS location and auxiliary positioning are carried out into data fusion within a predetermined range, so as to have
Help the location data smooth excessiveness that unmanned plane is used before and after positioning method switching, so as to while positioning precision is ensured
Avoid location data that larger shake occurs, it is ensured that the flight safety of unmanned plane.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the present invention can be used and wherein include the computer of computer usable program code at one or more
The calculating implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Description of the invention is given for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art obvious.Select and retouch
State embodiment and be to more preferably illustrate principle of the invention and practical application, and one of ordinary skill in the art is managed
The solution present invention is suitable to the various embodiments with various modifications of special-purpose so as to design.
Claims (17)
1. a kind of unmanned plane positions changing method, it is characterised in that including：
Detect the present level of unmanned plane；
If the present level is in the range of more than the first threshold value and less than the second threshold value, by global positioning system
The second place information that the first position information and aided positioning system that GPS is provided are provided is weighted treatment, as institute
The positional information of unmanned plane is stated, wherein the first threshold value is less than the second threshold value.
2. method according to claim 1, it is characterised in that
If the present level is not more than the first threshold value, the second place information that aided positioning system is provided is used as described
The positional information of unmanned plane.
3. method according to claim 1, it is characterised in that
If the present level is not less than the second threshold value, using the first position information of GPS offers as the unmanned plane
Positional information.
4. the method according to any one of claim 1-3, it is characterised in that
The second place information that the first position information and aided positioning system that global position system GPS is provided are provided is carried out
Weighting treatment includes：
Determine that GPS provides first bit-weight and aided positioning system of first position information and provides second place information
The second bit-weight；
Using the first bit-weight and the second bit-weight, the weighted sum of first position information and the second place is calculated.
5. method according to claim 4, it is characterised in that
Determine that GPS provides first bit-weight and aided positioning system of first position information and provides second place information
The second bit-weight include：
Calculate GPS location error；
Normalized first positioning precision is obtained using GPS location error；
The signal quality information for providing second place information using aided positioning system obtains normalized second positioning precision；
First positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the first bit-weight；
Second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.
6. method according to claim 5, it is characterised in that
Calculating GPS location error includes：
From the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision；
By the arithmetic of the quadratic sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision
Square root is used as GPS location error.
7. method according to claim 5, it is characterised in that
Obtaining normalized first positioning precision using GPS location error includes：
The inverse of GPS location error is normalized operation, to obtain normalized first positioning precision.
8. a kind of unmanned plane positions switching device, it is characterised in that including：
Information receiving module, the first position information and aided positioning system provided for receiving world locational system GPS is carried
The second place information of confession；
Height detection module, the present level for detecting unmanned plane；
Level identification module, for judging the present level whether more than the first threshold value and less than the model of the second threshold value
In enclosing, wherein the first threshold value is less than the second threshold value；
First locating module, for the judged result according to level identification module, if the present level is more than the first thresholding
Value and less than the second threshold value in the range of, then by global position system GPS provide first position information and auxiliary positioning
The second place information that system is provided is weighted treatment, as the positional information of the unmanned plane.
9. device according to claim 8, it is characterised in that also include：
Second locating module, for the judged result according to level identification module, if the present level is not more than the first thresholding
Value, then positional information of second place information aided positioning system being provided as the unmanned plane.
10. device according to claim 8, it is characterised in that also include：
3rd locating module, for the judged result according to level identification module, if the present level is not less than the second thresholding
Value, then positional information of first position information GPS being provided as the unmanned plane.
11. device according to any one of claim 8-10, it is characterised in that the first locating module includes：
Weight determining unit, for determining that GPS provides first bit-weight and aided positioning system of first position information
Second bit-weight of provided second place information；
Weighted sum computing unit, for utilizing the first bit-weight and the second bit-weight, calculates first position information and second
The weighted sum of position.
12. devices according to claim 11, it is characterised in that
Weight determining unit specifically calculates GPS location error, and normalized first positioning precision is obtained using GPS location error,
The signal quality information for providing second place information using aided positioning system obtains normalized second positioning precision, by the
One positioning precision adds the ratio of the second positioning precision sum as the first bit-weight with the first positioning precision, by the second positioning accurate
Degree adds the ratio of the second positioning precision sum as the second bit-weight with the first positioning precision.
13. devices according to claim 12, it is characterised in that
Weight determining unit is specifically from the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock
Difference dilution of precision, by the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision square
The arithmetic square root of sum is used as GPS location error.
14. devices according to claim 12, it is characterised in that
The inverse of GPS location error is specifically normalized operation by weight determining unit, to obtain normalized first positioning
Precision.
A kind of 15. unmanned plane positioning switching devices, it is characterised in that including：
Memory；And
The processor of the memory is coupled to, the processor is configured as the instruction in the memory based on storage,
Perform the unmanned plane positioning changing method as any one of claim 1 to 7.
16. a kind of unmanned planes, it is characterised in that including the unmanned plane positioning switching dress as any one of claim 8-15
Put.
17. a kind of computer-readable recording mediums, it is characterised in that the computer-readable recording medium storage has computer to refer to
Order, the instruction is when executed by realizing the unmanned plane positioning changing method as any one of claim 1 to 7.
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