CN106908822B - Unmanned aerial vehicle positioning switching method and device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle positioning switching method and device and unmanned aerial vehicle Download PDFInfo
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- CN106908822B CN106908822B CN201710148831.7A CN201710148831A CN106908822B CN 106908822 B CN106908822 B CN 106908822B CN 201710148831 A CN201710148831 A CN 201710148831A CN 106908822 B CN106908822 B CN 106908822B
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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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Abstract
The invention discloses an unmanned aerial vehicle positioning switching method and device and an unmanned aerial vehicle, and relates to the field of unmanned aerial vehicles. The method comprises the steps that the current height of the unmanned aerial vehicle is detected, and if the current height is within the range which is larger than a first threshold value and smaller than a second threshold value, the first position information provided by the GPS and the second position information provided by the auxiliary positioning system are weighted to serve as the position information of the unmanned aerial vehicle, wherein the first threshold value is smaller than the second threshold value. Carry out data fusion through carrying out GPS location and assistance-localization real-time in predetermined range to help the locating data smoothness that unmanned aerial vehicle used around the positioning mode switches excessively, thereby avoid the locating data to take place great shake when guaranteeing positioning accuracy, ensured unmanned aerial vehicle's flight safety.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning switching method and device and an unmanned aerial vehicle.
Background
The conventional Positioning of the unmanned aerial vehicle is usually realized by using a GPS (Global Positioning System) Positioning. However, at the place (such as unmanned aerial vehicle take-off and landing point) that is closer to ground, the GPS signal receives the sheltering from of peripheral object very easily, leads to the location inaccurate, even if adopt the higher difference GPS technique of precision, this problem also can't be avoided. Therefore, the positioning requirement of the unmanned aerial vehicle cannot be met only by means of GPS positioning.
With the development of indoor wireless positioning technology, the accuracy can reach the centimeter level. Thus, high-precision positioning service can be provided when the unmanned aerial vehicle is positioned near the take-off and landing point.
When using an auxiliary positioning system, the existing unmanned aerial vehicle usually adopts a simple switching mode, namely adopts the auxiliary positioning system below a certain set height, and adopts GPS positioning above the height. However, because there is certain deviation between GPS location and the assistance-localization real-time, consequently before adopting this kind of switching mode, the great shake can take place for the locating data that unmanned aerial vehicle used, and this has brought the hidden danger for unmanned aerial vehicle's flight safety.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle positioning switching method and device and an unmanned aerial vehicle, and data fusion is carried out on GPS positioning and auxiliary positioning in a preset range, so that the positioning data used by the unmanned aerial vehicle before and after switching of the positioning mode is smooth and excessive, the positioning accuracy is ensured, meanwhile, the positioning data is prevented from greatly shaking, and the flight safety of the unmanned aerial vehicle is ensured.
According to an aspect of the present invention, there is provided a method for positioning and switching an unmanned aerial vehicle, including:
detecting the current height of the unmanned aerial vehicle;
and if the current height is within the range which is larger than the first threshold value and smaller than the second threshold value, performing weighting processing on first position information provided by a Global Positioning System (GPS) and second position information provided by an auxiliary positioning system to serve as the position information of the unmanned aerial vehicle, wherein the first threshold value is smaller than the second threshold value.
In one embodiment, if the current altitude is not greater than the first threshold value, the second location information provided by the auxiliary positioning system is used as the location information of the drone.
In one embodiment, if the current altitude is not less than the second threshold, the first position information provided by the GPS is used as the position information of the drone.
In one embodiment, weighting the first location information provided by the global positioning system GPS and the second location information provided by the assisted positioning system comprises:
determining a first positioning weight of first position information provided by a GPS and a second positioning weight of second position information provided by an auxiliary positioning system;
a weighted sum of the first location information and the second location is calculated using the first location weight and the second location weight.
In one embodiment, determining a first positioning weight for first location information provided by a GPS and a second positioning weight for second location information provided by an assisted positioning system comprises:
calculating a GPS positioning error;
obtaining a normalized first positioning precision by using a GPS positioning error;
obtaining a normalized second positioning accuracy by using the signal quality information of the second position information provided by the auxiliary positioning system;
taking the ratio of the first positioning precision to the sum of the first positioning precision and the second positioning precision as a first positioning weight;
and taking the ratio of the second positioning precision to the sum of the first positioning precision and the second positioning precision as a second positioning weight.
In one embodiment, calculating the GPS positioning error comprises:
receiving a horizontal component positioning accuracy factor, a vertical component positioning accuracy factor and a clock error accuracy factor from a satellite;
the arithmetic square root of the sum of the squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor is taken as the GPS positioning error.
In one embodiment, obtaining a normalized first positioning accuracy using GPS positioning error comprises:
and carrying out normalization operation on the reciprocal of the GPS positioning error to obtain normalized first positioning precision.
According to another aspect of the present invention, there is provided a positioning switching device for a drone, including:
the information receiving module is used for receiving first position information provided by a Global Positioning System (GPS) and second position information provided by an auxiliary positioning system;
the height detection module is used for detecting the current height of the unmanned aerial vehicle;
the height identification module is used for judging whether the current height is in a range which is larger than a first threshold value and smaller than a second threshold value, wherein the first threshold value is smaller than the second threshold value;
and the first positioning module is used for weighting the first position information provided by the Global Positioning System (GPS) and the second position information provided by the auxiliary positioning system to serve as the position information of the unmanned aerial vehicle if the current height is within the range which is larger than the first threshold value and smaller than the second threshold value according to the judgment result of the height identification module.
In an embodiment, the second positioning module is configured to, according to a determination result of the altitude identification module, use the second position information provided by the auxiliary positioning system as the position information of the unmanned aerial vehicle if the current altitude is not greater than the first threshold value.
In an embodiment, the third positioning module is configured to, according to a determination result of the altitude identification module, use the first position information provided by the GPS as the position information of the unmanned aerial vehicle if the current altitude is not less than the second threshold.
In one embodiment, the first positioning module comprises:
the weight determination unit is used for determining a first positioning weight of first position information provided by a GPS and a second positioning weight of second position information provided by an auxiliary positioning system;
a weighted sum calculation unit for calculating a weighted sum of the first position information and the second position using the first positioning weight and the second positioning weight.
In one embodiment, the weight determination unit specifically calculates a GPS positioning error, obtains a normalized first positioning accuracy using the GPS positioning error, obtains a normalized second positioning accuracy using signal quality information of second location information provided by the auxiliary positioning system, and uses a ratio of the first positioning accuracy to a sum of the first positioning accuracy plus the second positioning accuracy as the first positioning weight and a ratio of the second positioning accuracy to a sum of the first positioning accuracy plus the second positioning accuracy as the second positioning weight.
In one embodiment, the weight determination unit specifically receives the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor from the satellite, and takes an arithmetic square root of a sum of squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor as the GPS positioning error.
In one embodiment, the weight determination unit performs a normalization operation on the inverse of the GPS positioning error to obtain a normalized first positioning accuracy.
According to another aspect of the present invention, there is provided a positioning switching device for a drone, including:
a memory; and
a processor coupled to the memory, the processor configured to execute the drone positioning handoff method as described in any of the embodiments above based on instructions stored in the memory.
According to another aspect of the present invention, there is provided a drone including a drone positioning switching device as described in any one of the above embodiments.
According to another aspect of the present invention, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the method for positioning and switching the drone according to any of the above embodiments.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of an embodiment of a positioning and switching method for an unmanned aerial vehicle according to the present invention.
Fig. 2 is a schematic diagram of another embodiment of the unmanned aerial vehicle positioning and switching method of the present invention.
FIG. 3 is a diagram illustrating an embodiment of the weighting process of the present invention.
Fig. 4 is a schematic diagram of an embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention.
Fig. 5 is a schematic view of another embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention.
Fig. 6 is a schematic diagram of a first positioning module according to an embodiment of the invention.
Fig. 7 is a schematic view of another embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention.
Fig. 8 is a schematic diagram of an embodiment of the drone of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic diagram of an embodiment of a positioning and switching method for an unmanned aerial vehicle according to the present invention. Optionally, the method steps of this embodiment may be performed by the drone positioning switching device. Wherein:
For example, the drone may determine a current altitude from the positioning signal. Since how to determine the current altitude of the drone is not the point of the invention, it is not described here.
The auxiliary positioning system may be a wireless positioning system, such as a bluetooth positioning system, a wireless local area network positioning system, or a narrow bandwidth positioning system. The auxiliary positioning system may also be a vision-assisted positioning system.
For example, the weighting process may be performed according to formula (1).
P＝Qg×Pg+Qw×Pw(1)
Wherein, P represents the position of the unmanned aerial vehicle after weighting, Pg represents first position information provided by a GPS, Pw represents second position information provided by an auxiliary positioning system, Qg represents a positioning weight of the GPS, and Qw represents a positioning weight of the auxiliary positioning system.
According to the positioning switching method of the unmanned aerial vehicle, provided by the embodiment of the invention, the GPS positioning and the auxiliary positioning are subjected to data fusion within the preset range, so that the positioning data used by the unmanned aerial vehicle is smooth and excessive before and after the positioning mode is switched, the positioning precision is ensured, the positioning data is prevented from shaking greatly, and the flight safety of the unmanned aerial vehicle is ensured.
Fig. 2 is a schematic diagram of another embodiment of the unmanned aerial vehicle positioning and switching method of the present invention. Optionally, the method steps of this embodiment may be performed by the drone positioning switching device. Wherein:
In step 202, it is determined whether the current height is greater than a first threshold. If the current height is not greater than the first threshold, go to step 203; if the current height is greater than the first threshold, step 204 is performed.
And step 203, taking the second position information provided by the auxiliary positioning system as the position information of the unmanned aerial vehicle.
The steps of weighting the first location information provided by the GPS and the second location information provided by the assisted positioning system are shown in fig. 3.
Alternatively, the normalized first positioning accuracy may be obtained by calculating a GPS positioning error, using the GPS positioning error; and obtaining the normalized second positioning precision by utilizing the signal quality information of the second position information provided by the auxiliary positioning system.
For example, the inverse of the GPS positioning error may be normalized to obtain a normalized first positioning accuracy.
For example, the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor may be received from a satellite, and the arithmetic square root of the sum of the squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor may be taken as the GPS positioning error.
And taking the ratio of the first positioning precision to the sum of the first positioning precision and the second positioning precision as a first positioning weight, and taking the ratio of the second positioning precision to the sum of the first positioning precision and the second positioning precision as a second positioning weight.
For example, a drone may obtain HDOP (horizontal component of precision), VDOP (vertical component of position precision), and tdop (time division of precision) clock-error factors from satellites. The HDOP represents the positioning error of the GPS system in the horizontal direction, the VDOP represents the positioning error of the GPS system in the vertical direction, and the TDOP represents the offset error of the time table of the unmanned aerial vehicle. The unmanned aerial vehicle calculates PDOP (position resolution of precision) according to formula (2), and further calculates GPS positioning error GDOP according to formula (3), that is, an arithmetic square root of a sum of squares of the horizontal component positioning precision factor, the vertical component positioning precision factor, and the clock difference precision factor is taken as GPS positioning error, wherein the GDOP can reflect positioning precision of the GPS.
HDOP2+VDOP2＝PDOP2(2)
PDOP2+TDOP2＝GDOP2(3)
The normalized GPS positioning accuracy G' is obtained by taking the inverse of the GDOP and normalizing. In addition, the unmanned aerial vehicle normalizes the signal quality information of the auxiliary positioning system to obtain normalized auxiliary positioning precision R'.
Next, a positioning weight Qg of the GPS and a positioning weight Qw of the assisted positioning system may be determined according to equations (4) and (5).
Qg＝G′/(G′+R′) (4)
Qw＝R′/(G′+R′) (5)
As can be seen from the above formula, the positioning weight Qg of the GPS and the positioning weight Qw of the assisted positioning system vary with the normalized GPS positioning accuracy G 'and the normalized assisted positioning accuracy R'.
For example, in the takeoff process of the unmanned aerial vehicle, the signal intensity of the auxiliary positioning system is strong when the auxiliary positioning system is near the ground, the provided position accuracy is high, and therefore the positioning weight Qw is large. Along with the increase of unmanned aerial vehicle apart from ground height, the assistance-localization real-time system signal weakens gradually, and the credibility reduces. In contrast, as the environment gradually becomes wider, the GPS signal quality gradually becomes better, and the GPS positioning weight Qg increases. When the drone reaches a certain altitude, a smooth transition can be made to using only GPS positioning. Therefore, along with the takeoff process of the unmanned aerial vehicle, the process of gradually switching from the auxiliary positioning system to the GPS is realized. On the contrary, the weight of the auxiliary positioning system is gradually increased in the landing process, and after the unmanned aerial vehicle is lower than the preset height, the unmanned aerial vehicle can be smoothly transited to the positioning only by using the auxiliary positioning system.
From this, can help the location data smoothness that unmanned aerial vehicle used to transition around the positioning mode switches excessively to avoid the location data to take place great shake when guaranteeing positioning accuracy, ensured unmanned aerial vehicle's flight safety.
According to actual situation statistics, the positioning accuracy of the unmanned aerial vehicle can be remarkably improved by adopting the method provided by the embodiment, the ideal positioning accuracy of the unmanned aerial vehicle can reach within 10cm, and the average positioning accuracy can reach within 20 cm.
Fig. 4 is a schematic diagram of an embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention. Wherein, unmanned aerial vehicle location auto-change over device can include information receiving module 401, height detection module 402, height identification module 403 and first orientation module 404, wherein:
the information receiving module 401 is configured to receive first location information provided by a global positioning system GPS and second location information provided by an auxiliary positioning system.
The altitude detection module 402 is configured to detect a current altitude of the drone.
The height identifying module 403 is configured to determine whether the current height is within a range greater than a first threshold and smaller than a second threshold, where the first threshold is smaller than the second threshold.
The first positioning module 404 is configured to, according to the determination result of the altitude identification module 403, perform weighting processing on first position information provided by a global positioning system GPS and second position information provided by an auxiliary positioning system to serve as position information of the unmanned aerial vehicle if the current altitude is within a range greater than a first threshold and smaller than a second threshold.
According to the positioning switching device for the unmanned aerial vehicle, provided by the embodiment of the invention, the GPS positioning and the auxiliary positioning are subjected to data fusion within the preset range, so that the positioning data used by the unmanned aerial vehicle is smooth and excessive before and after the positioning mode is switched, the positioning precision is ensured, the positioning data is prevented from shaking greatly, and the flight safety of the unmanned aerial vehicle is ensured.
Fig. 5 is a schematic view of another embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention. Compared with the embodiment shown in fig. 4, in the embodiment shown in fig. 5, in addition to the information receiving module 501, the height detecting module 502, the height identifying module 503 and the first positioning module 504, a second positioning module 505 and a third positioning module 506 are further included. Wherein:
the second positioning module 505 is configured to, according to the determination result of the height identifying module 503, if the current height is not greater than the first threshold, use the second position information provided by the auxiliary positioning system as the position information of the unmanned aerial vehicle.
The third positioning module 506 is configured to, according to the determination result of the height identifying module 503, if the current height is not smaller than the second threshold, use the first position information provided by the GPS as the position information of the unmanned aerial vehicle.
As shown in fig. 6, in the above embodiment, the first positioning modules 404, 504 may further include a weight determination unit 601 and a weighted sum calculation unit 602, wherein:
the weight determination unit 601 is used for determining a first positioning weight of first position information provided by the GPS and a second positioning weight of second position information provided by the assisted positioning system.
Optionally, the weight determination unit 601 specifically calculates a GPS positioning error, obtains a normalized first positioning accuracy by using the GPS positioning error, obtains a normalized second positioning accuracy by using signal quality information of second position information provided by the auxiliary positioning system, and uses a ratio of the first positioning accuracy to a sum of the first positioning accuracy and the second positioning accuracy as the first positioning weight, and uses a ratio of the second positioning accuracy to a sum of the first positioning accuracy and the second positioning accuracy as the second positioning weight.
Among them, the weight determination unit 601 may receive the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock correction accuracy factor from the satellite, and take the arithmetic square root of the sum of squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock correction accuracy factor as the GPS positioning error.
Furthermore, the weight determination unit 601 may also perform a normalization operation on the inverse of the GPS positioning error to obtain a normalized first positioning accuracy.
The weighted sum calculation unit 602 is configured to calculate a weighted sum of the first location information and the second location using the first positioning weight and the second positioning weight.
Fig. 7 is a schematic view of another embodiment of the positioning and switching device for the unmanned aerial vehicle according to the present invention. As shown in fig. 7, the drone positioning switch includes a memory 701 and a processor 702. Wherein:
the memory 701 is used for storing instructions, the processor 702 is coupled to the memory 701, and the processor 702 is configured to execute the method according to any one of the embodiments in fig. 1-3 based on the instructions stored in the memory.
As shown in fig. 7, the book outline extraction apparatus further comprises a communication interface 703 for information interaction with other devices. The apparatus also includes a bus 704, and the processor 702, the communication interface 703 and the memory 701 are communicated with each other via the bus 704.
The memory 701 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 701 may also be a memory array. The storage 701 may also be partitioned into blocks, and the blocks may be combined into virtual volumes according to certain rules.
Further, the processor 702 may be a central processing unit CPU, or may be an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.
Fig. 8 is a schematic diagram of an embodiment of the drone of the present invention. As shown in fig. 8, a drone positioning switching device 802 is included in the drone 801, wherein the drone positioning switching device 802 is the drone positioning switching device according to any one of the embodiments shown in fig. 4 to 7.
The present invention also includes a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the method for positioning and switching a drone according to any of the foregoing embodiments.
By implementing the method and the device, data fusion is carried out on GPS positioning and auxiliary positioning in a preset range, so that the positioning data used by the unmanned aerial vehicle is smooth and excessive before and after the positioning mode is switched, the positioning precision is ensured, the positioning data is prevented from shaking greatly, and the flight safety of the unmanned aerial vehicle is ensured.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (13)
1. An unmanned aerial vehicle positioning switching method is characterized by comprising the following steps:
detecting the current height of the unmanned aerial vehicle;
if the current height is within the range which is larger than a first threshold value and smaller than a second threshold value, performing weighting processing on first position information provided by a Global Positioning System (GPS) and second position information provided by an auxiliary positioning system to serve as the position information of the unmanned aerial vehicle, wherein the first threshold value is smaller than the second threshold value;
wherein, weighting the first position information provided by the global positioning system GPS and the second position information provided by the auxiliary positioning system comprises:
determining a first positioning weight of first position information provided by a GPS and a second positioning weight of second position information provided by an auxiliary positioning system, wherein the GPS positioning error is calculated, the normalized first positioning precision is obtained by utilizing the GPS positioning error, the normalized second positioning precision is obtained by utilizing the signal quality information of the second position information provided by the auxiliary positioning system, the ratio of the first positioning precision to the sum of the first positioning precision and the second positioning precision is used as the first positioning weight, and the ratio of the second positioning precision to the sum of the first positioning precision and the second positioning precision is used as the second positioning weight;
a weighted sum of the first location information and the second location is calculated using the first location weight and the second location weight.
2. The method of claim 1,
and if the current height is not larger than a first threshold value, using second position information provided by an auxiliary positioning system as the position information of the unmanned aerial vehicle.
3. The method of claim 1,
and if the current height is not smaller than a second threshold value, using the first position information provided by the GPS as the position information of the unmanned aerial vehicle.
4. The method according to any one of claims 1 to 3,
calculating the GPS positioning error includes:
receiving a horizontal component positioning accuracy factor, a vertical component positioning accuracy factor and a clock error accuracy factor from a satellite;
the arithmetic square root of the sum of the squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor is taken as the GPS positioning error.
5. The method according to any one of claims 1 to 3,
obtaining a normalized first positioning accuracy using the GPS positioning error comprises:
and carrying out normalization operation on the reciprocal of the GPS positioning error to obtain normalized first positioning precision.
6. The utility model provides an unmanned aerial vehicle location auto-change over device which characterized in that includes:
the information receiving module is used for receiving first position information provided by a Global Positioning System (GPS) and second position information provided by an auxiliary positioning system;
the height detection module is used for detecting the current height of the unmanned aerial vehicle;
the height identification module is used for judging whether the current height is in a range which is larger than a first threshold value and smaller than a second threshold value, wherein the first threshold value is smaller than the second threshold value;
the first positioning module is used for weighting first position information provided by a Global Positioning System (GPS) and second position information provided by an auxiliary positioning system to serve as position information of the unmanned aerial vehicle if the current height is within a range which is larger than a first threshold value and smaller than a second threshold value according to a judgment result of the height identification module;
wherein, first orientation module includes:
the weight determination unit is used for determining a first positioning weight of first position information provided by a GPS and a second positioning weight of second position information provided by an auxiliary positioning system, wherein the weight determination unit is used for calculating a GPS positioning error, obtaining a normalized first positioning precision by using the GPS positioning error, obtaining a normalized second positioning precision by using signal quality information of the second position information provided by the auxiliary positioning system, taking the ratio of the first positioning precision to the sum of the first positioning precision and the second positioning precision as the first positioning weight, and taking the ratio of the second positioning precision to the sum of the first positioning precision and the second positioning precision as the second positioning weight;
a weighted sum calculation unit for calculating a weighted sum of the first position information and the second position using the first positioning weight and the second positioning weight.
7. The apparatus of claim 6, further comprising:
and the second positioning module is used for taking second position information provided by the auxiliary positioning system as the position information of the unmanned aerial vehicle according to the judgment result of the height identification module and if the current height is not greater than a first threshold value.
8. The apparatus of claim 7, further comprising:
and the third positioning module is used for taking the first position information provided by the GPS as the position information of the unmanned aerial vehicle according to the judgment result of the height identification module if the current height is not smaller than the second threshold value.
9. The apparatus according to any one of claims 6-8,
the weight determination unit is further configured to receive the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor from the satellite, and to take an arithmetic square root of a sum of squares of the horizontal component positioning accuracy factor, the vertical component positioning accuracy factor, and the clock error accuracy factor as the GPS positioning error.
10. The apparatus according to any one of claims 6-8,
the weight determination unit is further configured to perform a normalization operation on the inverse of the GPS positioning error to obtain a normalized first positioning accuracy.
11. The utility model provides an unmanned aerial vehicle location auto-change over device which characterized in that includes:
a memory; and
a processor coupled to the memory, the processor configured to perform the drone positioning handoff method of any of claims 1 to 5 based on instructions stored in the memory.
12. A drone, characterized in that it comprises a drone positioning switching device according to any one of claims 6-11.
13. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions which, when executed by a processor, implement the drone positioning handover method of any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710148831.7A CN106908822B (en) | 2017-03-14 | 2017-03-14 | Unmanned aerial vehicle positioning switching method and device and unmanned aerial vehicle |
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| CN201710148831.7A CN106908822B (en) | 2017-03-14 | 2017-03-14 | Unmanned aerial vehicle positioning switching method and device and unmanned aerial vehicle |
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| CN110998472A (en) * | 2017-08-03 | 2020-04-10 | 日本电产新宝株式会社 | Mobile object and computer program |
| TWI656758B (en) | 2017-12-01 | 2019-04-11 | 財團法人工業技術研究院 | Communication terminal device for aircraft and mobile communication method thereof |
| CN108235736B (en) * | 2017-12-25 | 2021-11-16 | 达闼机器人有限公司 | Positioning method, cloud server, terminal, system, electronic device and computer program product |
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| CN108332750A (en) * | 2018-01-05 | 2018-07-27 | 深圳市功夫机器人有限公司 | Robot localization method and terminal device |
| CN110412626B (en) * | 2018-04-28 | 2021-12-31 | 北京京东乾石科技有限公司 | Multi-GPS positioning method, system, equipment and storage medium for logistics unmanned aerial vehicle |
| CN110375749A (en) * | 2018-11-26 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Air navigation aid and navigation system |
| CN110186450A (en) * | 2019-05-13 | 2019-08-30 | 深圳市普渡科技有限公司 | Robot localization deviation restorative procedure and system |
| CN110121150B (en) * | 2019-05-24 | 2021-03-19 | 上海物联网有限公司 | Indoor trans-regional seamless positioning system based on UWB technology |
| CN113534222B (en) * | 2020-04-17 | 2024-09-03 | 宝马股份公司 | Method for vehicle positioning, device for vehicle positioning and vehicle |
| CN111721290B (en) * | 2020-07-13 | 2023-11-21 | 南京理工大学 | Multisource sensor information fusion positioning switching method |
| CN112051857A (en) * | 2020-07-31 | 2020-12-08 | 深圳市贝贝特科技实业有限公司 | Switching method of positioning system in dynamic recovery of vehicle-mounted unmanned aerial vehicle |
| CN114630373B (en) * | 2020-12-08 | 2023-08-08 | 中国联合网络通信集团有限公司 | Switching method and device |
| CN113138605B (en) * | 2020-12-25 | 2023-04-18 | 北京理工大学 | Recovery and release device applied to primary and secondary unmanned aerial vehicles and control method thereof |
| CN112802002B (en) * | 2021-02-05 | 2021-11-16 | 杭州思锐迪科技有限公司 | Object surface data detection method and system, electronic device and storage medium |
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