CN107782306B - Unmanned aerial vehicle positioning display method and device - Google Patents
Unmanned aerial vehicle positioning display method and device Download PDFInfo
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- CN107782306B CN107782306B CN201610742542.5A CN201610742542A CN107782306B CN 107782306 B CN107782306 B CN 107782306B CN 201610742542 A CN201610742542 A CN 201610742542A CN 107782306 B CN107782306 B CN 107782306B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
Abstract
The application provides an unmanned aerial vehicle positioning display method and device. The method comprises the following steps: the ground control terminal acquires the position information of the terminal in real time; the ground control terminal acquires the position information of the unmanned aerial vehicle in real time; when the ground control terminal detects that a user inputs a positioning instruction of the ground control terminal, the latest position of the terminal is displayed on an electronic map according to the acquired position information of the terminal; and when the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, displaying the latest position of the unmanned aerial vehicle on the electronic map according to the acquired position information of the unmanned aerial vehicle. This application has realized showing unmanned aerial vehicle's accurate positioning.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a positioning display method and device for an unmanned aerial vehicle.
Background
Unmanned robot, like unmanned aerial vehicle, has a great deal of advantages such as small, the cost is low, flexible, convenient to use and require lowerly to environmental condition. Since the birth of the unmanned robot, the unmanned robot is continuously advanced along with the continuous improvement of the scientific and technical level, and is gradually and widely applied to a plurality of fields such as military use, civil use, police use and the like, and the executed tasks comprise: the method comprises the following steps of target detection, tracking and monitoring, target striking, damage assessment, emergency rescue and relief, personnel search and rescue, terrain reconnaissance and the like.
In unmanned aerial vehicle's flight process, the user need learn unmanned aerial vehicle's position, does not have the solution of this aspect at present.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle positioning display method and device to achieve positioning display of an unmanned aerial vehicle.
The technical scheme of the application is realized as follows:
an unmanned aerial vehicle positioning display method comprises the following steps:
the ground control terminal acquires the position information of the terminal in real time;
the ground control terminal acquires the position information of the unmanned aerial vehicle in real time;
when the ground control terminal detects that a user inputs a positioning instruction of the ground control terminal, the latest position of the terminal is displayed on an electronic map according to the acquired position information of the terminal;
and when the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, displaying the latest position of the unmanned aerial vehicle on the electronic map according to the acquired position information of the unmanned aerial vehicle.
The ground control terminal acquiring the position information of the terminal in real time further comprises: the ground control terminal marks a time tag for the position information of the terminal, and the time tag records the acquisition time of the position information of the terminal;
after the ground control terminal detects that the user inputs a positioning instruction of the ground control terminal, the method further comprises the following steps of before displaying the latest position of the terminal on an electronic map:
and the ground control terminal matches the current time with the time labels of the position information of the terminal acquired by the ground control terminal, and if the time labels are matched, the position of the terminal corresponding to the matched time label is used as the position to be displayed on the electronic map.
The position information of the unmanned aerial vehicle acquired by the ground control terminal is provided with a time tag, and the time tag records the acquisition time of the position information of the unmanned aerial vehicle;
after the ground control terminal detects that the user inputs the positioning instruction of the unmanned aerial vehicle, before displaying the latest position of the unmanned aerial vehicle on the electronic map, the method further comprises the following steps:
and the ground control terminal matches the current time with the time labels of the position information of the unmanned aerial vehicle acquired by the ground control terminal, and if the time labels are matched, the position of the unmanned aerial vehicle corresponding to the matched time labels is used as the position to be displayed on the electronic map.
The ground control terminal further comprises after matching the current time with the time tags of the position information of the unmanned aerial vehicle acquired by the ground control terminal:
if no time tag is matched, the ground control terminal acquires the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, and if the latest position information is acquired, the acquired latest position of the unmanned aerial vehicle is displayed on an electronic map; and if not, prompting an error alarm to the user.
The method further comprises:
the ground control terminal acquires the flight speed and the flight direction of the unmanned aerial vehicle in real time;
the ground control terminal acquires the position information of the unmanned aerial vehicle in real time and comprises the following steps:
if the ground control terminal fails to acquire the position information of the unmanned aerial vehicle from the unmanned aerial vehicle, the position information of the unmanned aerial vehicle is estimated in real time according to the position information of the unmanned aerial vehicle stored recently and the flying speed and the flying direction of the unmanned aerial vehicle stored recently until the position information of the unmanned aerial vehicle can be acquired from the unmanned aerial vehicle again.
The utility model provides an unmanned aerial vehicle location display device, is located ground control terminal, and the device includes:
the position information acquisition module acquires the position information of the terminal in real time and acquires the position information of the unmanned aerial vehicle from the unmanned aerial vehicle in real time;
the positioning display module is used for displaying the latest position of the terminal on the electronic map according to the position information of the terminal acquired by the position information acquisition module when detecting that the user inputs a positioning instruction of the ground control terminal; and when the fact that the user inputs an unmanned aerial vehicle positioning instruction is detected, the latest position of the unmanned aerial vehicle is displayed on the electronic map according to the position information of the unmanned aerial vehicle acquired by the position information acquisition module.
The position information acquisition module acquires the position information of the terminal in real time and is further used for marking a time tag on the position information of the terminal, and the time tag records the acquisition time of the position information of the terminal;
the positioning display module is further used for displaying the latest position of the terminal on the electronic map after detecting that the positioning instruction of the ground control terminal is input by the user,
and matching the current time with the time labels of the position information of the terminal acquired by the terminal, and if the time labels are matched, taking the position of the terminal corresponding to the matched time label as the position to be displayed on the electronic map.
The position information of the unmanned aerial vehicle acquired by the position information acquisition module is provided with a time tag, and the time tag records the acquisition time of the position information of the unmanned aerial vehicle;
the positioning display module is further used for displaying the latest position of the unmanned aerial vehicle on the electronic map after detecting that the user inputs the unmanned aerial vehicle positioning instruction,
and matching the current time with the time tags of the position information of the unmanned aerial vehicle acquired by the terminal, and if the time tags are matched, taking the position of the unmanned aerial vehicle corresponding to the matched time tags as the position to be displayed on the electronic map.
The positioning display module is further used for matching the current time with the time labels of the position information of the unmanned aerial vehicle acquired by the positioning display module,
if no time tag is matched, acquiring the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, and if the latest position information of the unmanned aerial vehicle is acquired, displaying the acquired latest position of the unmanned aerial vehicle on an electronic map; and if not, prompting an error alarm to the user.
The location information obtaining module is further configured to,
acquiring the flight speed and the flight direction of the unmanned aerial vehicle in real time; and if the position information of the unmanned aerial vehicle cannot be acquired from the unmanned aerial vehicle, estimating the position information of the unmanned aerial vehicle in real time according to the recently stored position information of the unmanned aerial vehicle and the recently stored flight speed and flight direction of the unmanned aerial vehicle until the position information of the unmanned aerial vehicle can be acquired from the unmanned aerial vehicle again.
It is thus clear that this application has realized showing unmanned aerial vehicle's accurate positioning.
Drawings
Fig. 1 is a flowchart of a positioning display method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a flowchart of a positioning display method for an unmanned aerial vehicle according to another embodiment of the present application;
fig. 3 is a schematic diagram of the components of the positioning display device for the unmanned aerial vehicle provided by the embodiment of the application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of a positioning display method for an unmanned aerial vehicle according to an embodiment of the present application, which includes the following specific steps:
step 101: and the ground control terminal acquires the position information of the terminal in real time.
Step 102: the ground control terminal obtains the position information of the unmanned aerial vehicle from the unmanned aerial vehicle in real time.
Step 103: and when the ground control terminal detects that the user inputs a positioning instruction of the ground control terminal, displaying the latest position of the terminal on an electronic map of the terminal according to the acquired position information of the terminal.
Step 104: the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, and then displays the latest position of the unmanned aerial vehicle on an electronic map of the terminal according to the acquired position information of the unmanned aerial vehicle.
Fig. 2 is a flowchart of a positioning display method for an unmanned aerial vehicle according to another embodiment of the present application, which includes the following specific steps:
step 201: the unmanned aerial vehicle acquires the position information of the unmanned aerial vehicle in real time in the flight process, and sends the position information of the unmanned aerial vehicle to the ground control terminal in real time, and the ground control terminal stores the position information of the unmanned aerial vehicle in real time.
The position information of the drone may be GPS position information obtained from a GPS module of the drone, including: longitude, latitude, altitude, etc.
The ground control terminal comprises: mobile phones, tablet computers, notebook computers, PCs, and the like.
Step 202: and the ground control terminal acquires and records the position information of the ground control terminal in real time.
The position information of the ground control terminal may be GPS position information obtained from a GPS module of the ground control terminal.
Step 203: and when the ground control terminal detects that the user inputs a positioning instruction of the ground control terminal, the ground control terminal inquires the latest position information of the ground control terminal recorded by the ground control terminal and displays the latest position of the ground control terminal on the electronic map.
Step 204: the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, inquires the latest position information of the unmanned aerial vehicle stored by the ground control terminal, and displays the latest position of the unmanned aerial vehicle on an electronic map of the ground control terminal.
In practical application, if the unmanned aerial vehicle positioning display application program is installed on the ground control terminal, the user opens the program and then displays the unmanned aerial vehicle positioning display interface. Set up ground control terminal positioning button and unmanned aerial vehicle positioning button on this interface, if the user has clicked ground control terminal positioning button, then carry out step 203, if the user has clicked unmanned aerial vehicle positioning button, then carry out step 204. Or, only one positioning button is set on the interface, when the user clicks the positioning button for the first time, step 203 is executed, when the user clicks the positioning button for the second time, step 204 is executed, when the user clicks the positioning button for the third time, step 203 is executed again, when the user clicks the positioning button for the fourth time, step 204 is executed again, and so on.
In addition, in step 201, when the unmanned aerial vehicle acquires the position information of the unmanned aerial vehicle, a time tag can be marked on the position information, the time tag records the acquisition time of the position information, and then the position information is sent to the ground control terminal;
in step 202, when the ground control terminal acquires the position information of the ground control terminal, a time tag can be marked on the position information, and the time tag records the acquisition time of the position information;
in step 203, after the ground control terminal detects that the user inputs a positioning instruction of the ground control terminal, inquiring the self-stored time tags of each piece of position information, and if the time tags are matched with the current time, reading the self-position information corresponding to the time tags and displaying the self-position information on the electronic map; if no time tag is matched with the current time, acquiring the latest position information of the GPS module per se from the GPS module per se, displaying the latest position information on an electronic map, and if the latest position information of the GPS module per se cannot be acquired from the GPS module per se, sending an error alarm to a user, wherein the alarm mode comprises the following steps: character display, light flashing, voice alarm, etc.
In step 204, after the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, inquiring a time tag of the position information of the unmanned aerial vehicle stored by the ground control terminal, and if the time tag is matched with the current time, reading the position information of the unmanned aerial vehicle corresponding to the time tag and displaying the position information on an electronic map; if no time tag is matched with the current time, the latest position information of the unmanned aerial vehicle is acquired from the unmanned aerial vehicle and is displayed on an electronic map, if the latest position information of the unmanned aerial vehicle is not acquired from the unmanned aerial vehicle, an error alarm is sent to a user, and the alarm mode comprises the following steps: character display, light flashing, voice alarm, etc.
In practical application, ground control terminal can also obtain unmanned aerial vehicle's flying speed and flight direction from unmanned aerial vehicle in real time, like this, when because of various reasons, ground control terminal and unmanned aerial vehicle's communication interrupt, and when leading to can't directly obtain unmanned aerial vehicle's positional information from unmanned aerial vehicle, ground control terminal can be according to the last unmanned aerial vehicle's that obtains from unmanned aerial vehicle positional information, flying speed and flight direction, estimate out unmanned aerial vehicle's latest positional information in real time, until recovering with unmanned aerial vehicle's communication and can obtain unmanned aerial vehicle's positional information from unmanned aerial vehicle again.
In the embodiment of the application, the position information of the unmanned aerial vehicle and the ground control terminal can be acquired in the following modes:
mode one, image localization
Specifically, the direction of the ground control terminal relative to the unmanned aerial vehicle is obtained through the course angle of a holder camera of the unmanned aerial vehicle relative to the ground control terminal, and the distance value of the ground control terminal relative to the unmanned aerial vehicle is calculated through the pitch angle of the holder camera, so that under the condition that the position information (such as coordinate values) of one of the ground control terminal and the unmanned aerial vehicle is obtained, the position information (such as coordinate values) of the other one can be calculated. For example: the GPS coordinate of the unmanned aerial vehicle is known through a GPS module on the unmanned aerial vehicle, and the GPS coordinate of the ground control terminal can be calculated through the direction and the distance value of the ground control terminal relative to the unmanned aerial vehicle.
Mode two, satellite positioning and mobile network positioning
Belongs to the existing mature technology and is not described in detail.
It should be noted that the mobile network coordinates and the GPS coordinates may be switched to each other. For example: knowing the mobile network coordinates of the ground control terminal and the GPS coordinates of the unmanned aerial vehicle, the ground control terminal and the unmanned aerial vehicle can be positioned on the electronic map.
In addition, when calculating direction and distance value of ground control terminal for unmanned aerial vehicle in real time, can report to the user through the mode of voice broadcast, the computational process goes on ground control terminal.
This application can be used for unmanned aerial vehicle to look for, for example: under the condition that unmanned aerial vehicle and ground control terminal's wireless communication interrupted, can acquire unmanned aerial vehicle's GPS coordinate value or mobile network coordinate value through mobile network, show on electronic map or/and give the user through voice broadcast, voice broadcast's content includes: the direction and the distance value of the unmanned aerial vehicle relative to the ground control terminal.
Fig. 3 is the composition schematic diagram of unmanned aerial vehicle location display device that this application embodiment provided, and the device is located ground control terminal, and the device mainly includes: a position information acquisition module 31 and a positioning display module 32, wherein:
the position information acquisition module 31 acquires the position information of the terminal in real time, and acquires the position information of the unmanned aerial vehicle from the unmanned aerial vehicle in real time.
A positioning display module 32, which displays the latest position of the terminal on the electronic map according to the position information of the terminal acquired by the position information acquisition module 31 when detecting that the user inputs a positioning instruction of the ground control terminal; when the unmanned aerial vehicle positioning instruction input by the user is detected, the latest position of the unmanned aerial vehicle is displayed on the electronic map according to the position information of the unmanned aerial vehicle acquired by the position information acquisition module 31.
In an embodiment, the position information obtaining module 31 obtains the position information of the terminal in real time, and further prints a time tag on the position information of the terminal, where the time tag records the obtaining time of the position information of the terminal;
the positioning display module 32 is further used for displaying the latest position of the terminal on the electronic map after detecting that the user inputs the positioning command of the ground control terminal,
and matching the current time with the time labels of the position information of the terminal acquired by the terminal, and if the time labels are matched, taking the position of the terminal corresponding to the matched time label as the position to be displayed on the electronic map.
In one embodiment, the positioning display module 32 further matches the current time with the time tag of each position information of the terminal that has been acquired by itself,
if no time tag is matched, acquiring the latest position information of the terminal from a GPS module of the terminal, and if the latest position information of the terminal is acquired, displaying the acquired latest position of the terminal on an electronic map; and if not, prompting an error alarm to the user.
In one embodiment, the position information of the unmanned aerial vehicle acquired by the position information acquiring module 31 has a time tag, and the time tag records the acquiring time of the position information of the unmanned aerial vehicle;
the positioning display module 32 further operates after detecting that the user has input the positioning instruction of the drone and before displaying the latest position of the drone on the electronic map,
and matching the current time with the time tags of the position information of the unmanned aerial vehicle acquired by the terminal, and if the time tags are matched, taking the position of the unmanned aerial vehicle corresponding to the matched time tags as the position to be displayed on the electronic map.
In one embodiment, the positioning display module 32 further matches the current time with the time tags of the position information of the drones acquired by itself,
if no time tag is matched, acquiring the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, and if the latest position information of the unmanned aerial vehicle is acquired, displaying the acquired latest position of the unmanned aerial vehicle on an electronic map; and if not, prompting an error alarm to the user.
In an embodiment, the position information obtaining module 31 is further configured to obtain the flight speed and the flight direction of the unmanned aerial vehicle in real time; and if the position information of the unmanned aerial vehicle cannot be acquired from the unmanned aerial vehicle, estimating the position information of the unmanned aerial vehicle in real time according to the recently stored position information of the unmanned aerial vehicle and the recently stored flight speed and flight direction of the unmanned aerial vehicle until the position information of the unmanned aerial vehicle can be acquired from the unmanned aerial vehicle again.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (10)
1. An unmanned aerial vehicle positioning display method is characterized by comprising the following steps:
the ground control terminal acquires the position information of the terminal in real time;
the ground control terminal acquires the position information of the unmanned aerial vehicle in real time;
when the ground control terminal detects that a user inputs a positioning instruction of the ground control terminal, the latest position of the terminal is displayed on an electronic map according to the acquired position information of the terminal;
when the ground control terminal detects that the user inputs an unmanned aerial vehicle positioning instruction, the latest position of the unmanned aerial vehicle is displayed on the electronic map according to the acquired position information of the unmanned aerial vehicle;
wherein, the position information of obtaining unmanned aerial vehicle or the position information of ground control terminal is through following mode:
the direction of the ground control terminal relative to the unmanned aerial vehicle is known through the course angle of a holder camera of the unmanned aerial vehicle relative to the ground control terminal, the distance value of the ground control terminal relative to the unmanned aerial vehicle is calculated through the pitch angle of the holder camera, and the position information of one party of the ground control terminal and the unmanned aerial vehicle is calculated according to the obtained position information of the other party;
if the ground control terminal is provided with the unmanned aerial vehicle positioning display application program, displaying an unmanned aerial vehicle positioning display interface after a user opens the program, wherein only one positioning button is arranged on the interface;
when a user clicks the positioning button for the first time, inquiring self-recorded latest position information, and displaying the self-recorded latest position on the electronic map;
when the user clicks the positioning button for the second time, inquiring the latest position information of the unmanned aerial vehicle stored by the user, and displaying the latest position of the unmanned aerial vehicle on an electronic map of the user;
when the ground control terminal detects that a user inputs a positioning instruction of the ground control terminal, inquiring self-stored time tags of each piece of position information, and if the time tags are matched with the current time, reading the self-position information corresponding to the time tags and displaying the self-position information on an electronic map; if no time tag is matched with the current time, acquiring the latest position information of the user from the GPS module of the user, displaying the latest position information on an electronic map, and if the latest position information of the user cannot be acquired from the GPS module of the user, sending an error alarm to the user;
when the ground control terminal detects that a user inputs an unmanned aerial vehicle positioning instruction, inquiring a time tag of position information of the unmanned aerial vehicle stored by the ground control terminal, and if the time tag is matched with the current time, reading the position information of the unmanned aerial vehicle corresponding to the time tag and displaying the position information on an electronic map; if no time tag is matched with the current time, acquiring the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, displaying the latest position information on an electronic map, and if the latest position information of the unmanned aerial vehicle cannot be acquired from the unmanned aerial vehicle, sending an error alarm to a user;
the method comprises the steps that a ground control terminal acquires the flight speed and the flight direction of an unmanned aerial vehicle from the unmanned aerial vehicle in real time, when the communication between the ground control terminal and the unmanned aerial vehicle is interrupted, and the position information of the unmanned aerial vehicle cannot be directly acquired from the unmanned aerial vehicle, the ground control terminal estimates the latest position information of the unmanned aerial vehicle in real time according to the position information, the flight speed and the flight direction of the unmanned aerial vehicle which are acquired from the unmanned aerial vehicle recently until the communication with the unmanned aerial vehicle is recovered and the position information of the unmanned aerial vehicle can be acquired from the unmanned;
when the direction and the distance value of the ground control terminal relative to the unmanned aerial vehicle are calculated in real time, broadcasting to a user in a voice broadcasting mode, wherein the calculation process is carried out on the ground control terminal;
under the condition that unmanned aerial vehicle and ground control terminal's wireless communication interrupted, acquire unmanned aerial vehicle's GPS coordinate value or mobile network coordinate value through mobile network, show on electronic map or/and give the user through voice broadcast, voice broadcast's content includes: the direction and the distance value of the unmanned aerial vehicle relative to the ground control terminal.
2. The method according to claim 1, wherein the acquiring, by the ground control terminal, the location information of the terminal in real time further comprises: the ground control terminal marks a time tag for the position information of the terminal, and the time tag records the acquisition time of the position information of the terminal;
after the ground control terminal detects that the user inputs a positioning instruction of the ground control terminal, the method further comprises the following steps of before displaying the latest position of the terminal on an electronic map:
and the ground control terminal matches the current time with the time labels of the position information of the terminal acquired by the ground control terminal, and if the time labels are matched, the position of the terminal corresponding to the matched time label is used as the position to be displayed on the electronic map.
3. The method according to claim 1 or 2, wherein the position information of the unmanned aerial vehicle acquired by the ground control terminal has a time tag recording the acquisition time of the position information of the unmanned aerial vehicle;
after the ground control terminal detects that the user inputs the positioning instruction of the unmanned aerial vehicle, before displaying the latest position of the unmanned aerial vehicle on the electronic map, the method further comprises the following steps:
and the ground control terminal matches the current time with the time labels of the position information of the unmanned aerial vehicle acquired by the ground control terminal, and if the time labels are matched, the position of the unmanned aerial vehicle corresponding to the matched time labels is used as the position to be displayed on the electronic map.
4. The method according to claim 3, wherein the ground control terminal further includes, after matching the current time with the time tag of each position information of the drone that the ground control terminal has acquired:
if no time tag is matched, the ground control terminal acquires the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, and if the latest position information is acquired, the acquired latest position of the unmanned aerial vehicle is displayed on an electronic map; and if not, prompting an error alarm to the user.
5. The method of claim 1, further comprising:
the ground control terminal acquires the flight speed and the flight direction of the unmanned aerial vehicle in real time;
the ground control terminal acquires the position information of the unmanned aerial vehicle in real time and comprises the following steps:
if the ground control terminal fails to acquire the position information of the unmanned aerial vehicle from the unmanned aerial vehicle, the position information of the unmanned aerial vehicle is estimated in real time according to the position information of the unmanned aerial vehicle stored recently and the flying speed and the flying direction of the unmanned aerial vehicle stored recently until the position information of the unmanned aerial vehicle can be acquired from the unmanned aerial vehicle again.
6. The utility model provides an unmanned aerial vehicle location display device, is located ground control terminal, its characterized in that, the device includes:
the position information acquisition module acquires the position information of the terminal in real time and acquires the position information of the unmanned aerial vehicle from the unmanned aerial vehicle in real time;
the positioning display module is used for displaying the latest position of the terminal on the electronic map according to the position information of the terminal acquired by the position information acquisition module when detecting that the user inputs a positioning instruction of the ground control terminal; when the fact that the user inputs an unmanned aerial vehicle positioning instruction is detected, the latest position of the unmanned aerial vehicle is displayed on an electronic map according to the position information of the unmanned aerial vehicle, which is acquired by the position information acquisition module;
wherein, the position information acquisition module acquires the position information of the unmanned aerial vehicle or the position information of the ground control terminal through the following modes:
the direction of the ground control terminal relative to the unmanned aerial vehicle is known through the course angle of a holder camera of the unmanned aerial vehicle relative to the ground control terminal, the distance value of the ground control terminal relative to the unmanned aerial vehicle is calculated through the pitch angle of the holder camera, and the position information of one party of the ground control terminal and the unmanned aerial vehicle is calculated according to the obtained position information of the other party;
if the ground control terminal is provided with the unmanned aerial vehicle positioning display application program, displaying an unmanned aerial vehicle positioning display interface after a user opens the program, wherein only one positioning button is arranged on the interface;
when a user clicks the positioning button for the first time, inquiring self-recorded latest position information, and displaying the self-recorded latest position on the electronic map;
when the user clicks the positioning button for the second time, inquiring the latest position information of the unmanned aerial vehicle stored by the user, and displaying the latest position of the unmanned aerial vehicle on an electronic map of the user;
when the ground control terminal detects that a user inputs a positioning instruction of the ground control terminal, inquiring self-stored time tags of each piece of position information, and if the time tags are matched with the current time, reading the self-position information corresponding to the time tags and displaying the self-position information on an electronic map; if no time tag is matched with the current time, acquiring the latest position information of the user from the GPS module of the user, displaying the latest position information on an electronic map, and if the latest position information of the user cannot be acquired from the GPS module of the user, sending an error alarm to the user;
when the ground control terminal detects that a user inputs an unmanned aerial vehicle positioning instruction, inquiring a time tag of position information of the unmanned aerial vehicle stored by the ground control terminal, and if the time tag is matched with the current time, reading the position information of the unmanned aerial vehicle corresponding to the time tag and displaying the position information on an electronic map; if no time tag is matched with the current time, acquiring the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, displaying the latest position information on an electronic map, and if the latest position information of the unmanned aerial vehicle cannot be acquired from the unmanned aerial vehicle, sending an error alarm to a user;
the method comprises the steps that a ground control terminal acquires the flight speed and the flight direction of an unmanned aerial vehicle from the unmanned aerial vehicle in real time, when the communication between the ground control terminal and the unmanned aerial vehicle is interrupted, and the position information of the unmanned aerial vehicle cannot be directly acquired from the unmanned aerial vehicle, the ground control terminal estimates the latest position information of the unmanned aerial vehicle in real time according to the position information, the flight speed and the flight direction of the unmanned aerial vehicle which are acquired from the unmanned aerial vehicle recently until the communication with the unmanned aerial vehicle is recovered and the position information of the unmanned aerial vehicle can be acquired from the unmanned;
the direction of the ground control terminal relative to the unmanned aerial vehicle is obtained through the course angle of a holder camera of the unmanned aerial vehicle relative to the ground control terminal, and the distance value of the ground control terminal relative to the unmanned aerial vehicle is calculated through the pitch angle of the holder camera, so that the position information of one of the ground control terminal and the unmanned aerial vehicle is obtained, and the position information of the other one is calculated;
when the direction and the distance value of the ground control terminal relative to the unmanned aerial vehicle are calculated in real time, broadcasting to a user in a voice broadcasting mode, wherein the calculation process is carried out on the ground control terminal;
under the condition that unmanned aerial vehicle and ground control terminal's wireless communication interrupted, acquire unmanned aerial vehicle's GPS coordinate value or mobile network coordinate value through mobile network, show on electronic map or/and give the user through voice broadcast, voice broadcast's content includes: the direction and the distance value of the unmanned aerial vehicle relative to the ground control terminal.
7. The apparatus according to claim 6, wherein the location information acquiring module acquires the location information of the terminal in real time, and is further configured to stamp a time tag on the location information of the terminal, where the time tag records the acquiring time of the location information of the terminal;
the positioning display module is further used for displaying the latest position of the terminal on the electronic map after detecting that the positioning instruction of the ground control terminal is input by the user,
and matching the current time with the time labels of the position information of the terminal acquired by the terminal, and if the time labels are matched, taking the position of the terminal corresponding to the matched time label as the position to be displayed on the electronic map.
8. The apparatus according to claim 6 or 7, wherein the position information of the drone acquired by the position information acquisition module has a time tag recording an acquisition time of the position information of the drone;
the positioning display module is further used for displaying the latest position of the unmanned aerial vehicle on the electronic map after detecting that the user inputs the unmanned aerial vehicle positioning instruction,
and matching the current time with the time tags of the position information of the unmanned aerial vehicle acquired by the terminal, and if the time tags are matched, taking the position of the unmanned aerial vehicle corresponding to the matched time tags as the position to be displayed on the electronic map.
9. The apparatus of claim 8, wherein the positioning display module is further configured to match the current time with the time stamp of each position information of the drone obtained by the positioning display module,
if no time tag is matched, acquiring the latest position information of the unmanned aerial vehicle from the unmanned aerial vehicle, and if the latest position information of the unmanned aerial vehicle is acquired, displaying the acquired latest position of the unmanned aerial vehicle on an electronic map; and if not, prompting an error alarm to the user.
10. The apparatus of claim 6, wherein the location information obtaining module is further configured to,
acquiring the flight speed and the flight direction of the unmanned aerial vehicle in real time; and if the position information of the unmanned aerial vehicle cannot be acquired from the unmanned aerial vehicle, estimating the position information of the unmanned aerial vehicle in real time according to the recently stored position information of the unmanned aerial vehicle and the recently stored flight speed and flight direction of the unmanned aerial vehicle until the position information of the unmanned aerial vehicle can be acquired from the unmanned aerial vehicle again.
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