CN108536168B - Unmanned aerial vehicle positioning method and device, unmanned aerial vehicle and storage medium - Google Patents
Unmanned aerial vehicle positioning method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a positioning method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium. Wherein, the method comprises the following steps: acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle; acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of the target antenna in the double antennas obtained by the decomposition of the flight trajectory; acquiring a real-time positioning result of a target antenna obtained by the unmanned aerial vehicle through a dual-antenna RTK technology; and compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle. According to the technical scheme of the embodiment of the invention, the positioning deviation of the target antenna is calculated, and the real-time positioning result is compensated, so that the problem of the positioning deviation of the dual-antenna RTK technology is solved, the accurate positioning of the unmanned aerial vehicle is realized, the phenomenon of deviation of a flight path when the unmanned aerial vehicle does yawing motion is avoided, and the positioning precision is ensured.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a positioning method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
With the continuous development of the unmanned aerial vehicle industry, the application of the unmanned aerial vehicle in the fields of agriculture, aerial photography, capital construction, routing inspection, police use, fire fighting and the like is also continuously expanded. For the current application situation of the unmanned aerial vehicle, a carrier phase difference (RTK) technology provides a new high-precision positioning system for the unmanned aerial vehicle.
In the prior art, an unmanned aerial vehicle generally adopts a dual-antenna RTK technology to obtain a self positioning coordinate and a course, and the course is set to be that a No. 1 antenna points to a No. 2 antenna direction. At present, when most unmanned aerial vehicles are installed and used, two aerial antennas are generally symmetrically arranged on two sides of the center line of an unmanned aerial vehicle body, and the positioning coordinate obtained by adopting an antenna RTK technology is the position coordinate of a No. 1 antenna. When the unmanned aerial vehicle directly uses the position coordinate obtained by the double-antenna RTK technology, the coordinate is not the coordinate of the geometric center of the unmanned aerial vehicle or even the coordinate on the center line of the body.
When the unmanned aerial vehicle does yawing motion, the position coordinates obtained by the double-antenna RTK technology positioning will have deviation (the deviation depends on the distance between the two aviation antennas), so that the unmanned aerial vehicle air course has deviation, and the positioning precision is reduced.
Disclosure of Invention
The embodiment of the invention provides a positioning method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and the positioning deviation of the unmanned aerial vehicle in the flying process is obtained in advance so as to perform real-time compensation in the subsequent flying process and improve the positioning precision.
In a first aspect, an embodiment of the present invention provides a method for positioning an unmanned aerial vehicle, where the method includes:
acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle;
acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of a target antenna in the dual antennas obtained by decomposing the flight trajectory, wherein the dual antennas are symmetrically installed on two sides of the central line of the unmanned aerial vehicle, and the positioning deviation is the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle;
acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology;
and compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
In a second aspect, an embodiment of the present invention provides a positioning apparatus for an unmanned aerial vehicle, where the apparatus includes:
the track acquisition module is used for acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle;
the positioning deviation calculation module is used for acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of a target antenna in the dual antennas obtained by the decomposition of the flight trajectory, wherein the dual antennas are symmetrically arranged on two sides of the central line of the unmanned aerial vehicle, and the positioning deviation is the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle;
the positioning result acquisition module is used for acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology;
and the positioning compensation module is used for compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the drone according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for positioning a drone according to any embodiment of the present invention.
According to the positioning method and device of the unmanned aerial vehicle, the unmanned aerial vehicle and the storage medium provided by the embodiment of the invention, the real-time positioning result of the target antenna is compensated by calculating the distance from the target antenna to the central line of the unmanned aerial vehicle in the double antennas as the positioning deviation, so that the problem of the positioning deviation of the double-antenna RTK technology is solved, the accurate positioning of the unmanned aerial vehicle is realized, the phenomenon of deviation of a flight path of the unmanned aerial vehicle during yaw motion is avoided, and the positioning accuracy is ensured.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1A is a flowchart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 1B is a schematic diagram illustrating a calculation of a positioning deviation in the method according to the first embodiment of the present invention;
fig. 1C is a flowchart of a method for acquiring a positioning error of the drone according to a flight trajectory and a spin trajectory of a target antenna in a dual antenna obtained by decomposing the flight trajectory in the method according to the first embodiment of the present invention;
fig. 2 is a flowchart of a positioning method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning device of an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1A is a flowchart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention, where the positioning method for an unmanned aerial vehicle according to this embodiment may be applied to any unmanned aerial vehicle that employs a dual-antenna RTK technique, where the dual antennas are symmetrically installed on two sides of a center line of the unmanned aerial vehicle. The positioning method of the unmanned aerial vehicle can be executed by the positioning device of the unmanned aerial vehicle provided by the embodiment of the invention, and the device can be realized in a software and/or hardware mode and is integrated in the unmanned aerial vehicle executing the method. Specifically, referring to fig. 1A, the method may include the steps of:
and S110, acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle.
Specifically, the unmanned aerial vehicle in this embodiment adopts a dual-antenna RTK technique to improve the positioning accuracy, where the RTK technique is a real-time dynamic positioning technique based on a carrier phase observation value, and can provide a three-dimensional positioning result of a measurement station in a specified coordinate system in real time, and achieve centimeter-level accuracy. In the RTK operation mode, a base station collects satellite data and transmits an observed value and site coordinate information of the satellite data to a mobile station through a data chain, and the mobile station performs real-time carrier phase difference processing (for less than one second) on the collected satellite data and the received data chain to obtain a centimeter-level positioning result.
And the positioning coordinate that unmanned aerial vehicle acquireed when adopting double antenna RTK technique is the position coordinate of one of them antenna in the double antenna, and not the coordinate of unmanned aerial vehicle geometric center, even not the coordinate on the organism central line, unmanned aerial vehicle also can lead to this unmanned aerial vehicle air course to appear the deviation when doing yaw motion, consequently when unmanned aerial vehicle flies, needs to ask for the positioning deviation in the positioning coordinate that double antenna RTK technique acquireed. The course angle is set by the angle range of the allowed course change when the unmanned aerial vehicle is controlled to fly in advance when the positioning deviation is obtained, namely the rotation angle of the head on the central line of the unmanned aerial vehicle, but not the rotation angle of the whole flight track of the unmanned aerial vehicle. Optionally, in order to obtain the positioning deviation of the positioning coordinate obtained by the dual-antenna RTK technology, the unmanned aerial vehicle may be controlled in advance to complete the flight of changing the course into the set course angle, the flight trajectory does not need to be limited, only the unmanned aerial vehicle only needs to fly with the course meeting the set course angle, the unmanned aerial vehicle may be controlled to spin in place, and the unmanned aerial vehicle may also fly at will with the course meeting the set course angle. Furthermore, in the process that the unmanned aerial vehicle finishes the flight of the set course angle, the real-time positioning coordinate of the unmanned aerial vehicle obtained through the double-antenna RTK technology can be obtained. Optionally, the flight trajectory formed after the unmanned aerial vehicle completes the flight at the set heading angle may be determined according to a series of corresponding real-time positioning coordinates acquired by the unmanned aerial vehicle during the flight process.
And S120, acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the spin trajectory of the target antenna in the double antennas obtained by the flight trajectory decomposition.
Wherein, the theory of calculation of unmanned aerial vehicle positioning deviation in this embodiment is as shown in fig. 1B, and this unmanned aerial vehicle can install two aviation antennas in advance at the unmanned aerial vehicle organism when adopting double-antenna RTK technique, and this double-antenna symmetry is installed in the both sides of unmanned aerial vehicle central line, and positioning deviation is the skew distance of this target antenna relative unmanned aerial vehicle central line, and wherein, the dotted line in fig. 1B is the unmanned aerial vehicle central line.
Specifically, a flight track formed by the unmanned aerial vehicle after completing the flight at the set course angle is an integral flight route track of the unmanned aerial vehicle, and can be decomposed into a spin track formed by the spin motion of an origin of the unmanned aerial vehicle and a particle track formed by the particle motion without the change of the course (the particle track refers to the motion only and does not relate to the course). Optionally, the positioning coordinate provided by the dual-antenna RTK technology is the positioning coordinate of one specific aerial antenna in the dual antennas symmetrically installed on both sides of the central line of the unmanned aerial vehicle. The target antenna is an aerial antenna corresponding to the positioning coordinate provided by the double-antenna RTK technology. Furthermore, the origin spinning motion of the flight path decomposition is spinning motion of a target antenna in the double antennas which is matched with the positioning coordinates in the flight path and rotates according to a set course angle, namely, the target antenna rotates to form an arc-shaped path after the set course angle by taking the vertical point of the target antenna and the central line of the unmanned aerial vehicle as an arc center; the particle motion with the unchanged course is the motion which takes the whole unmanned aerial vehicle as a particle to fly and has only a track without relating to the course. Further, the positioning coordinate provided by the dual-antenna RTK technology is the position coordinate of the target antenna, and the flight path of the unmanned aerial vehicle requires the coordinate on the centerline of the unmanned aerial vehicle, so the positioning deviation is the offset distance of the target antenna relative to the centerline of the unmanned aerial vehicle.
Further, in order to compensate the positioning coordinate of the target antenna, a positioning deviation of the positioning coordinate acquired by the dual-antenna RTK technology needs to be obtained, that is, a deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle needs to be calculated. Optionally, when the function corresponding to the particle motion with unchanged flight track decomposed by the unmanned aerial vehicle after completing the flight with the set course angle performs the integral operation, because the course is unchanged, the integral result is zero, therefore, the integral result of the flight track is the same as the integral result of the decomposed self-spinning track of the target antenna, and the self-spinning track of the target antenna is also an arc track formed by the target antenna rotating the set course angle with the perpendicular point of the target antenna and the central line of the unmanned aerial vehicle as the center of a circle, so the integral result of the self-spinning track is related to the corresponding sector area enclosed by the set course angle and the arc track in the coordinate system, and the radius of the sector is the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle, namely the positioning deviation. Accordingly, the positioning deviation can be calculated from the correspondence relationship between the integral of the flight trajectory and the integral of the spin trajectory.
Optionally, as shown in fig. 1C, acquiring the positioning deviation of the drone according to the flight trajectory and the spin trajectory of the target antenna in the dual antenna obtained by decomposing the flight trajectory may include:
s121, acquiring a track function of the flight track, and performing integral operation on the track function to obtain a first integral result.
Specifically, in the process that the unmanned aerial vehicle finishes the flight of the set course angle, the real-time positioning coordinates of the unmanned aerial vehicle obtained through the dual-antenna RTK technology can be obtained in real time, and the track function corresponding to the flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle can be determined according to a series of obtained corresponding real-time positioning coordinates. Optionally, according to an integral relationship corresponding to the flight trajectory and the spin trajectory, integral operation may be performed on the obtained trajectory function to obtain a determined first integral result. Illustratively, after a flight trajectory formed after the unmanned aerial vehicle finishes the flight with the set course angle is obtained, a series of real-time positioning coordinates corresponding to the flight trajectory can be obtained through a dual-antenna RTK technology, so as to construct a trajectory function of the flight trajectory, and the trajectory function is set to be
Wherein (x, y) is the positioning coordinates of the target antenna provided for the dual antenna RTK technique,
the heading angle of the unmanned aerial vehicle, in this embodiment, the heading is the direction of the head on the centerline of the unmanned aerial vehicle, and the function of the trajectory is obtained
Performing an integration operation to obtain a first integration result of
Flight for setting course angle by unmanned aerial vehicleThen, as the positioning coordinate and the heading angle in the flight process are determined, the first integration result
Can be directly calculated and obtained by the unmanned plane.
And S122, acquiring a second integration result corresponding to the spin trajectory of the target antenna.
Specifically, the self-rotation trajectory of the target antenna decomposed by the flight trajectory is an arc trajectory formed by rotating the target antenna by taking the vertical point of the target antenna and the central line of the unmanned aerial vehicle as the arc center and setting a course angle, the integral result of the arc trajectory is a relational expression between the set course angle and a corresponding sector area enclosed by the arc trajectory in a coordinate system, the sector radius is the distance from the target antenna to the central line of the unmanned aerial vehicle, and a second integral result corresponding to the self-rotation trajectory is associated with the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle, namely the corresponding relation between the sector area and the sector radius. For example, if the heading angle is set to be theta, the distance from the target antenna to the central line of the unmanned aerial vehicle, that is, the positioning deviation is delta, and the spin trajectory function is
The second integration result
And S123, calculating the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle as positioning deviation according to the equivalence relation between the first integration result and the second integration result.
Specifically, since the heading-invariant particle motion integral of the flight trajectory decomposition is zero, the first integral result corresponding to the flight trajectory is equal to the second integral result corresponding to the spin trajectory. Optionally, according to the equivalence relation between the target antenna and the unmanned aerial vehicle, the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle, that is, the value of the positioning deviation, can be calculated. Exemplary, flight trajectory of unmanned aerial vehicle
Can be decomposed into spin trajectories of the target antenna
And the particle motion track g which is invariable in course is (x, y), so the integral corresponding relation between the three is
At this time, the process of the present invention,
wherein the content of the first and second substances,
and theta is a known value, and the positioning deviation delta is calculated.
Further, when selecting another angle other than the set heading angle of 360 °, in the actual operation process, an error of controlling the flight of the unmanned aerial vehicle may be caused, so that an error of the obtained integral result is large, and a large error exists between the calculated positioning deviation and the actual deviation, and therefore, preferably, in the actual operation process, the set heading angle is selected to be 360 °.
Optionally, obtaining a flight trajectory formed after the unmanned aerial vehicle completes the flight of the set heading angle may include:
and acquiring a flight track formed after the unmanned aerial vehicle finishes the flight with the course of 360 degrees.
Specifically, when the course angle is set to be 360 degrees, the unmanned aerial vehicle is controlled to complete the flight with the course of 360 degrees, and in the flight process, the real-time positioning coordinate obtained by the unmanned aerial vehicle through the double-antenna RTK technology can be obtained, so that the flight track formed after the flight is completed is determined.
Accordingly, the spin trajectory of the target antenna in the dual antenna obtained by the flight trajectory decomposition may include: the target antenna uses a vertical point as a circle center to rotate a circle to form a circular track, wherein the vertical point is an intersection point of a connecting line of the double antennas and the central line of the unmanned aerial vehicle.
Specifically, when the set course angle is 360 degrees, the pairThe self-rotating track of the target antenna is a circular track formed by the target antenna rotating for a circle by taking a vertical point as a circle center, wherein the vertical point is an intersection point of a connecting line of the double antennas and the central line of the unmanned aerial vehicle. The spin trajectory of the target antenna can be decomposed into a trajectory circle function and a heading function of one rotation of the target antenna, that is, the target antenna can be rotated by one rotation
The corresponding second integration result is
Therefore, according to the equivalence relation between the first integration result and the second integration result, it can be known that,
wherein the content of the first and second substances,
after the unmanned aerial vehicle finishes the flight with the course of 360 degrees, the unmanned aerial vehicle directly obtains the flight data, and therefore the positioning deviation delta is obtained through calculation. Furthermore, the installation distance of the double antennas can be calculated and adjusted in real time according to the formula through the positioning deviation obtained through calculation, and the installation distance of the double antennas does not need to be measured and stored for one time when the installation distance is adjusted, so that the workload of workers is reduced, and the accuracy of the positioning deviation is improved.
And S130, acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology.
Specifically, unmanned aerial vehicle's flight route relies on navigation positioning system, can let unmanned aerial vehicle accomplish the navigation task in appointed time according to the information that positioning system obtained, and its precision directly gets in touch with the positioning technology who carries on, and unmanned aerial vehicle positioning system based on RTK technique can provide high accuracy location support through obtaining navigation satellite signal and RTK differential positioning information in real time for unmanned aerial vehicle flight operation. In the process of flying of the unmanned aerial vehicle, the dual-antenna RTK technology provides the positioning coordinates of the target antenna in the dual-antenna in real time. The real-time positioning result of the target antenna obtained by the dual-antenna RTK technology is a fixed solution, ambiguity can be generated when carrier phase observation value is used for positioning, the ambiguity is an integer theoretically, the fixed solution is obtained after the ambiguity of the integer is solved through an algorithm, and the positioning accuracy of the target antenna can be greatly improved.
Optionally, in the flight process of the unmanned aerial vehicle, the real-time positioning result of the target antenna provided by the dual-antenna RTK technology carried by the unmanned aerial vehicle is obtained in real time, and the real-time positioning result includes longitude and latitude coordinate information of the target antenna and the heading angle of the unmanned aerial vehicle. It should be noted that, in this step, the real-time positioning result of the target antenna obtained by the unmanned aerial vehicle through the dual-antenna RTK technology is obtained all the time in the flight process of the unmanned aerial vehicle, and when the positioning deviation is not obtained, the compensation is not performed, and after the positioning deviation is obtained, the real-time positioning result of the target antenna obtained by the subsequent flight can be compensated in real time.
And S140, compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
Specifically, calculate and obtain the positioning deviation, also be exactly after the target antenna reachs the distance of unmanned aerial vehicle central line, can save this positioning deviation in advance, when subsequent unmanned aerial vehicle carries out the flight task, this positioning deviation can be transferred in real time, compensate the real-time positioning result of target antenna who obtains, obtain unmanned aerial vehicle's real-time positioning result, also be exactly longitude and latitude coordinate information and unmanned aerial vehicle aircraft nose course angle on the unmanned aerial vehicle central line, and there is not the deviation in the course angle, also be exactly to compensate positioning coordinate, transfer the location center to the unmanned aerial vehicle central line, realize accurate location. Optionally, after a real-time positioning result of the target antenna is obtained, a positioning coordinate of the target antenna can be determined, the positioning deviation is a deviation distance of the target antenna relative to a central line of the unmanned aerial vehicle, a longitude and latitude positioning difference value which is different from a vertical point of the target antenna and a vertical point of the target antenna reaching the central line of the unmanned aerial vehicle and a corresponding trigonometric function relation of a real-time heading angle exist, the longitude and latitude positioning difference value between the target antenna and the vertical point of the target antenna reaching the central line of the unmanned aerial vehicle can be obtained through the corresponding trigonometric function relation according to the positioning deviation and the real-time heading angle, so that the longitude and latitude positioning coordinate of the vertical point of the target antenna reaching the central line of the unmanned aerial vehicle is determined, the real-time positioning result. Optionally, especially when unmanned aerial vehicle plant protection operation, positioning accuracy directly influences the route planning and the medicament sprays accurate amount, and positioning deviation's compensation can have avoided unmanned aerial vehicle to appear the skew phenomenon of route when doing yawing motion, has avoided the phenomenon of respraying and leaking to spout, has realized accurate spraying, has improved plant protection operation effect, has reached the effect of prevention and cure plant diseases and insect pests, has reduced the production of phytotoxicity.
According to the technical scheme, the distance from the target antenna to the central line of the unmanned aerial vehicle is calculated to serve as the positioning deviation, the real-time positioning result of the target antenna is compensated, the problem that the positioning deviation exists in the double-antenna RTK technology is solved, the accurate positioning of the unmanned aerial vehicle is realized, the phenomenon that the air course of the unmanned aerial vehicle deviates when the unmanned aerial vehicle does yawing motion is avoided, and the positioning precision is ensured.
Example two
Fig. 2 is a flowchart of a positioning method for an unmanned aerial vehicle according to a second embodiment of the present invention. The embodiment is optimized on the basis of the embodiment. Referring to fig. 2, the method of this embodiment may specifically include:
and S210, controlling the unmanned aerial vehicle to hover in the air for a set time.
Specifically, in order to enable the unmanned aerial vehicle to complete the flight with the set heading angle, the current heading angle needs to be determined first, and the error between the rotation angle of the unmanned aerial vehicle and the set heading angle is reduced. Optionally, before controlling the unmanned aerial vehicle to fly, the unmanned aerial vehicle may be controlled to hover in the air for a set duration in advance, so as to determine the current heading angle of the unmanned aerial vehicle. Wherein, set for length of time can be when actual operation, set up by the user by oneself, improve the precision of unmanned aerial vehicle flight.
And S220, controlling the unmanned aerial vehicle to fly according to the set course angle according to the course position of the hovering unmanned aerial vehicle.
Specifically, when the unmanned aerial vehicle is controlled to hover for a period of time to obtain a current course angle, the unmanned aerial vehicle is controlled to fly according to the set course angle on the basis of the current course angle so as to determine the final flying position of the unmanned aerial vehicle, so that a flying track formed after the determined unmanned aerial vehicle finishes flying at the set course angle is obtained, and the track obtaining precision is improved.
And S230, acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set heading angle.
And S240, acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of the target antenna in the double antennas obtained by the flight trajectory decomposition.
And S250, acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology.
And S260, compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
According to the technical scheme, the distance from the target antenna to the central line of the unmanned aerial vehicle is calculated to serve as the positioning deviation, the real-time positioning result of the target antenna is compensated, the problem that the positioning deviation exists in the double-antenna RTK technology is solved, the accurate positioning of the unmanned aerial vehicle is realized, the phenomenon that the air course of the unmanned aerial vehicle deviates when the unmanned aerial vehicle does yawing motion is avoided, the heading angle of the flight starting point is determined, the accuracy of rotary flight is improved, and the positioning accuracy is ensured.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a positioning apparatus for an unmanned aerial vehicle according to a third embodiment of the present invention, where the apparatus can execute the positioning method for an unmanned aerial vehicle according to any of the embodiments, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 3, the apparatus may include:
and a track obtaining module 310, configured to obtain a flight track formed after the unmanned aerial vehicle completes the flight at the set heading angle.
And the positioning deviation calculation module 320 is configured to obtain the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotation trajectory of the target antenna in the dual antennas obtained by the decomposition of the flight trajectory, wherein the dual antennas are symmetrically installed on two sides of the central line of the unmanned aerial vehicle, and the positioning deviation is a deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle.
And the positioning result acquisition module 330 is configured to acquire a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technique.
And the positioning compensation module 340 is configured to compensate the real-time positioning result of the target antenna according to the positioning deviation, so as to obtain a real-time positioning result of the unmanned aerial vehicle.
According to the technical scheme, the distance from the target antenna to the central line of the unmanned aerial vehicle is calculated to serve as the positioning deviation, the real-time positioning result of the target antenna is compensated, the problem that the positioning deviation exists in the double-antenna RTK technology is solved, the accurate positioning of the unmanned aerial vehicle is realized, the phenomenon that the air course of the unmanned aerial vehicle deviates when the unmanned aerial vehicle does yawing motion is avoided, and the positioning precision is ensured.
Further, setting a course angle to be 360 degrees; the trajectory acquisition module 310 may be specifically configured to: acquiring a flight track formed after the unmanned aerial vehicle finishes flying at an angle of 360 degrees; the spin trajectory of the target antenna in the dual antenna obtained by the flight trajectory decomposition may include: the target antenna uses the vertical point as the center of a circle, and rotates a circular track formed by a circle, wherein the vertical point is the intersection point of the connecting line of the double antennas and the central line of the unmanned aerial vehicle.
Further, the positioning deviation calculating module 320 may include: the first integrating unit 321 is configured to obtain a trajectory function of the flight trajectory, and perform an integrating operation on the trajectory function to obtain a first integration result; a second integration unit 322, configured to obtain a second integration result corresponding to the spin trajectory of the target antenna, where the second integration result is associated with a deviation distance of the target antenna from a centerline of the drone; and the deviation calculating unit 323 is used for calculating the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle as the positioning deviation according to the equivalence relation between the first integration result and the second integration result.
Further, the trajectory acquisition module 310 may include: a hovering unit 311, configured to control the unmanned aerial vehicle to hover in the air for a set duration; the flying unit 312 is configured to control the unmanned aerial vehicle to fly according to a set course angle according to the course position of the hovering unmanned aerial vehicle; and the flight track acquiring unit 313 is used for acquiring a flight track formed after the unmanned aerial vehicle finishes the flight at the set course angle.
Example four
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the drone comprises a processor 40, a storage device 41 and a communication device 42; the number of processors 40 in the drone may be one or more, and one processor 40 is taken as an example in fig. 4; the processor 40, the storage device 41 and the communication device 42 of the drone may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The storage device 41 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the positioning method of the drone in the embodiment of the present invention (for example, the trajectory acquisition module 310, the positioning deviation calculation module 320, the positioning result acquisition module 330, and the positioning compensation module 340 in the positioning device of the drone). The processor 40 executes various functional applications and data processing of the drone by running software programs, instructions and modules stored in the storage device 41, that is, the positioning method of the drone is implemented.
The storage device 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 41 may further include memory located remotely from the processor 40, which may be connected to the drone over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication device 42 may be used for the drone to establish a connection with a base station, implementing a network connection or a mobile data connection.
The unmanned aerial vehicle provided by the embodiment can be used for executing the positioning method of the unmanned aerial vehicle provided by any of the above embodiments, and has corresponding functions and beneficial effects.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the positioning method for the unmanned aerial vehicle in any of the above embodiments can be implemented. The method specifically comprises the following steps:
acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle;
calculating the distance from the target antenna to the central line of the unmanned aerial vehicle as positioning deviation according to the flight trajectory and the spinning trajectory of the target antenna in the double antennas obtained by decomposing the flight trajectory, wherein the double antennas are symmetrically arranged on two sides of the central line of the unmanned aerial vehicle;
acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology;
and compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the positioning method for a drone provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the device for compensating for positioning deviation, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A positioning method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle;
acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of a target antenna in the dual antennas obtained by decomposing the flight trajectory, wherein the dual antennas are symmetrically installed on two sides of the central line of the unmanned aerial vehicle, and the positioning deviation is the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle;
the target antenna is any one of double antennas symmetrically arranged on two sides of the central line of the unmanned aerial vehicle;
acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology;
and compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
2. The method of claim 1, wherein the set heading angle is 360 °; the flight track that forms after the unmanned aerial vehicle finishes the flight of setting for the course angle is obtained, include:
acquiring a flight track formed after the unmanned aerial vehicle finishes the flight with the course of 360 degrees;
the spin trajectory of the target antenna in the dual antenna obtained by the flight trajectory decomposition includes:
the target antenna uses a vertical point as a circle center to rotate a circle to form a circular track, wherein the vertical point is an intersection point of a connecting line of the double antennas and the central line of the unmanned aerial vehicle.
3. The method of claim 1, wherein obtaining the positioning deviation of the drone according to the flight trajectory and the spin trajectory of the target antenna in the dual antenna obtained by the flight trajectory decomposition comprises:
acquiring a track function of the flight track, and performing integral operation on the track function to obtain a first integral result;
acquiring a second integration result corresponding to the spin trajectory of the target antenna, wherein the second integration result is associated with the deviation distance of the target antenna relative to the centerline of the unmanned aerial vehicle;
and calculating the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle as positioning deviation according to the equivalence relation between the first integration result and the second integration result.
4. The method according to any one of claims 1 to 3, wherein the obtaining of the flight trajectory formed after the unmanned aerial vehicle completes the flight at the set heading angle comprises:
controlling the unmanned aerial vehicle to hover in the air for a set time;
controlling the unmanned aerial vehicle to fly according to the set course angle according to the course position of the unmanned aerial vehicle after hovering;
and acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle.
5. An unmanned aerial vehicle's positioner, its characterized in that includes:
the track acquisition module is used for acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle;
the positioning deviation calculation module is used for acquiring the positioning deviation of the unmanned aerial vehicle according to the flight trajectory and the self-rotating trajectory of a target antenna in the dual antennas obtained by the decomposition of the flight trajectory, wherein the dual antennas are symmetrically arranged on two sides of the central line of the unmanned aerial vehicle, and the positioning deviation is the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle;
the target antenna is any one of double antennas symmetrically arranged on two sides of the central line of the unmanned aerial vehicle;
the positioning result acquisition module is used for acquiring a real-time positioning result of the target antenna, which is obtained by the unmanned aerial vehicle through a dual-antenna carrier phase difference RTK technology;
and the positioning compensation module is used for compensating the real-time positioning result of the target antenna according to the positioning deviation to obtain the real-time positioning result of the unmanned aerial vehicle.
6. The device of claim 5, wherein the set heading angle is 360 °; the track acquisition module is specifically configured to: acquiring a flight track formed after the unmanned aerial vehicle finishes the flight with the course of 360 degrees;
the spin trajectory of the target antenna in the dual antenna obtained by the flight trajectory decomposition includes:
the target antenna uses a vertical point as a circle center to rotate a circle to form a circular track, wherein the vertical point is an intersection point of a connecting line of the double antennas and the central line of the unmanned aerial vehicle.
7. The apparatus of claim 5, wherein the positioning deviation calculation module comprises:
the first integral unit is used for acquiring a track function of the flight track and performing integral operation on the track function to obtain a first integral result;
a second integration unit, configured to obtain a second integration result corresponding to a spin trajectory of the target antenna, where the second integration result is associated with a deviation distance of the target antenna from a centerline of the drone;
and the deviation calculating unit is used for calculating the deviation distance of the target antenna relative to the central line of the unmanned aerial vehicle as positioning deviation according to the equivalence relation between the first integration result and the second integration result.
8. The apparatus of any one of claims 5-7, wherein the trajectory acquisition module comprises:
the hovering unit is used for controlling the unmanned aerial vehicle to hover in the air for a set time length;
the flying unit is used for controlling the unmanned aerial vehicle to fly according to a set course angle according to the course position of the hovering unmanned aerial vehicle;
and the flight track acquisition unit is used for acquiring a flight track formed after the unmanned aerial vehicle finishes the flight of the set course angle.
9. A drone, characterized in that it comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the positioning method of a drone of any one of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of positioning a drone according to any one of claims 1 to 4.
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| CN110809747A (en) * | 2018-10-26 | 2020-02-18 | 深圳市大疆创新科技有限公司 | High-precision unmanned aerial vehicle flight path measurement system and machine readable storage medium |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| CN110389367A (en) * | 2019-08-14 | 2019-10-29 | 杭州启飞智能科技有限公司 | A kind of airborne center RTK backoff algorithm |
| CN110794260B (en) * | 2019-11-04 | 2021-08-31 | 国网福建省电力有限公司 | Overhead transmission line positioning method based on double RTK unmanned aerial vehicles |
| CN112230676B (en) * | 2020-10-21 | 2022-05-13 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle flight line correction system, method and related device |
| CN114237298B (en) * | 2021-12-21 | 2024-04-05 | 中国人民解放军海军航空大学 | Control method and system for unmanned aerial vehicle formation in-flight plane to follow long plane |
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| JP2916625B1 (en) * | 1998-06-18 | 1999-07-05 | 農林水産省農業研究センター所長 | Vehicle attitude detection device |
| KR100715178B1 (en) * | 2005-09-23 | 2007-05-07 | 김근수 | Method For Determining Position Of An Object |
| US20090093959A1 (en) * | 2007-10-04 | 2009-04-09 | Trimble Navigation Limited | Real-time high accuracy position and orientation system |
| CN101801085A (en) * | 2010-02-11 | 2010-08-11 | 华为技术有限公司 | Locating method, locating device and base station |
| CN203311002U (en) * | 2013-07-16 | 2013-11-27 | 成都国星通信有限公司 | Carrier phase difference-based double antenna integrated positioning/orienting device |
| US9778368B2 (en) * | 2014-09-07 | 2017-10-03 | Trimble Inc. | Satellite navigation using side by side antennas |
| CN105974444B (en) * | 2016-07-21 | 2018-04-27 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of differential satellite receiver dynamic calibration apparatus |
| CN106483953B (en) * | 2016-10-28 | 2019-03-15 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and unmanned plane of the heading adjusting unmanned plane |
| CN106970406A (en) * | 2017-04-11 | 2017-07-21 | 北京七维航测科技股份有限公司 | Airborne dual-antenna direction-finding method and device |
| CN107339991A (en) * | 2017-07-25 | 2017-11-10 | 上海俏动智能化科技有限公司 | A kind of detection method and device at aircraft course angle |
| CN110389367A (en) * | 2019-08-14 | 2019-10-29 | 杭州启飞智能科技有限公司 | A kind of airborne center RTK backoff algorithm |
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