CN109298387A - Search and rescue localization method, device, computer storage medium and equipment - Google Patents
Search and rescue localization method, device, computer storage medium and equipment Download PDFInfo
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- CN109298387A CN109298387A CN201810950521.1A CN201810950521A CN109298387A CN 109298387 A CN109298387 A CN 109298387A CN 201810950521 A CN201810950521 A CN 201810950521A CN 109298387 A CN109298387 A CN 109298387A
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- user terminal
- base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Abstract
The present invention provides a kind of search and rescue localization method, device, computer storage medium and equipment, this method comprises: carrying out whole district's scanning to target devastated, obtain in the current micro-base station registration for being equipped on UAV system and/or resident user terminal；Under the horizontal flight mode of UAV system, first position point is searched for, first position point is the location point for the uplink signal maximum value that current micro-base station receives user terminal；Switching UAV system is inclination offline mode；Under the inclination offline mode of UAV system, second position point is searched for, second position point is location point of the current micro-base station in the uplink signal maximum for receiving user terminal along UAV system inclined direction moving process；The target location coordinate of user terminal is calculated according to the coordinate and the corresponding tilt angle of inclination offline mode of first position point and second position point.The present invention can position of the positioning to rescue worker accurately and fast, provide guidance for rescue, improve search efficiency.
Description
Technical field
The present invention relates to micro-base station technical field more particularly to it is a kind of by the search and rescue localization method of micro-base station, device, based on
Calculation machine storage medium and equipment.
Background technique
In recent years, the natural calamities such as earthquake, tsunami happen occasionally, and how fast and efficiently to carry out rescue work seems outstanding
It is important.
After natural calamity occurs, there are many survivors to be confined in devastated.But since natural calamity is for disaster area
Communications facility often brings biggish damage, causes survivor that can not contact or send out with the external world by mobile phone or other terminals
Distress signal out.When especially can not being directly observed to rescue worker, for example, after earthquake in ruins wait search
The person of rescuing, snow-covered person to be searched and rescued after snowslide hide in the person to be searched and rescued of cavern, the person to be searched and rescued blocked by bushes, forest,
Cause rescue work as looked for a needle in a haystack, inefficiency.As it can be seen that for the essence to rescue worker that cannot be directly observed
Really, quickly positioning is particularly important.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State search and rescue localization method, device, computer storage medium and the equipment of problem.
The first aspect of the present invention provides a kind of search and rescue localization method, comprising:
Whole district's scanning is carried out to target devastated, is registered with obtaining in the target devastated in current micro-base station
And/or resident user terminal, the current micro-base station are equipped on UAV system；
Under the horizontal flight mode of UAV system, the corresponding first position point of the user terminal is searched for, described
One location point is the location point for the uplink signal maximum value that current micro-base station receives user terminal；
The flight parameter of UAV system is adjusted, so that UAV system is switched to inclination flight mould by horizontal flight mode
Formula；
Under the inclination offline mode of UAV system, the corresponding second position point of the user terminal is searched for, described
Two location points are current micro-base station in the uplink signal for receiving user terminal along UAV system inclined direction moving process
The location point of maximum；
According to the coordinate and inclination offline mode pair of the corresponding first position point of the user terminal and second position point
The tilt angle answered calculates the first position coordinate of the user terminal, obtains user terminal according to the first position coordinate
Target location coordinate.
It is optionally, described that the target location coordinate of user terminal is obtained according to the first position coordinate, comprising:
Adjust the corresponding tilt angle of inclination offline mode of UAV system；
Under tilt angle inclination offline mode adjusted, the corresponding the third place point of the user terminal, institute are searched for
Stating the third place point is current micro-base station in the uplink for receiving user terminal along UAV system inclined direction moving process
The location point of signal maximum；
According to coordinate and the inclination angle adjusted of the user terminal corresponding first position point and the third place point
Degree calculates the second position coordinate of the user terminal；
The average value for calculating the first position coordinate and second position coordinate, obtains the target position of the user terminal
Coordinate.
Optionally, before carrying out whole district's scanning to target devastated, the method also includes:
Base station communication return link is established according to the communication environment around the target devastated；
Correspondingly, after the target location coordinate for obtaining the user terminal, the method also includes:
The target location coordinate of the user terminal is reported by the base station communication return link.
Optionally, when searching for the corresponding first position point of the user terminal or second position point, by current micro-base station
Antenna be switched to main lobe width be less than preset value antenna.
Optionally, obtain in the target devastated current micro-base station register and/or resident user terminal it
Afterwards, the method also includes:
Obtain the end message of the user terminal；
Confirm that each user terminal corresponds to the identity information of user according to the end message of the user terminal.
The second aspect of the present invention provides a kind of search and rescue positioning device, comprising:
First covering search module, for carrying out whole district's scanning to target devastated, to obtain the target by disaster area
It is registered in domain in current micro-base station and/or resident user terminal, the current micro-base station is equipped on UAV system；
Second covering search module, for searching for the user terminal pair under the horizontal flight mode of UAV system
The first position point answered, the first position point are the position for the uplink signal maximum value that current micro-base station receives user terminal
Point；
Flight control modules, for adjusting the flight parameter of UAV system, so that UAV system is by horizontal flight mould
Formula is switched to inclination offline mode；
The second covering search module, is also used under the inclination offline mode of UAV system, searches for the user
The corresponding second position point of terminal, the second position point are that current micro-base station is moved through along UAV system inclined direction
The location point of the uplink signal maximum of user terminal is received in journey；
Locating module, for according to the coordinate of the corresponding first position point of the user terminal and second position point and inclining
The oblique corresponding tilt angle of offline mode calculates the first position coordinate of the user terminal, is obtained according to the first position coordinate
To the target location coordinate of user terminal.
Optionally, the flight control modules are also used to adjust the corresponding inclination of inclination offline mode of UAV system
Angle；
The second covering search module, is also used under tilt angle inclination offline mode adjusted, described in search
The corresponding the third place point of user terminal, the third place point are that current micro-base station is moved along UAV system inclined direction
The location point of the uplink signal maximum of user terminal is received in the process；
The locating module is also used to the coordinate according to the user terminal corresponding first position point and the third place point
And tilt angle adjusted calculates the second position coordinate of the user terminal；Calculate the first position coordinate and second
The average value of position coordinates obtains the target location coordinate of the user terminal.
Optionally, described device further include:
Communication module is used for before the first covering search module carries out whole district's scanning to target devastated, according to institute
It states the communication environment around target devastated and establishes base station communication return link；
The communication module is also used to after the target location coordinate that the locating module obtains the user terminal,
The target location coordinate of the user terminal is reported by the base station communication return link.
In addition, it is stored thereon with computer program the present invention also provides a kind of computer readable storage medium, the program
The step of searching and rescuing localization method as described above is realized when being executed by processor.
In addition, the present invention also provides a kind of equipment, including memory, processor and storage on a memory and can located
The computer program run on reason device, the processor realize the step for searching and rescuing localization method as described above when executing described program
Suddenly.
Search and rescue localization method, device, computer storage medium and equipment provided in an embodiment of the present invention, are scanned by the whole district
The user terminal registered and/or be resident in current micro-base station in target devastated is obtained, then searches for and positions two positions
Point, in such a way that two location points and user terminal position point that search construct triangle, according to each location point
Coordinate and coordinate between relationship calculate and state the target location coordinate of user terminal.Great natural calamity is occurring for the present invention
In evil situation, can position of the positioning to rescue worker accurately and fast, provide guidance for rescue, improve search efficiency.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of flow diagram for searching and rescuing localization method provided in an embodiment of the present invention；
Fig. 2 is a kind of antenna pattern for searching and rescuing antenna 1 in localization method provided in an embodiment of the present invention；
Fig. 3 is a kind of antenna pattern for searching and rescuing antenna 2 in localization method provided in an embodiment of the present invention；
Fig. 4 is a kind of realization principle figure for searching and rescuing localization method provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram for searching and rescuing positioning device provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless otherwise will not be explained in an idealized or overly formal meaning by specific definitions.
Micro-base station (Smallcell) is a kind of small-sized, inexpensive cellular access point, is mainly used for improving indoor or enterprise
Coverage effect under industry scene.The present invention provides a kind of search and rescue localization methods realized based on micro-base station, weight can occur
Under the Nature disaster scenarios it, search and rescue positioning is carried out to indicator of trapped personnel.Fig. 1 shows the search and rescue positioning provided in the embodiment of the present invention
The flow diagram of method, as shown in Figure 1, which comprises
Step S11, whole district's scanning is carried out to target devastated, to obtain in the target devastated in current micro- base
It stands registration and/or resident user terminal, the current micro-base station is equipped on UAV system.
In the present embodiment, during being scanned to target devastated, it is desirable that the scanning range of micro-base station is appropriate
It is larger, whole district's scanning of target devastated is completed as early as possible, so needing to improve micro-base station flying height and output power, i.e.,
Target devastated is scanned with higher flying height and biggish output power, express statistic is registered in micro-base station
With the end messages such as IMSI, MAC, the phone number of resident users terminal.
Further, if disaster area area is larger, the mode parallel processing of more micro-base stations while scanning can be taken.
In the embodiment of the present invention, 2G, 3G, 4G, 5G, WIFI, bluetooth can be used between the micro-base station and user terminal
The communication mode of equal multiple types is communicated, and the present invention is not particularly limited this.
Step S12, under the horizontal flight mode of UAV system, the corresponding first position of the user terminal is searched for
Point, the first position point are the location point for the uplink signal maximum value that current micro-base station receives user terminal.
In the embodiment of the present invention, micro-base station carries two sets of antennas simultaneously.Antenna 1 is used to carry out the whole district to target devastated
Scanning, to realize the quick scanning to rescue worker's quantity and overall situation to devastated, antenna pattern is a circle
Taper, as shown in Figure 2.Antenna 2 is the antenna of the main lobe width very little an of high-gain, as shown in Figure 3.For for each
It is accurately positioned to rescue worker.
In the present embodiment, after being scanned to target devastated, need to determine the position of each user terminal in detail
Coordinate information is set, it requires that the scanning range of micro-base station is smaller, the position for answering user terminal is accurately positioned as far as possible, at this time then
Micro-base station flying height and output power are reduced, the antenna of current micro-base station is switched to the antenna that main lobe width is less than preset value
2, disaster area is scanned using antenna 2, the location point that current micro-base station receives the uplink signal maximum value of user terminal is searched for, that is, uses
Family terminal corresponding latitude and longitude coordinates of micro-base station when micro-base station registration is most strong with retention signal.
Further, if disaster area area is larger, the mode parallel processing that more are base station while scanning can be taken, with
The precise positioning to more user terminals is realized simultaneously.
Specifically, micro-base station can complete positioning in real time by GPS, Beidou, Galileo or other positioning systems.
Step S13, the flight parameter for adjusting UAV system, inclines so that UAV system is switched to by horizontal flight mode
Oblique offline mode.
Step S14, under the inclination offline mode of UAV system, the corresponding second position of the user terminal is searched for
Point, the second position point are that current micro-base station is receiving user terminal along UAV system inclined direction moving process
The location point of uplink signal maximum.
In the embodiment of the present invention, when searching for the corresponding first position point of the user terminal or second position point, it is both needed to
The antenna of current micro-base station is switched to the antenna that main lobe width is less than preset value, the position for answering user terminal is accurately positioned as far as possible
It sets.
Step S15, flown according to the coordinate and inclination of the corresponding first position point of the user terminal and second position point
The corresponding tilt angle of row mode calculates the first position coordinate of the user terminal, is used according to the first position coordinate
The target location coordinate of family terminal.It, can be using the first position coordinate of user terminal as user terminal in a specific example
Target location coordinate.
In a specific embodiment, micro-base station takes horizontal sweep first, then takes dip sweeping, as shown in Figure 4.
For horizontal sweep mode: after the registration of a certain user terminal, level all around finely tunes micro-base station, until user
Until the uplink signal of terminal is maximum.At this point, being obtained by GPS, Beidou, Galileo or other positioning systems skyborne micro-
The first position point of base station, three-dimensional position (x1,y1,z1).Then, micro-base station is tilted to a direction, such as x-axis directionDegree, it is then that search and rescue system is mobile to x-axis direction, until there is maximum in the uplink signal of the user terminal.At this point,
The skyborne second position point for searching and rescuing positioning system is obtained by GPS, Beidou, Galileo or other positioning systems, thirdly
Tie up position (x2,y2,z1).The exact position of user terminal is (x1,y1,z2)。
Wherein, x1,y1,z1And x2,y2,z1As long as it is known that calculating z2, the exact position of user terminal can be obtained.This
In embodiment, it is assumed that tilt angle isIt is calculated using trigonometric function, specific as follows:
Finally, the accurate location of user terminal is obtained.
Intelligible, second position point can be in any direction of first position point, as long as its known position coordinates.And root
It is calculated according to the coordinate between first position point and second position point, technical solution can realize positioning according to the present invention.
Search and rescue localization method provided in an embodiment of the present invention is scanned by the whole district and is obtained in target devastated current micro-
Then two location points are searched for and positioned to base station login and/or resident user terminal, two location points to search and
User terminal position point constructs the mode of triangle, according to the relationship meter between the coordinate and coordinate of each location point
Calculate the target location coordinate for stating user terminal.The present invention, can positioning accurately and fast when major natural disasters occur
To the position of rescue worker, guidance is provided for rescue, improves search efficiency.
In embodiments of the present invention, it is specifically gone back according to the target location coordinate that the first position coordinate obtains user terminal
The following steps are included:
Adjust the corresponding tilt angle of inclination offline mode of UAV system；
Under tilt angle inclination offline mode adjusted, the corresponding the third place point of the user terminal, institute are searched for
Stating the third place point is current micro-base station in the uplink for receiving user terminal along UAV system inclined direction moving process
The location point of signal maximum；
According to coordinate and the inclination angle adjusted of the user terminal corresponding first position point and the third place point
Degree calculates the second position coordinate of the user terminal；
The average value for calculating the first position coordinate and second position coordinate, obtains the target position of the user terminal
Coordinate.
In the embodiment of the present invention, by adjusting the flight parameter of UAV system, such as tilt angle, it is used for multiple times above
Mode tests the position coordinates of user terminal, is then averaged to obtain the more accurate position of user terminal, to evaluate
The position of person to be searched and rescued.
In embodiments of the present invention, if occur natural calamity after, due to natural calamity for disaster area communications facility often
Biggish damage can be brought, causes survivor that can not contact or issue emergency letter by mobile phone or other terminals and the external world
Number, therefore before carrying out whole district's scanning to target devastated, it needs according to the communication loop around the target devastated
Base station communication return link is established in border, guarantees emergency communication system.
In the present embodiment, by the way that current micro-base station to be mounted on unmanned plane, micro-base station lift-off is carried by UAV system
Flight, to reach specified target devastated.Then by, using communication environment, being selected around scanning target devastated
It selects the parameters such as optimal communication standard, frequency range, modulation system, power and establishes base station communication return link, pass through the logical of micro-base station
Telecommunication function completes the passback of monitoring data, realizes the foundation for searching and rescuing location base communications facility, guarantees the emergency communication in disaster area.
Correspondingly, passing through the base station communication return link after the target location coordinate for obtaining the user terminal
The target location coordinate of the user terminal is reported, data is provided for rescue disaster relief work and supports and instruct.
In the present embodiment, micro-base station includes but is not limited to mesh, the networks such as Ad-Hoc, by between other base stations
Communication function completes the passback and communication link passback of monitoring data.Micro-base station is equipped on UAV system and is mainly used for realizing
The control of unmanned plane during flying and hovering establishes connection with the communication system around disaster area, gets through return link；By 2G, 3G,
4G, 5G, WIFI, bluetooth etc. are communicated between standards and terminal, search for user terminal.
In one alternate embodiment, it registers and/or is resident in current micro-base station in the acquisition target devastated
User terminal after, the method also includes:
Obtain the end message of the user terminal；
Confirm that each user terminal corresponds to the identity information of user according to the end message of the user terminal.
In the embodiment of the present invention, micro-base station is registered and/or resident in current micro-base station getting in target devastated
User terminal after, the end message of each user terminal can be obtained.For example, IMSI, MAC of user terminal, phone number
Deng.
Then, the end message received is identified according to presetting database, to confirm each user terminal to application
The identity information at family.
Specifically, further including carrying out duplicate removal etc. to data after the identity information that each user terminal of confirmation corresponds to user
The case where optimizing and handling, correspond to multiple end messages to avoid an identity information.Such as: it is corresponding to remove an identity information
The case where multiple phone numbers.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but this field
Technical staff should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because implementing according to the present invention
Example, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, specification
Described in embodiment belong to preferred embodiment, the actions involved are not necessarily necessary for embodiments of the present invention.
Fig. 5 diagrammatically illustrates the structural schematic diagram of the search and rescue positioning device of one embodiment of the invention.Referring to Fig. 5, originally
The search and rescue positioning device of inventive embodiments specifically includes the first covering search module 201, second covering search module 202, flight
Control module 203 and locating module 204, in which:
First covering search module 201, it is disaster-stricken to obtain the target for carrying out whole district's scanning to target devastated
It is registered in region in current micro-base station and/or resident user terminal, the current micro-base station is equipped on UAV system；
Second covering search module 202, for searching for the user terminal under the horizontal flight mode of UAV system
Corresponding first position point, the first position point are the position for the uplink signal maximum value that current micro-base station receives user terminal
It sets a little；
Flight control modules 203, for adjusting the flight parameter of UAV system, so that UAV system is by horizontal flight
Pattern switching is inclination offline mode；
The second covering search module 202, is also used under the inclination offline mode of UAV system, searches for the use
The corresponding second position point of family terminal, the second position point are that current micro-base station is moved along UAV system inclined direction
The location point of the uplink signal maximum of user terminal is received in the process；
Locating module 204, for according to the coordinate of the corresponding first position point of the user terminal and second position point with
And the corresponding tilt angle of inclination offline mode calculates the first position coordinate of the user terminal, is sat according to the first position
Mark obtains the target location coordinate of user terminal.
In embodiments of the present invention, the flight control modules 203 are also used to adjust the inclination flight mould of UAV system
The corresponding tilt angle of formula.Specifically, flight control modules 203 are in locating module according to the corresponding first position point of user terminal
The first position that tilt angle corresponding with the coordinate of second position point and inclination offline mode calculates the user terminal is sat
After mark, the corresponding tilt angle of inclination offline mode of UAV system is adjusted, in order to which the second covering search module 202 is searched
The corresponding the third place point of rope user terminal.
The second covering search module 202, is also used under tilt angle inclination offline mode adjusted, searches for institute
The corresponding the third place point of user terminal is stated, the third place point is that current micro-base station is moved along UAV system inclined direction
The location point of the uplink signal maximum of user terminal is received during dynamic；
The locating module 204 is also used to according to the corresponding first position point of the user terminal and the third place point
Coordinate and tilt angle adjusted calculate the second position coordinate of the user terminal；Calculate the first position coordinate and
The average value of second position coordinate obtains the target location coordinate of the user terminal.
In embodiments of the present invention, described device further includes attached communication module not shown in the figure, which is used for
Before the first covering search module carries out whole district's scanning to target devastated, according to logical around the target devastated
Letter environment establishes base station communication return link.
The communication module is also used to after the target location coordinate that the locating module obtains the user terminal,
The target location coordinate of the user terminal is reported by the base station communication return link.
In embodiments of the present invention, the second covering search module 202, is searching for the user terminal corresponding first
When location point or second position point, the antenna of current micro-base station is switched to the antenna that main lobe width is less than preset value.
In embodiments of the present invention, the locating module 204 is obtaining in the target devastated in current micro-base station
After registration and/or resident user terminal, it is also used to obtain the end message of the user terminal；According to the user terminal
End message confirm that each user terminal corresponds to the identity information of user.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Search and rescue localization method provided in an embodiment of the present invention, device, the micro-base station for being equipped on unmanned plane pass through the whole district and scan
The user terminal registered and/or be resident in current micro-base station in target devastated is obtained, then searches for and positions two positions
Point, in such a way that two location points and user terminal position point that search construct triangle, according to each location point
Coordinate and coordinate between relationship calculate and state the target location coordinate of user terminal.Great natural calamity is occurring for the present invention
In evil situation, can position of the positioning to rescue worker accurately and fast, provide guidance for rescue, improve search efficiency.
In addition, it is stored thereon with computer program the embodiment of the invention also provides a kind of computer readable storage medium,
The program realizes the step of any embodiment the method as above when being executed by processor.
In the present embodiment, if module/unit that above-mentioned search and rescue positioning device integrates is real in the form of SFU software functional unit
Now and when sold or used as an independent product, it can store in a computer readable storage medium.Based in this way
Understanding, the present invention realize above-described embodiment method in all or part of the process, can also be instructed by computer program
Relevant hardware is completed, and the computer program can be stored in a computer readable storage medium, the computer program
When being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer
Program code, the computer program code can be source code form, object identification code form, executable file or certain centres
Form etc..The computer-readable medium may include: can carry the computer program code any entity or device,
Recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium does not include electric carrier signal and telecommunication signal.
Equipment provided in an embodiment of the present invention, including memory, processor and storage are on a memory and can be in processor
The computer program of upper operation, the processor realize that above-mentioned each search and rescue localization method is implemented when executing the computer program
Example in step, such as step S11 shown in FIG. 1, to target devastated carry out whole district's scanning, it is disaster-stricken to obtain the target
It is registered in region in current micro-base station and/or resident user terminal, the current micro-base station is equipped on UAV system.Step
S12, under the horizontal flight mode of UAV system, search for the corresponding first position point of the user terminal, described first
Set the location point that the uplink signal maximum value of user terminal is a little received for current micro-base station.Step S13, UAV system is adjusted
Flight parameter so that UAV system is switched to inclination offline mode by horizontal flight mode.Step S14, in unmanned plane system
Under the inclination offline mode of system, the corresponding second position point of the user terminal is searched for, the second position point is current micro- base
It stands in the location point for the uplink signal maximum for receiving user terminal along UAV system inclined direction moving process.Step
It is S15, corresponding according to the coordinate and inclination offline mode of the corresponding first position point of the user terminal and second position point
Tilt angle calculates the first position coordinate of the user terminal, obtains the target location coordinate of the user terminal.Alternatively, institute
It states and realizes above-mentioned each function of searching and rescuing each module/unit in positioning device embodiment when processor executes the computer program,
Such as the first covering search module 201, second shown in fig. 5 covers search module 202, flight control modules 203 and positioning mould
Block 204.
Illustratively, the computer program can be divided into one or more module/units, one or more
A module/unit is stored in the memory, and is executed by the processor, to complete the present invention.It is one or more
A module/unit can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing institute
Computer program is stated in the corresponding implementation procedure searched and rescued in positioning device.
The equipment may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that described set
The standby restriction not constituted to equipment, may include more or fewer components, perhaps combine certain components or different portions
Part, such as the equipment can also include input-output equipment, network access equipment, bus etc..
The processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the equipment, utilizes the various pieces of various interfaces and connection whole equipment.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of equipment.The memory can mainly include storing program area and storage data area, wherein storing program area can deposit
Application program (such as sound-playing function, image player function etc.) needed for storing up operating system, at least one function etc.；Storage
Data field, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.In addition, memory can
It can also include nonvolatile memory, such as hard disk, memory, plug-in type hard disk, intelligence to include high-speed random access memory
Energy storage card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash
Card), at least one disk memory, flush memory device or other volatile solid-state parts.
In embodiments of the present invention, it should be understood that disclosed device and method, it can be real by another way
It is existing.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit or unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of equipment or unit
It connects, can be electrical or other forms.
It will be appreciated by those of skill in the art that although some embodiments in this include included in other embodiments
Certain features rather than other feature, but the combination of the feature of different embodiments means to be within the scope of the present invention simultaneously
And form different embodiments.For example, in the following claims, the one of any of embodiment claimed all may be used
Come in a manner of in any combination using.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of search and rescue localization method, which is characterized in that the described method includes:
To target devastated carry out whole district's scanning, with obtain in the target devastated current micro-base station registration and/or
Resident user terminal, the current micro-base station are equipped on UAV system；
Under the horizontal flight mode of UAV system, the corresponding first position point of the user terminal is searched for, described first
Set the location point that the uplink signal maximum value of user terminal is a little received for current micro-base station；
The flight parameter for adjusting UAV system, so that UAV system is switched to inclination offline mode by horizontal flight mode；
Under the inclination offline mode of UAV system, the corresponding second position point of the user terminal, the second are searched for
It sets a little very big in the uplink signal for receiving user terminal along UAV system inclined direction moving process for current micro-base station
The location point of value；
It is corresponding according to the coordinate and inclination offline mode of the corresponding first position point of the user terminal and second position point
Tilt angle calculates the first position coordinate of the user terminal, obtains the target of user terminal according to the first position coordinate
Position coordinates.
2. the method according to claim 1, wherein described obtain user terminal according to the first position coordinate
Target location coordinate, comprising:
Adjust the corresponding tilt angle of inclination offline mode of UAV system；
Under tilt angle inclination offline mode adjusted, the corresponding the third place point of the user terminal is searched for, described
Three location points are current micro-base station in the uplink signal for receiving user terminal along UAV system inclined direction moving process
The location point of maximum；
According to the coordinate and tilt angle meter adjusted of the corresponding first position point of the user terminal and the third place point
Calculate the second position coordinate of the user terminal；
The average value for calculating the first position coordinate and second position coordinate, the target position for obtaining the user terminal are sat
Mark.
3. method according to claim 1 or 2, which is characterized in that before carrying out whole district's scanning to target devastated,
The method also includes:
Base station communication return link is established according to the communication environment around the target devastated；
Correspondingly, after the target location coordinate for obtaining the user terminal, the method also includes:
The target location coordinate of the user terminal is reported by the base station communication return link.
4. the method according to claim 1, wherein search for the corresponding first position point of the user terminal or
When the point of the second position, the antenna of current micro-base station is switched to the antenna that main lobe width is less than preset value.
5. the method according to claim 1, wherein obtaining in the target devastated in current micro-base station
After registration and/or resident user terminal, the method also includes:
Obtain the end message of the user terminal；
Confirm that each user terminal corresponds to the identity information of user according to the end message of the user terminal.
6. a kind of search and rescue positioning device, which is characterized in that described device includes:
First covering search module, for carrying out whole district's scanning to target devastated, to obtain in the target devastated
It is registered in current micro-base station and/or resident user terminal, the current micro-base station is equipped on UAV system；
Second covering search module, for it is corresponding to search for the user terminal under the horizontal flight mode of UAV system
First position point, the first position point are the location point for the uplink signal maximum value that current micro-base station receives user terminal；
Flight control modules, for adjusting the flight parameter of UAV system, so that UAV system is cut by horizontal flight mode
It is changed to inclination offline mode；
The second covering search module, is also used under the inclination offline mode of UAV system, searches for the user terminal
Corresponding second position point, the second position point are current micro-base station along UAV system inclined direction moving process
Receive the location point of the uplink signal maximum of user terminal；
Locating module, for being flown according to the coordinate and inclination of the corresponding first position point of the user terminal and second position point
The corresponding tilt angle of row mode calculates the first position coordinate of the user terminal, is used according to the first position coordinate
The target location coordinate of family terminal.
7. device according to claim 6, which is characterized in that the flight control modules are also used to adjust unmanned plane system
The corresponding tilt angle of inclination offline mode of system；
The second covering search module, is also used under tilt angle inclination offline mode adjusted, searches for the user
The corresponding the third place point of terminal, the third place point are current micro-base station along UAV system inclined direction moving process
In receive user terminal uplink signal maximum location point；
The locating module, be also used to coordinate according to the corresponding first position point of the user terminal and the third place point and
Tilt angle adjusted calculates the second position coordinate of the user terminal；Calculate the first position coordinate and the second position
The average value of coordinate obtains the target location coordinate of the user terminal.
8. device according to claim 6 or 7, which is characterized in that described device further include:
Communication module is used for before the first covering search module carries out whole district's scanning to target devastated, according to the mesh
Communication environment around mark devastated establishes base station communication return link；
The communication module is also used to after the target location coordinate that the locating module obtains the user terminal, passes through
The base station communication return link reports the target location coordinate of the user terminal.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is realized when row such as the step of any one of claim 1-5 the method.
10. a kind of equipment including memory, processor and stores the computer journey that can be run on a memory and on a processor
Sequence, which is characterized in that the processor is realized when executing described program such as the step of any one of claim 1-5 the method.
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