CN110365395A - A kind of unmanned plane localization method and system - Google Patents
A kind of unmanned plane localization method and system Download PDFInfo
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- CN110365395A CN110365395A CN201810252016.XA CN201810252016A CN110365395A CN 110365395 A CN110365395 A CN 110365395A CN 201810252016 A CN201810252016 A CN 201810252016A CN 110365395 A CN110365395 A CN 110365395A
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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
- G01S5/0284—Relative positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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Abstract
The invention discloses a kind of unmanned plane localization method and systems, this method comprises: the first plane in positioning building disposes more the first unmanned planes using as multiple first communication nodes, more the second unmanned planes are disposed using as multiple second communication nodes in the second plane of positioning building；Acquisition positioning device and the receiving and transmitting signal intensity of multiple first communication nodes and the receiving and transmitting signal intensity of positioning device and multiple second communication nodes respectively；Positioning device is obtained respectively at a distance from multiple first communication nodes according to receiving and transmitting signal intensity and/or positioning device is at a distance from multiple second communication nodes；Foundation positioning device is at a distance from multiple first communication nodes and/or positioning device obtains position of the positioning device in positioning building at a distance from multiple second communication nodes.The advantageous effect of the invention are as follows: the communication system at the scene of temporarily being built by unmanned plane, rescue personnel or other needs carry positioning device when entering building can obtain its position in building in real time.
Description
Technical field
The present invention relates to unmanned plane field of locating technology more particularly to a kind of unmanned plane localization method and systems.
Background technique
In the case where the rescue of the needs such as fire occurs for building, it is difficult to temporarily build the communication system at building periphery scene
System, and the prior art is difficult to obtain the position of rescue personnel, such as when fireman rushes in building, it is difficult to learn fireman institute
Position in building, therefore there is great safety problem.
Summary of the invention
The technical problem to be solved in the present invention is that being difficult to temporarily build for the upper periphery of building in the prior art
The communication system at scene, provides a kind of unmanned plane positioning side at the problem of can not learning the position in building locating for rescue personnel
Method and system.
The technical solution adopted by the present invention to solve the technical problems is:
On the one hand, a kind of unmanned plane localization method is provided, comprising:
More the first unmanned planes are disposed using as multiple first communication nodes, in described fixed in the first plane of positioning building
Second plane of position building disposes more the second unmanned planes using as multiple second communication nodes；
Acquire respectively positioning device and multiple first communication nodes receiving and transmitting signal intensity and positioning device with it is multiple
The receiving and transmitting signal intensity of second communication node；
The positioning device is obtained respectively at a distance from multiple first communication nodes according to the receiving and transmitting signal intensity
And/or the positioning device is at a distance from multiple second communication nodes；
According to the positioning device at a distance from multiple first communication nodes and/or the positioning device and multiple institutes
The distance for stating the second communication node obtains position of the positioning device in the positioning building.
In unmanned plane localization method of the present invention, the first plane for being set forth in positioning building disposes more the first nothings
It is man-machine using as multiple first communication nodes, dispose more the second unmanned planes using as more in the second plane of the positioning building
A second communication node, comprising:
The first plane is set in the horizontal plane where the bottom surface of the positioning building, includes described in first plane
Position the bottom surface of building；
Using multiple endpoints of the rectangle as intersection point, by the horizontal plane where the top of its normal and the positioning building
The second plane is arranged in intersection point；
More the first unmanned planes are disposed at multiple endpoints of first plane using as multiple first communication sections
Point, and more the second unmanned planes are disposed at multiple endpoints of second plane using as multiple second communication nodes.
In unmanned plane localization method of the present invention, the positioning device of acquisition respectively is communicated with multiple described first
The receiving and transmitting signal intensity of the receiving and transmitting signal intensity and positioning device of node and multiple second communication nodes, comprising:
Multiple first receiving and transmitting signal intensity of the positioning device Yu multiple first communication nodes are acquired respectively；
Multiple second receiving and transmitting signal intensity of the positioning device Yu multiple second communication nodes are acquired respectively.
In unmanned plane localization method of the present invention, it is described obtained respectively according to the receiving and transmitting signal intensity it is described fixed
Position device with multiple first communication nodes at a distance from and/or the positioning device and multiple second communication nodes away from
From, comprising:
The average value of more multiple first receiving and transmitting signal intensity is averaged with multiple second receiving and transmitting signal intensity
The size of value；
If the average value of multiple first receiving and transmitting signal intensity is less than being averaged for multiple second receiving and transmitting signal intensity
Value, then obtain the positioning device with the mapping relations of distance according to preset signal strength respectively and communicate with multiple described first
The distance of node；
If the average value of multiple first receiving and transmitting signal intensity is flat not less than multiple second receiving and transmitting signal intensity
Mean value then obtains the positioning device respectively according to the mapping relations of preset signal strength and distance and leads to multiple described second
Believe the distance of node.
It is described to be communicated according to the positioning device with multiple described first in unmanned plane localization method of the present invention
The distance of node and/or the positioning device obtain the positioning device described at a distance from multiple second communication nodes
Position in positioning building, comprising:
If the average value of multiple first receiving and transmitting signal intensity is greater than being averaged for multiple second receiving and transmitting signal intensity
Value then controls more first unmanned planes and is respectively perpendicular flight to when can receive multiple first receiving and transmitting signal maximum intensities
Positioning, so that it is determined that the positioning device where positioning building in vertical axial coordinate；
If the average value of multiple first receiving and transmitting signal intensity is flat no more than multiple second receiving and transmitting signal intensity
Mean value then controls more second unmanned planes and is respectively perpendicular flight to can receive multiple second receiving and transmitting signal maximum intensities
When positioning, so that it is determined that the positioning device where positioning building in vertical axial coordinate；
Level coordinates of the positioning device in the positioning building are determined according to the positioning；
Determine the positioning device in positioning building according to the vertical axial coordinate and the level coordinates
Position.
It is described to be communicated according to the positioning device with multiple described first in unmanned plane localization method of the present invention
The distance of node and/or the positioning device obtain the positioning device described at a distance from multiple second communication nodes
Position in positioning building, further includes:
If obtaining the positioning device at a distance from multiple first communication nodes, multiple first communication sections are chosen
Any three in point are used as calculate node；
If obtaining the positioning device at a distance from multiple second communication nodes, multiple second communication sections are chosen
Any three in point are used as calculate node；
The positioning device is calculated at a distance from the calculate node according to the positioning device in positioning building
Position.
On the other hand, a kind of unmanned plane positioning system is provided, more including unmanned plane localization method as described above
One unmanned plane, more the second unmanned planes and positioning device, further include calculating center, wherein the positioning device distinguishes communication link
It is connected to more first unmanned planes and more second unmanned planes, more first unmanned planes and more second nothings
It is man-machine to be communicatively coupled to the calculating center.
In unmanned plane positioning system of the present invention, the positioning device passes through WiFi communication respectively and is connected to more
First unmanned plane and more second unmanned planes.
In unmanned plane positioning system of the present invention, more first unmanned planes and more second unmanned planes
It is connected to the calculating center by wireless communication.
In unmanned plane positioning system of the present invention, more first unmanned planes and more second unmanned planes
Preset router is connected to by WiFi communication, the router communication is connected to the calculating center.
A kind of unmanned plane localization method disclosed above and system have the advantages that and are temporarily built by unmanned plane
The communication system at scene, rescue personnel or other needs carry positioning device when entering building can obtain its Yu Jianzhu in real time
In position.
Detailed description of the invention
Fig. 1 is a kind of flow chart for unmanned plane localization method that one embodiment of the invention provides；
Fig. 2 is the deployment schematic diagram for the unmanned plane that one embodiment of the invention provides；
Fig. 3 is a kind of structural schematic diagram for unmanned plane positioning system that one embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that this place retouch it is described specific examples are only used to explain the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, Fig. 1 is a kind of flow chart for unmanned plane localization method that one embodiment of the invention provides, the unmanned plane
Localization method realizes that the unmanned plane localization method includes step S1-S4 by unmanned plane positioning system 100:
S1, more the first unmanned planes are disposed using as multiple first communication nodes 1 in the first plane of positioning building 10, in
Second plane of the positioning building 10 disposes more the second unmanned planes using as multiple second communication nodes 2；Preferably, the step
Suddenly include sub-step S11-S13:
S11, first plane is set in the horizontal plane where the bottom surface of the positioning building 10, includes in first plane
There is the bottom surface of the positioning building 10；Referring to fig. 2, Fig. 2 is the deployment schematic diagram for the unmanned plane that one embodiment of the invention provides.Figure
In positioning building 10 be cylinder, building is more with rectangle in actual scene, at this moment using multiple angles of Rectangle building as
Multiple apex angles of rectangle.
S12, using multiple endpoints of the rectangle as intersection point, by its normal and it is described positioning building 10 top where water
The second plane is arranged in the intersection point of plane；The setting method is to keep coordinate system more simple, and the second plane can also be with other
Mode is formed, if it is Rectangle building, generally again using the multiple angles in the top surface of Rectangle building as multiple apex angles of rectangle.
S13, more the first unmanned planes are disposed at multiple endpoints of first plane to lead to as multiple first
Believe node 1, and disposes more the second unmanned planes to communicate as multiple second at multiple endpoints of second plane
Node 2.Such as: how all the bottom that the first unmanned plane can be parked in positioning building 10 is, the second unmanned plane during flying to 10 top of positioning building
More weeks of horizontal plane where layer.
S2, the receiving and transmitting signal intensity and positioning device 3 for acquiring positioning device 3 and multiple first communication nodes 1 respectively
With the receiving and transmitting signal intensity of multiple second communication nodes 2；Preferably, which includes sub-step S21-S22:
S21, the positioning device 3 is acquired respectively and multiple first receiving and transmitting signals of multiple first communication nodes 1 are strong
Degree；The first receiving and transmitting signal intensity is obtained by the first communication node 1, then sends it to calculating center 4.
S22, the positioning device 3 is acquired respectively and multiple second receiving and transmitting signals of multiple second communication nodes 2 are strong
Degree.The second receiving and transmitting signal intensity is obtained by the second communication node 2, then sends it to calculating center 4.In general, positioning
Device 3 is carried by user (such as: rescue personnel), and positioning device 3 itself has and the first communication node 1 and the second communication node
The function of 2 communications.
S3, the positioning device 3 and multiple first communication nodes 1 are obtained respectively according to the receiving and transmitting signal intensity
Distance and/or the positioning device 3 are at a distance from multiple second communication nodes 2；Preferably, which includes sub-step
S31-S33:
Average value and the multiple second receiving and transmitting signal intensity of S31, more multiple first receiving and transmitting signal intensity
The size of average value；Compare the first receiving and transmitting signal intensity in the average value size of the second receiving and transmitting signal intensity by calculating center 4.
It is relatively close or closer from bottom apart from top layer that the average value reflects positioning device 3, under normal circumstances, apart from that communication node
It is relatively close, decay also smaller, calculated result also can be more accurate.Accurate communication node is chosen as calculation basis.
If the average value of S32, multiple first receiving and transmitting signal intensity is less than multiple second receiving and transmitting signal intensity
Average value then obtains the positioning device 3 and multiple described the respectively according to the mapping relations of preset signal strength and distance
The distance of one communication node 1；The mapping relations can be configured according to actual needs, generally are as follows:
Pr=Pt/ (d × n)
Wherein, Pr is the reception power of the first unmanned plane or the second unmanned plane wireless signal, and Pt is the first unmanned plane or
The transmission power of two unmanned plane wireless signals, d are the distance between Transmit-Receive Units, and the numerical values recited of n propagation factor, n depends on
The environment of radio signal propagation.That is distance d=Pt/ (Pr × n).
If the average value of S33, multiple first receiving and transmitting signal intensity is not less than multiple second receiving and transmitting signal intensity
Average value, then obtained respectively according to the mapping relations of preset signal strength and distance the positioning device 3 with it is multiple described
The distance of second communication node 2.
S4, according to the positioning device 3 at a distance from multiple first communication nodes 1 and/or the positioning device 3 with
The distance of multiple second communication nodes 2 obtains position of the positioning device 3 in the positioning building 10.The step packet
Enclosed tool step S41-S43:
If the average value of S41, multiple first receiving and transmitting signal intensity is greater than multiple second receiving and transmitting signal intensity
Average value then controls more first unmanned planes and is respectively perpendicular flight to can receive multiple first receiving and transmitting signal intensity most
Positioning when big, so that it is determined that the vertical axial coordinate where the positioning device in positioning building；If multiple described first receive
The average value of signalling intensity is greater than the average value of multiple second receiving and transmitting signal intensity, then proves that the first unmanned plane distance is fixed
Position device is closer, need to only control the height where the first unmanned plane during flying to positioning device at this time, and vertical axial coordinate is Fig. 2
In z-axis coordinate.
If the average value of multiple first receiving and transmitting signal intensity is flat no more than multiple second receiving and transmitting signal intensity
Mean value then controls more second unmanned planes and is respectively perpendicular flight to can receive multiple second receiving and transmitting signal maximum intensities
When positioning, so that it is determined that the positioning device where positioning building in vertical axial coordinate；Similarly, if multiple described first
The average value of receiving and transmitting signal intensity be not more than multiple second receiving and transmitting signal intensity average value, then prove the second unmanned plane away from
It is closer from positioning device or equal, the height where the second unmanned plane during flying to positioning device need to be only controlled at this time, due to
It is smaller to fly energy consumption downwards, the second unmanned plane during flying is controlled when then equal.
S42, level coordinates of the positioning device in the positioning building are determined according to the positioning；Horizontal plane is sat
The xoy plane coordinates being designated as in Fig. 2.Preferably, plane coordinates can be realized by laser ranging.
S43, determine that the positioning device is built in the positioning according to the vertical axial coordinate and the level coordinates
In position.
Preferably, step S4 further includes sub-step S44-S46:
If S44, obtaining the positioning device 3 at a distance from multiple first communication nodes 1, multiple described first is chosen
Any three in communication node 1 are used as calculate node；Specific calculating process can refer to following formula:
Wherein, d1It is (x for the positioning device 3 and coordinate1, y1, z1) the first communication node 1, distance passes through d1=Pt/
(Pr × n) is calculated, and (x1, y1, z1) by preset coordinate system deployment when it is known that, other first communication nodes 1
And so on.
If S45, obtaining the positioning device 3 at a distance from multiple second communication nodes 2, multiple described second is chosen
Any three in communication node 2 are used as calculate node；In order to calculate simplicity, calculated i.e. using wherein more excellent plane
It can.
S46, the positioning device 3 is calculated at a distance from the calculate node according to the positioning device 3 in the positioning
Position in building 10.By above formula, position of the positioning device 3 in the positioning building 10 can be calculated.Due to
More unmanned planes may be disposed in practical application, therefore, pass through the value meeting for the position that different communication nodes is calculated
Slightly deviation.
Therefore, it is also preferable to include step S5 for the unmanned plane localization method:
S5, the position by positioning device 3 described in preset least square refinement in the positioning building 10.It is counting
It when the value of the multiple positions obtained, is further corrected by least square method, so that calculated value more levels off to really
Value.Least square method (also known as least squares method) is a kind of mathematical optimization techniques.It is found by minimizing the quadratic sum of error
The optimal function of data matches.Unknown data, and the number that these are acquired can be easily acquired using least square method
Quadratic sum according to error between real data is minimum.
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram for unmanned plane positioning system 100 that one embodiment of the invention provides, on
It states method to realize by unmanned plane positioning system 100, which includes more the first unmanned planes, Duo Tai
Two unmanned planes and positioning device 3 further include calculating center 4, wherein the positioning device 3 is communicatively coupled to respectively described in more
First unmanned plane and more second unmanned planes, more first unmanned planes and the more equal communication links of the second unmanned plane
It is connected to the calculating center 4.
The positioning device 3 is connected to more first unmanned planes and more second nothings by WiFi communication respectively
It is man-machine.More the first unmanned planes can also be connected to by other wireless modes more the second unmanned planes of positioning device 3.
More first unmanned planes and more second unmanned planes are connected in the calculating by wireless communication
The heart 4.If calculating center 4 in local, such as calculating center 4 is a computer in fire fighting truck, then the first unmanned plane and the
Two unmanned planes may be connected to the calculating center 4 by the short-range wireless communications mode such as WiFi.If calculating center 4 long-range,
Calculating center 4 can also be connected to by wide area networks such as radio data networks (such as 4G)
More first unmanned planes and more second unmanned planes pass through WiFi communication and are connected to preset routing
Device, the router communication are connected to the calculating center 4.If calculating center 4 be remote server, the first unmanned plane and
Second unmanned plane is connected to neighbouring router by the short-range wireless communications mode such as WiFi, then is connected to calculating by router
Center 4.
There is provided herein the various operations of embodiment.In one embodiment, described one or operation may be constructed one
The computer-readable instruction stored on a or computer-readable medium will be held when being executed by electronic equipment so that calculating equipment
The row operation.It will be appreciated by those skilled in the art that the alternative sequence of the benefit with this specification.Moreover, it should manage
Solution, not all operation must exist in each embodiment provided in this article.
Moreover, word " preferred " used herein means serving as example, example or illustration.It is " excellent that Feng Wen, which is retouched described,
Choosing " any aspect or design be not necessarily to be construed as than other aspect or design it is more advantageous.On the contrary, the use of word " preferred "
It is intended to propose concept in specific ways.Term "or" as used in this application is intended to mean the "or" for including and non-excluded
"or".That is, unless specified otherwise or clear from the context, " X uses A or B " means that nature includes any one of arrangement.
That is, if X uses A；X uses B；Or X uses A and B both, then " X uses A or B " is met in the preceding any example.
Moreover, although being shown relative to one or implementation and having retouched the disclosure described, art technology
Personnel will be appreciated that equivalent variations and modification based on the reading and understanding to the specification and drawings.The disclosure include it is all in this way
Modifications and variations, and be limited only by the scope of the following claims.In particular, to (such as the element of component from the above mentioned
Deng) the various functions that execute, the term for retouching such component is intended to correspond to the specified function of executing the component
The random component (unless otherwise instructed) of (such as it is functionally of equal value), even if shown in this article with execution in structure
The open structure of function in the exemplary implementations of the disclosure is not equivalent.In addition, although the special characteristic of the disclosure
Be disclosed relative to the only one in several implementations, but this feature can with such as can to given or specific application and
Speech is expectation and one or the combination of other features of other advantageous implementations.Moreover, with regard to term " includes ", " having ", " containing
Have " or its deformation be used in specific embodiments or claims for, such term be intended to with term "comprising" phase
As mode include.
Each functional unit in the embodiment of the present invention can integrate in a processing module, be also possible to each unit list
Solely be physically present, can also the multiple or multiple above units be integrated in a module.The upper integrated module can both adopt
With formal implementation of hardware, can also be realized in the form of software function module.If the integrated module is with software function
Can module form realize and when sold or used as an independent product, also can store in a computer-readable storage
In medium.The upper storage medium mentioned can be read-only memory, disk or CD etc..Upper each device is
System, can execute the storage method in correlation method embodiment.
In conclusion although the present invention has been disclosed above in the preferred embodiment, but the upper preferred embodiment not to
Limitation the present invention, those skilled in the art, without departing from the spirit and scope of the present invention, can make it is various change with
Retouching, therefore protection scope of the present invention subjects to the scope of the claims.
Claims (10)
1. a kind of unmanned plane localization method characterized by comprising
More the first unmanned planes are disposed built in the positioning as multiple first communication nodes in the first plane of positioning building
The second plane built disposes more the second unmanned planes using as multiple second communication nodes；
Acquire respectively positioning device and multiple first communication nodes receiving and transmitting signal intensity and positioning device with it is multiple described
The receiving and transmitting signal intensity of second communication node；
According to the receiving and transmitting signal intensity obtain respectively the positioning device at a distance from multiple first communication nodes and/or
The positioning device is at a distance from multiple second communication nodes；
According to the positioning device at a distance from multiple first communication nodes and/or the positioning device and multiple described the
The distance of two communication nodes obtains position of the positioning device in the positioning building.
2. unmanned plane localization method according to claim 1, which is characterized in that be set forth in the first planar portions of positioning building
More the first unmanned planes are affixed one's name to dispose more the second nothings in the second plane of the positioning building as multiple first communication nodes
It is man-machine using as multiple second communication nodes, comprising:
The first plane is set in the horizontal plane where the bottom surface of the positioning building, includes the positioning in first plane
The bottom surface of building；
Using multiple endpoints of the rectangle as intersection point, by the intersection point of the horizontal plane where the top of its normal and the positioning building
Second plane is set；
More the first unmanned planes are disposed at multiple endpoints of first plane using as multiple first communication nodes, and
More the second unmanned planes are disposed at multiple endpoints of second plane using as multiple second communication nodes.
3. unmanned plane localization method according to claim 2, which is characterized in that it is described respectively acquisition positioning device with it is multiple
The receiving and transmitting signal intensity of the receiving and transmitting signal intensity and positioning device of first communication node and multiple second communication nodes,
Include:
Multiple first receiving and transmitting signal intensity of the positioning device Yu multiple first communication nodes are acquired respectively；
Multiple second receiving and transmitting signal intensity of the positioning device Yu multiple second communication nodes are acquired respectively.
4. unmanned plane localization method according to claim 3, which is characterized in that described according to the receiving and transmitting signal intensity point
The positioning device is not obtained at a distance from multiple first communication nodes and/or the positioning device and multiple described second
The distance of communication node, comprising:
The average value of more multiple first receiving and transmitting signal intensity and the average value of multiple second receiving and transmitting signal intensity
Size；
If the average value of multiple first receiving and transmitting signal intensity is greater than the average value of multiple second receiving and transmitting signal intensity,
Obtain the positioning device and multiple first communication nodes respectively according to the mapping relations of preset signal strength and distance
Distance；
If the average value of multiple first receiving and transmitting signal intensity is not more than the average value of multiple second receiving and transmitting signal intensity,
Then obtain the positioning device and multiple second communication sections respectively according to the mapping relations of preset signal strength and distance
The distance of point.
5. unmanned plane localization method according to claim 4, which is characterized in that it is described according to the positioning device with it is multiple
It is described fixed that the distance and/or the positioning device of first communication node obtain at a distance from multiple second communication nodes
Position of the position device in the positioning building, comprising:
If the average value of multiple first receiving and transmitting signal intensity is greater than the average value of multiple second receiving and transmitting signal intensity,
It controls more first unmanned planes and is respectively perpendicular to fly and determine to when can receive multiple first receiving and transmitting signal maximum intensities
Position, so that it is determined that the vertical axial coordinate where the positioning device in positioning building；
If the average value of multiple first receiving and transmitting signal intensity is not more than the average value of multiple second receiving and transmitting signal intensity,
It then controls more second unmanned planes and is respectively perpendicular flight to when can receive multiple second receiving and transmitting signal maximum intensities
Positioning, so that it is determined that the vertical axial coordinate where the positioning device in positioning building；
Level coordinates of the positioning device in the positioning building are determined according to the positioning；
Position of the positioning device in the positioning building is determined according to the vertical axial coordinate and the level coordinates.
6. unmanned plane localization method according to claim 5, which is characterized in that it is described according to the positioning device with it is multiple
It is described fixed that the distance and/or the positioning device of first communication node obtain at a distance from multiple second communication nodes
Position of the position device in the positioning building, further includes:
If obtaining the positioning device at a distance from multiple first communication nodes, choose in multiple first communication nodes
Any three be used as calculate node；
If obtaining the positioning device at a distance from multiple second communication nodes, choose in multiple second communication nodes
Any three be used as calculate node；
Position of the positioning device in the positioning building is calculated at a distance from the calculate node according to the positioning device
It sets.
7. a kind of unmanned plane positioning system, which is characterized in that including unmanned plane positioning side as claimed in any one of claims 1 to 6
More the first unmanned planes, more the second unmanned planes and the positioning device of method, further include calculating center, wherein the positioning device
It is communicatively coupled to more first unmanned planes and more second unmanned planes respectively, more first unmanned planes and more
Second unmanned plane is communicatively coupled to the calculating center.
8. unmanned plane positioning system according to claim 7, which is characterized in that the positioning device is logical by WiFi respectively
Letter is connected to more first unmanned planes and more second unmanned planes.
9. unmanned plane positioning system according to claim 7, which is characterized in that more first unmanned planes and more institutes
It states the second unmanned plane and is connected to the calculating center by wireless communication.
10. unmanned plane positioning system according to claim 7, which is characterized in that more first unmanned planes and more
Second unmanned plane passes through WiFi communication and is connected to preset router, and the router communication is connected in the calculating
The heart.
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| CN112672284A (en) * | 2020-12-28 | 2021-04-16 | 超讯通信股份有限公司 | Indoor multidimensional positioning method and device |
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