CN110365395B - Unmanned aerial vehicle positioning method and system - Google Patents
Unmanned aerial vehicle positioning method and system Download PDFInfo
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- CN110365395B CN110365395B CN201810252016.XA CN201810252016A CN110365395B CN 110365395 B CN110365395 B CN 110365395B CN 201810252016 A CN201810252016 A CN 201810252016A CN 110365395 B CN110365395 B CN 110365395B
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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
Abstract
The invention discloses a method and a system for positioning an unmanned aerial vehicle, wherein the method comprises the following steps: deploying a plurality of first unmanned aerial vehicles on a first plane of the positioning building to serve as a plurality of first communication nodes, and deploying a plurality of second unmanned aerial vehicles on a second plane of the positioning building to serve as a plurality of second communication nodes; respectively acquiring the strength of the receiving and transmitting signals of the positioning device and the plurality of first communication nodes and the strength of the receiving and transmitting signals of the positioning device and the plurality of second communication nodes; respectively acquiring the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes according to the strength of the received and transmitted signals; and acquiring the position of the positioning device in the positioning building according to the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes. The beneficial effects of the invention are as follows: through the communication system of unmanned aerial vehicle temporary setting up scene, the rescue personnel or other carry positioner and can acquire its position in the building in real time when needing to get into the building.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle positioning method and system.
Background
Under the condition that a building needs to be rescued when a fire disaster occurs and the like, a communication system of a site around the building is difficult to temporarily build, and the position of a rescuer is difficult to obtain in the prior art, for example, when a fireman rushes into the building, the position of the fireman in the building is difficult to know, so that the safety problem is very great.
Disclosure of Invention
The invention aims to solve the technical problem that the position of a rescue worker in a building cannot be known due to the fact that a communication system on the site is difficult to temporarily set up around the building in the prior art, and provides an unmanned aerial vehicle positioning method and system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in one aspect, a method for positioning an unmanned aerial vehicle is provided, including:
deploying a plurality of first unmanned aerial vehicles on a first plane of a positioning building to serve as a plurality of first communication nodes, and deploying a plurality of second unmanned aerial vehicles on a second plane of the positioning building to serve as a plurality of second communication nodes;
respectively acquiring the strength of the receiving and transmitting signals of the positioning device and the plurality of first communication nodes and the strength of the receiving and transmitting signals of the positioning device and the plurality of second communication nodes;
respectively acquiring the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes according to the strength of the transmitting and receiving signals;
and acquiring the position of the positioning device in the positioning building according to the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes.
In the method for positioning an unmanned aerial vehicle according to the present invention, the deploying a plurality of first unmanned aerial vehicles on a first plane of a positioning building as a plurality of first communication nodes, and deploying a plurality of second unmanned aerial vehicles on a second plane of the positioning building as a plurality of second communication nodes includes:
arranging a first plane on the horizontal plane of the bottom surface of the positioning building, wherein the first plane comprises the bottom surface of the positioning building;
setting a second plane at the intersection point of the normal line of the rectangle and the horizontal plane where the top end of the positioning building is located by taking a plurality of end points of the rectangle as vertical feet;
and respectively deploying a plurality of first unmanned aerial vehicles at a plurality of end points of the first plane to serve as a plurality of first communication nodes, and respectively deploying a plurality of second unmanned aerial vehicles at a plurality of end points of the second plane to serve as a plurality of second communication nodes.
In the method for positioning an unmanned aerial vehicle according to the present invention, the acquiring strength of the transmission and reception signals between the positioning device and the plurality of first communication nodes and between the positioning device and the plurality of second communication nodes respectively includes:
respectively acquiring a plurality of first transceiving signal strengths of the positioning device and a plurality of first communication nodes;
and respectively acquiring a plurality of second transceiving signal strengths of the positioning device and a plurality of second communication nodes.
In the method for positioning an unmanned aerial vehicle according to the present invention, the obtaining distances between the positioning device and the plurality of first communication nodes and/or between the positioning device and the plurality of second communication nodes according to the strength of the transmission/reception signal includes:
comparing the magnitude of the average value of the plurality of first transceiving signal strengths with the magnitude of the average value of the plurality of second transceiving signal strengths;
if the average value of the first transceiving signal strengths is smaller than the average value of the second transceiving signal strengths, respectively obtaining the distances between the positioning device and the first communication nodes according to a preset mapping relationship between the signal strengths and the distances;
if the average value of the first transceiving signal strengths is not less than the average value of the second transceiving signal strengths, the distances between the positioning device and the second communication nodes are respectively obtained according to a preset mapping relationship between the signal strengths and the distances.
In the method for positioning an unmanned aerial vehicle according to the present invention, the obtaining a position of the positioning device in the positioning building according to distances between the positioning device and the plurality of first communication nodes and/or distances between the positioning device and the plurality of second communication nodes includes:
if the average value of the first transceiving signal intensities is larger than the average value of the second transceiving signal intensities, controlling the plurality of first wireless machines to respectively vertically fly to the positioning position when the first transceiving signal intensities can be received maximally, and determining the vertical axis coordinate of the positioning building where the positioning device is positioned;
if the average value of the first transceiving signal intensities is not greater than the average value of the second transceiving signal intensities, controlling the second unmanned aerial vehicles to respectively vertically fly to the position where the second transceiving signal intensities can be received at the maximum, and accordingly determining the vertical axis coordinate of the positioning building where the positioning device is located;
determining horizontal plane coordinates of the positioning device in the positioning building according to the positioning;
and determining the position of the positioning device in the positioning building according to the vertical axis coordinate and the horizontal plane coordinate.
In the method for positioning an unmanned aerial vehicle according to the present invention, the obtaining a position of the positioning device in the positioning building according to distances between the positioning device and the plurality of first communication nodes and/or distances between the positioning device and the plurality of second communication nodes further includes:
if the distances between the positioning device and the first communication nodes are obtained, selecting any three of the first communication nodes as calculation nodes;
if the distances between the positioning device and the plurality of second communication nodes are obtained, selecting any three of the plurality of second communication nodes as calculation nodes;
and calculating the position of the positioning device in the positioning building according to the distance between the positioning device and the computing node.
In another aspect, a positioning system for an unmanned aerial vehicle is provided, which includes a plurality of first unmanned aerial vehicles, a plurality of second unmanned aerial vehicles, and a positioning device according to the positioning method for an unmanned aerial vehicle, and further includes a computing center, wherein the positioning device is respectively in communication connection with the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles, and the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles are all in communication connection with the computing center.
In the positioning system for the unmanned aerial vehicle, the positioning device is respectively connected to the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles through WiFi communication.
In the positioning system for the unmanned aerial vehicle, the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles are connected to the computing center through wireless communication.
In the positioning system for the unmanned aerial vehicle, the first unmanned aerial vehicles and the second unmanned aerial vehicles are all connected to a preset router through WiFi communication, and the router is connected to the computing center in a communication mode.
The unmanned aerial vehicle positioning method and the unmanned aerial vehicle positioning system have the following beneficial effects: through the communication system of unmanned aerial vehicle temporary setting up scene, the rescue personnel or other carry positioner and can acquire its position in the building in real time when needing to get into the building.
Drawings
Fig. 1 is a flowchart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic deployment diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle positioning system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a flowchart of a positioning method for a drone, the positioning method for the drone is implemented by a drone positioning system 100, and the positioning method for the drone includes steps S1 to S4:
s1, deploying a plurality of first drones on a first plane of the positioning building 10 as a plurality of first communication nodes 1, and deploying a plurality of second drones on a second plane of the positioning building 10 as a plurality of second communication nodes 2; preferably, this step includes sub-steps S11-S13:
s11, setting a first plane on a horizontal plane of the bottom surface of the positioning building 10, where the first plane includes the bottom surface of the positioning building 10; referring to fig. 2, fig. 2 is a schematic deployment diagram of the drone according to an embodiment of the present invention. The positioning building 10 in the figure is cylindrical, and in an actual scene, the number of buildings is more, and at this time, a plurality of corners of the rectangular building are used as a plurality of top corners of the rectangle.
S12, setting a second plane at the intersection point of the normal line of the rectangle and the horizontal plane where the top end of the positioning building 10 is located by taking the plurality of end points of the rectangle as vertical feet; the setting method is to make the coordinate system simpler, the second plane can be formed in other ways, and if the building is a rectangular building, a plurality of corners of the top surface of the rectangular building are generally used as a plurality of top corners of the rectangle.
And S13, deploying a plurality of first unmanned aerial vehicles at a plurality of end points of the first plane respectively to serve as a plurality of first communication nodes 1, and deploying a plurality of second unmanned aerial vehicles at a plurality of end points of the second plane respectively to serve as a plurality of second communication nodes 2. For example: the first unmanned aerial vehicle can stop at the bottom layer of the positioning building 10 for multiple weeks, and the second unmanned aerial vehicle can fly to the multiple weeks of the horizontal plane where the top layer of the positioning building 10 is located.
S2, acquiring the intensity of the signals transmitted and received by the positioning device 3 and the plurality of first communication nodes 1 and the intensity of the signals transmitted and received by the positioning device 3 and the plurality of second communication nodes 2; preferably, this step includes sub-steps S21-S22:
s21, acquiring a plurality of first transceiving signal strengths of the positioning device 3 and the plurality of first communication nodes 1, respectively; the first transceiving signal strength is obtained by the first communication node 1 and then sent to the computing center 4.
S22, respectively acquiring a plurality of second transceiving signal strengths of the positioning device 3 and the plurality of second communication nodes 2. The second transceiving signal strength is obtained through the second communication node 2 and then transmitted to the computing center 4. Generally, the positioning device 3 is carried by a user (for example, a rescuer), and the positioning device 3 itself has a function of communicating with the first communication node 1 and the second communication node 2.
S3, obtaining the distances between the positioning device 3 and the plurality of first communication nodes 1 and/or the distances between the positioning device 3 and the plurality of second communication nodes 2 according to the transceiving signal strength; preferably, this step includes sub-steps S31-S33:
s31, comparing the average value of the first transceiving signal strengths with the average value of the second transceiving signal strengths; the average value of the first transceiving signal strength and the second transceiving signal strength is compared by the computing center 4. The average value reflects whether the positioning device 3 is closer to the top layer or the bottom layer, and generally, the attenuation of the positioning device is smaller and the calculation result is more accurate when the positioning device is closer to the communication node. Namely, a more accurate communication node is selected as a calculation basis.
S32, if the average value of the first transceiving signal strengths is smaller than the average value of the second transceiving signal strengths, respectively obtaining the distances between the positioning device 3 and the first communication nodes 1 according to a preset mapping relationship between signal strengths and distances; the mapping relationship can be set according to actual needs, and generally is as follows:
Pr＝Pt/(d×n)
the receiving power of the wireless signal of the first unmanned aerial vehicle or the second unmanned aerial vehicle is Pr, the transmitting power of the wireless signal of the first unmanned aerial vehicle or the second unmanned aerial vehicle is Pt, the distance between the transceiving units is d, the propagation factor of n is n, and the value of n depends on the environment of the wireless signal propagation. Namely, the distance d is Pt/(Pr × n).
S33, if the average value of the first transceiving signal strengths is not less than the average value of the second transceiving signal strengths, respectively obtaining the distances between the positioning device 3 and the second communication nodes 2 according to a preset mapping relationship between the signal strengths and the distances.
S4, obtaining the position of the positioning device 3 in the positioning building 10 according to the distance between the positioning device 3 and the plurality of first communication nodes 1 and/or the distance between the positioning device 3 and the plurality of second communication nodes 2. This step includes sub-steps S41-S43:
s41, if the average value of the first transceiving signal intensities is greater than the average value of the second transceiving signal intensities, controlling the first plurality of wireless devices to respectively vertically fly to the positioning position where the first plurality of wireless devices can receive the maximum intensity of the first transceiving signals, thereby determining the vertical axis coordinate of the positioning building where the positioning device is located; if the average value of the first transceiving signal intensities is larger than the average value of the second transceiving signal intensities, it is proved that the first unmanned aerial vehicle is closer to the positioning device, and at the moment, the first unmanned aerial vehicle only needs to be controlled to fly to the height of the positioning device, and the vertical axis coordinate is the z-axis coordinate in fig. 2.
If the average value of the first transceiving signal intensities is not greater than the average value of the second transceiving signal intensities, controlling the second unmanned aerial vehicles to respectively vertically fly to the position where the second transceiving signal intensities can be received at the maximum, and accordingly determining the vertical axis coordinate of the positioning building where the positioning device is located; similarly, if a plurality of the average value of first receiving and dispatching signal intensity is not more than a plurality of the average value of second receiving and dispatching signal intensity, then prove that second unmanned aerial vehicle is nearer or equal apart from positioner, only need this moment control second unmanned aerial vehicle fly to positioner at the height can, because it is less to fly energy consumption downwards, then control second unmanned aerial vehicle flight when equal.
S42, determining horizontal plane coordinates of the positioning device in the positioning building according to the positioning; the horizontal plane coordinates are the xoy plane coordinates in fig. 2. Preferably, the planar coordinates may be achieved by laser ranging.
And S43, determining the position of the positioning device in the positioning building according to the vertical axis coordinate and the horizontal plane coordinate.
Preferably, the step S4 further includes sub-steps S44-S46:
s44, if the distances between the positioning device 3 and the plurality of first communication nodes 1 are obtained, selecting any three of the plurality of first communication nodes 1 as calculation nodes; the specific calculation process can be referred to the following formula:
wherein d is1For the positioning device 3 and coordinates of (x)1，y1，z1) Of the first communication node 1, the distance passing d1Calculated as Pt/(Pr × n), and (x)1，y1，z1) By a predetermined coordinate systemAlready known at the time of deployment, the other first communication nodes 1 and so on.
S45, if the distances between the positioning device 3 and the plurality of second communication nodes 2 are obtained, selecting any three of the plurality of second communication nodes 2 as calculation nodes; namely, for simple calculation, the better plane of the two planes is adopted for calculation.
S46, calculating the position of the positioning device 3 in the positioning building 10 according to the distance between the positioning device 3 and the calculation node. By the above formula, the position of the positioning device 3 in the positioning building 10 can be calculated. Since more drones may be deployed in practical applications, the values of the positions calculated by different communication nodes may deviate slightly.
Therefore, the unmanned aerial vehicle positioning method preferably further includes step S5:
and S5, correcting the position of the positioning device 3 in the positioning building 10 by a preset least square method. When the values of the plurality of positions are calculated, the values are further corrected by a least square method so that the calculated values are closer to the true values. Least squares (also known as the least squares method) is a mathematical optimization technique. It finds the best functional match of the data by minimizing the sum of the squares of the errors. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an unmanned aerial vehicle positioning system 100 according to an embodiment of the present invention, where the method is implemented by the unmanned aerial vehicle positioning system 100, and the unmanned aerial vehicle positioning system 100 includes a plurality of first unmanned aerial vehicles, a plurality of second unmanned aerial vehicles, and a positioning device 3, and further includes a computing center 4, where the positioning device 3 is respectively communicatively connected to the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles, and the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles are all communicatively connected to the computing center 4.
And the positioning devices 3 are respectively connected to the first unmanned aerial vehicles and the second unmanned aerial vehicles through WiFi communication. The positioning device 3 may be connected to the first plurality of unmanned aerial vehicles and the second plurality of unmanned aerial vehicles in other wireless manners.
The first unmanned aerial vehicles and the second unmanned aerial vehicles are connected to the computing center 4 through wireless communication. If the computing center 4 is local, for example, the computing center 4 is a computer in a fire fighting truck, the first unmanned aerial vehicle and the second unmanned aerial vehicle can be connected to the computing center 4 through a short-range wireless communication mode such as WiFi. If the computing center 4 is remote, it can also be connected to the computing center 4 through a wide area network such as a wireless data network (e.g., 4G)
The first unmanned aerial vehicles and the second unmanned aerial vehicles are all connected in a preset router through WiFi communication, and the router is connected in the calculation center 4 in a communication mode. If the computing center 4 is a remote server, the first unmanned aerial vehicle and the second unmanned aerial vehicle are connected to nearby routers in a short-range wireless communication mode such as WiFi and the like, and then are connected to the computing center 4 through the routers.
Various operations of embodiments are provided herein. In one embodiment, the one or more operations described may constitute computer readable instructions stored on one or more computer readable media, which when executed by an electronic device, will cause the computing device to perform the operations described. Those skilled in the art will appreciate alternative orderings having the benefit of this description. Moreover, it should be understood that not all operations are necessarily present in each embodiment provided herein.
Also, as used herein, the word "preferred" is intended to serve as an example, instance, or illustration. Any aspect or design described as "preferred" is not necessarily to be construed as advantageous over other aspects or designs. Rather, use of the word "preferred" is intended to present concepts in a concrete fashion. The term "or" as used in this application is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from context, "X employs A or B" is intended to include either of the permutations as a matter of course. That is, if X employs A; b is used as X; or X employs both A and B, then "X employs A or B" is satisfied in any of the foregoing examples.
Also, although the disclosure has been shown and described with respect to one or an implementation, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations, and is limited only by the scope of the appended claims. In particular regard to the various functions performed by the above described components (e.g., elements, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the disclosure. In addition, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or other features of the other implementations as may be desired and advantageous for a given or particular application. Furthermore, to the extent that the terms "includes," has, "" contains, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.
Each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or a plurality of or more than one unit are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Each apparatus or system described above may execute the storage method in the corresponding method embodiment.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.
Claims (6)
1. An unmanned aerial vehicle positioning method is characterized by comprising the following steps:
deploying a plurality of first unmanned aerial vehicles on a first plane of a positioning building to serve as a plurality of first communication nodes, and deploying a plurality of second unmanned aerial vehicles on a second plane of the positioning building to serve as a plurality of second communication nodes;
respectively acquiring the strength of the receiving and transmitting signals of the positioning device and the plurality of first communication nodes and the strength of the receiving and transmitting signals of the positioning device and the plurality of second communication nodes;
respectively acquiring the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes according to the strength of the transmitting and receiving signals;
acquiring the position of the positioning device in the positioning building according to the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes;
the deploying a plurality of first drones as a plurality of first communication nodes in a first plane of a positioning building and a plurality of second drones as a plurality of second communication nodes in a second plane of the positioning building comprises:
arranging a first plane on the horizontal plane of the bottom surface of the positioning building, wherein the first plane comprises the bottom surface of the positioning building;
setting a second plane at the intersection point of the normal line of the rectangular end points serving as the vertical feet and the horizontal plane where the top end of the positioning building is located;
deploying a plurality of first unmanned aerial vehicles at a plurality of endpoints of the first plane respectively to serve as a plurality of first communication nodes, and deploying a plurality of second unmanned aerial vehicles at a plurality of endpoints of the second plane respectively to serve as a plurality of second communication nodes;
the collecting and positioning device and the plurality of the strength of the receiving and transmitting signals of the first communication node and the positioning device and the plurality of the strength of the receiving and transmitting signals of the second communication node respectively comprises:
respectively acquiring a plurality of first transceiving signal strengths of the positioning device and a plurality of first communication nodes;
respectively acquiring a plurality of second transceiving signal strengths of the positioning device and a plurality of second communication nodes;
the obtaining the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes according to the transceiving signal strength respectively comprises:
comparing the magnitude of the average value of the plurality of first transceiving signal strengths with the magnitude of the average value of the plurality of second transceiving signal strengths;
if the average value of the first transceiving signal strengths is greater than the average value of the second transceiving signal strengths, respectively obtaining the distances between the positioning device and the first communication nodes according to a preset mapping relationship between the signal strengths and the distances;
if the average value of the first transceiving signal strengths is not greater than the average value of the second transceiving signal strengths, respectively obtaining the distances between the positioning device and the second communication nodes according to a preset mapping relationship between the signal strengths and the distances;
the obtaining the position of the positioning device in the positioning building according to the distances between the positioning device and the plurality of first communication nodes and/or the distances between the positioning device and the plurality of second communication nodes comprises:
if the average value of the first transceiving signal intensities is larger than the average value of the second transceiving signal intensities, controlling the plurality of first wireless machines to respectively vertically fly to the positioning position when the first transceiving signal intensities can be received maximally, and determining the vertical axis coordinate of the positioning building where the positioning device is positioned;
if the average value of the first transceiving signal intensities is not greater than the average value of the second transceiving signal intensities, controlling the second unmanned aerial vehicles to respectively vertically fly to the position where the second transceiving signal intensities can be received at the maximum, and accordingly determining the vertical axis coordinate of the positioning building where the positioning device is located;
determining horizontal plane coordinates of the positioning device in the positioning building according to the positioning;
and determining the position of the positioning device in the positioning building according to the vertical axis coordinate and the horizontal plane coordinate.
2. The drone positioning method of claim 1, wherein the obtaining of the position of the positioning device in the positioning building as a function of the distance of the positioning device from the plurality of first communication nodes and/or the distance of the positioning device from the plurality of second communication nodes, further comprises:
if the distances between the positioning device and the first communication nodes are obtained, selecting any three of the first communication nodes as calculation nodes;
if the distances between the positioning device and the plurality of second communication nodes are obtained, selecting any three of the plurality of second communication nodes as calculation nodes;
and calculating the position of the positioning device in the positioning building according to the distance between the positioning device and the computing node.
3. An unmanned aerial vehicle positioning system, comprising a plurality of first unmanned aerial vehicles, a plurality of second unmanned aerial vehicles and a positioning device according to the unmanned aerial vehicle positioning method of any one of claims 1-2, and further comprising a computing center, wherein the positioning device is respectively in communication connection with the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles, and the plurality of first unmanned aerial vehicles and the plurality of second unmanned aerial vehicles are all in communication connection with the computing center.
4. The drone positioning system of claim 3, wherein the positioning device is connected to the plurality of first drones and the plurality of second drones via WiFi communications, respectively.
5. The drone positioning system of claim 3, wherein the plurality of first drones and the plurality of second drones are each connected to the computing center via wireless communication.
6. The drone positioning system of claim 3, wherein the plurality of first drones and the plurality of second drones are each communicatively connected to a pre-set router via WiFi, the router being communicatively connected to the computing center.
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| CN106772230A (en) * | 2016-11-10 | 2017-05-31 | 上海创功通讯技术有限公司 | The pinpoint method and device of unmanned plane |
| CN107271951A (en) * | 2017-06-06 | 2017-10-20 | 上海工程技术大学 | UAV Navigation System and its air navigation aid based on WiFi fingerprint locations |
| CN107820207A (en) * | 2017-11-16 | 2018-03-20 | 西京学院 | The node fuzzy message three-dimensional localization model of the adaptive sub-clustering of dimensionality reduction |
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