CN110412626A - More GPS positioning methods, system, equipment and the storage medium of logistics unmanned plane - Google Patents
More GPS positioning methods, system, equipment and the storage medium of logistics unmanned plane Download PDFInfo
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- CN110412626A CN110412626A CN201810400669.8A CN201810400669A CN110412626A CN 110412626 A CN110412626 A CN 110412626A CN 201810400669 A CN201810400669 A CN 201810400669A CN 110412626 A CN110412626 A CN 110412626A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses more GPS positioning methods, system, equipment and the storage medium of a kind of logistics unmanned plane, the logistics unmanned plane includes at least two GPS, and more GPS positioning methods include: to obtain the location data of all GPS in real time；The value of the precision impact factor of each GPS is obtained according to the location data of each GPS；The weight of GPS is calculated according to the value of the precision impact factor of all GPS；The position of logistics unmanned plane is obtained according to the weight of the location data of all GPS and each GPS.The combination that the present invention passes through multiple GPS, the location data of all GPS is obtained in real time, the weight of each GPS is obtained according to the value of the precision impact factor obtained in location data, the location data for comprehensively considering each GPS again obtains the position of logistics unmanned plane, the weight for analyzing to obtain GPS by the value of precision impact factor is more accurate, and positioning accuracy is higher more objective in the calculating of subsequent location data.
Description
Technical field
The invention belongs to data processing field, in particular to more GPS positioning methods of a kind of logistics unmanned plane, are set system
Standby and storage medium.
Background technique
The accuracy of logistics unmanned plane during flying and the quality of control are influenced by the navigation system that it is equipped with, once system goes out
Existing problem, logistics unmanned plane often will appear aircraft bombing accident, and navigation system is its core product, and navigation system relies primarily at present
GPS (global positioning system) is positioned, and the quality of GPS sole mass drastically influences the precision of navigator fix.Instantly logistics
It is only equipped with 1 set of GPS on unmanned plane, when flight environment of vehicle is complicated or has other interference entrance, often will affect the output of GPS, GPS
The observed quantity given is affected, so that the output finally navigated is seriously affected, alternatively, even if in the prior art in view of comprehensive
Different positioning systems is closed to obtain location data, it is also only simple subjective different power to be assigned to different positioning systems
Weight, causes final location data there are excessive subjective factor, positioning accuracy needs to be considered.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome the GPS location precision of logistics unmanned plane in the prior art not high
Defect, more GPS positioning methods, system, equipment and the storage medium of a kind of logistics unmanned plane are provided.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of more GPS positioning methods of logistics unmanned plane, the logistics unmanned plane include at least two GPS, more GPS
Localization method includes:
The location data of all GPS is obtained in real time；
The value of the precision impact factor of each GPS is obtained according to the location data of each GPS；
The weight of the GPS is calculated according to the value of the precision impact factor of all GPS；
The position of the logistics unmanned plane is obtained according to the weight of the location data of all GPS and each GPS.
Preferably, more GPS positioning methods are also wrapped after the step of location data for obtaining all GPS in real time
It includes:
Whether the location data for judging each target GPS is three-dimensional data, if so, executing the essence according to all GPS
The step of weight of the GPS is calculated in the value of degree impact factor.
Preferably, the precision impact factor of each GPS is calculated in the value of the precision impact factor according to each GPS
Weight the step of specifically include:
The step of weight of the GPS is calculated in the value of the precision impact factor according to all GPS specifically includes:
Calculate the quadratic sum of the value of the precision impact factor of all GPS；
Calculate the value of the precision impact factor of the quadratic sum and each GPS square ratio；
The ratio is normalized；
Using the ratio after normalization as the weight of the precision impact factor of the GPS；
The weight of the GPS is obtained according to the weight calculation of the precision impact factor of each GPS.
Preferably, the precision impact factor is 1, the weight of the precision impact factor according to each GPS is obtained
The step of weight of the GPS, specifically includes:
Using the weight of the precision impact factor of each GPS as the weight of the GPS.
Preferably, the precision impact factor is at least two, the weight of the precision impact factor according to each GPS
The step of obtaining the weight of the GPS specifically includes:
The average value of ratio after calculating the normalization of all precision impact factors of each GPS；
Using the average value as the weight of the GPS.
Preferably, the precision impact factor includes horizontal component dilution of precision, vertical component dilution of precision and speed point
At least one of accuracy of measurement factor.
A kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, the processor realize more GPS of logistics unmanned plane described in any of the above embodiments when executing the computer program
Localization method.
A kind of computer readable storage medium is stored thereon with computer program, real when described program is executed by processor
The step of more GPS positioning methods of existing logistics unmanned plane described in any of the above embodiments.
A kind of more GPS positioning systems of logistics unmanned plane, the logistics unmanned plane include at least two GPS, more GPS
Positioning system includes that location data obtains module, precision impact factor obtains module, GPS weight calculation module and position and determines mould
Block；
The location data obtains the location data that module is used to obtain all GPS in real time；
The precision impact factor obtains module and is used to obtain the precision shadow of each GPS according to the location data of each GPS
Ring the value of the factor；
The GPS weight calculation module is used to be calculated each GPS's according to the value of the precision impact factor of all GPS
Weight；
The position determination module is used to be obtained according to the location data of all GPS and the weight of each GPS described
The position of logistics unmanned plane.
Preferably, more GPS positioning systems further include judgment module；
The judgment module is for judging whether the location data of each target GPS is three-dimensional data, if so, described in executing
The step of calculating the weight of the target GPS according to the location data of all GPS.
Preferably, the GPS weight calculation module further includes the first computing unit, normalization unit and precision impact factor
Weight calculation unit；
First computing unit is used to calculate the quadratic sum of the value of the precision impact factor of all GPS, and described in calculating
The value of the precision impact factor of quadratic sum and each GPS square ratio；
The normalization unit is for the ratio to be normalized；
Ratio after the precision impact factor weight calculation unit is used to normalize is influenced as the precision of the GPS
The weight of the factor；
The GPS weight calculation module is used to obtain the GPS according to the weight calculation of the precision impact factor of each GPS
Weight.
Preferably, the precision impact factor is 1, the GPS weight calculation module is used for the precision shadow of each GPS
Ring weight of the weight of the factor as the GPS.
Preferably, the precision impact factor is at least two, the GPS weight calculation module further includes the second calculating list
Member；
Ratio after the normalization for all precision impact factors that second computing unit is used to calculate each GPS
Average value；
The GPS weight calculation module is used for using the average value as the weight of the GPS.
Preferably, the precision impact factor includes horizontal component dilution of precision, vertical component dilution of precision and speed point
At least one of accuracy of measurement factor.
The positive effect of the present invention is that: the present invention obtains determining for all GPS by the combination of multiple GPS in real time
Position data further obtain the weight of each GPS according to the value of the precision impact factor obtained in location data, then synthesis is examined
The location data and weight for considering each GPS obtain the position of logistics unmanned plane, wherein weigh from subjective assign to different GPS
Weight obtains final location data again and compares, and the value of the invention by precision impact factor analyzes to obtain the weight of GPS more
Precisely, positioning accuracy is also higher also more objective in the calculating of subsequent location data.
Detailed description of the invention
Fig. 1 is the flow chart of more GPS positioning methods of the logistics unmanned plane of the embodiment of the present invention 1.
Fig. 2 is the specific flow chart of step 13 in more GPS positioning methods of the logistics unmanned plane of the embodiment of the present invention 1.
Fig. 3 is the structural schematic diagram of the electronic equipment of the embodiment of the present invention 3.
Fig. 4 is a kind of structural block diagram of more GPS positioning systems of logistics unmanned plane of the embodiment of the present invention 5.
Fig. 5 is the structural block diagram of more GPS positioning systems of another logistics unmanned plane of the embodiment of the present invention 5.
Fig. 6 is the structural block diagram of more GPS positioning systems of the logistics unmanned plane of the embodiment of the present invention 6.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
A kind of more GPS positioning methods of logistics unmanned plane, the logistics unmanned plane includes at least two GPS, such as Fig. 1 institute
Show, more GPS positioning methods include:
Step 11, the location data for obtaining all GPS in real time；
Step 12, obtained according to the location data of each GPS each GPS precision impact factor value；
Step 13, the weight that GPS is calculated according to the value of the precision impact factor of all GPS；
Step 14 obtains the position of logistics unmanned plane according to the location data of all GPS and the weight of each GPS.
It should be noted that after obtaining the weight of each GPS, it can be with the location data of the maximum GPS of weight selection coefficient
And the position of logistics unmanned plane is further obtained, alternatively, the data of each GPS can be comprehensively considered, i.e., by the positioning of each GPS
Data are multiplied by weight coefficient, then accumulative position or other possible combinations summed and further obtain logistics unmanned plane
The location data and weight for comprehensively considering each GPS obtain more accurately location data, thus obtain more accurately logistics nobody
The position of machine.
Wherein, as shown in Fig. 2, step 13 specifically includes:
Step 131, calculate all GPS precision impact factor value quadratic sum；
Step 132, calculate quadratic sum and each GPS precision impact factor value square ratio；
Ratio is normalized step 133；
Step 134, using the ratio after normalization as the weight of the precision impact factor of each GPS；
Step 135 obtains the weight of GPS according to the weight calculation of the precision impact factor of each GPS.
In addition, the precision impact factor includes horizontal component dilution of precision, vertical component dilution of precision and velocity component
At least one of dilution of precision；
If the precision impact factor is 1, a kind of specific embodiment of step 135 is provided:
Using the weight of the precision impact factor of each GPS as the weight of each GPS；
The precision impact factor is at least two, provides step 135 another embodiment:
The average value of ratio after calculating the normalization of all precision impact factors of each GPS, and by the average value
Weight as each GPS.
Name specific example further explanation: by taking Ublox-M8N (a kind of GPS module) as an example.
One, the location data of all GPS is obtained in real time；
Required initial data is obtained in UBX-NAV agreement.
Two, the weight of each GPS is calculated according to the location data
Precision impact factor is chosen, in the present embodiment, chooses horizontal component dilution of precision, vertical component dilution of precision and speed
Spend component dilution of precision；
1, the weight of each precision impact factor of each GPS is calculated
(1) the value HDOP of the horizontal component dilution of precision of each GPS is obtainedi, vertical component dilution of precision value VDOPiWith
The value ACCURACY of velocity component dilution of precisioni
The Horizontal Dilution of Precision value that can get synchronization GPS (1) from above-mentioned initial data is 0.7, vertical component essence
Degree factor values are 1.2, velocity component dilution of precision value is 0.1.The Horizontal Dilution of Precision of GPS (2) is 0.2, vertical component precision
The factor is 0.6, velocity component dilution of precision is 0.1.
(2) the quadratic sum HP of the value of the horizontal component dilution of precision of all GPS, vertical component dilution of precision are calculated separately
The quadratic sum VV of the value of the quadratic sum VP and velocity component dilution of precision of value
(3) weight of each precision impact factor of each GPS is calculated separately
The HDOP weight of GPS (1)
The HDOP weight of GPS (2)
The VDOP weight of GPS (1)
The VDOP weight of GPS (2)
The ACCURACY weight of GPS (1)
The ACCURACY weight of GPS (2)
Three, the weight of the GPS is obtained according to the weight calculation of the precision impact factor of each GPS
The weight of GPS (1)
The weight of GPS (2)
Four, the position of logistics unmanned plane is obtained according to the weight of the location data of all GPS and each GPS
After the weight for calculating each GPS, the initial data exported in real time according to each GPS can further obtain nobody
The position of machine, by taking horizontal location data and speed data as an example, wherein GPS1_V, GPS2_V are respectively GPS (1) and GPS (2) defeated
Raw velocity data out, GPS1_X, GPS2_X are respectively the original horizontal position data of GPS (1) and GPS (2) output, into one
It walks the horizontal position value for obtaining unmanned plane and velocity amplitude is respectively as follows:
Jx=W1×GPS1_X+W2×GPS2_X
JV=W1×GPS1_V+W2×GPS2_V
It should be noted that the calculation of the position for the weight calculation unmanned plane that above-mentioned basis obtains is not limited to above-mentioned meter
Calculation mode also can choose the output valve of the maximum GPS of weight coefficient as the position of unmanned plane or other possible calculating
Mode, should not function to the embodiment of the present invention and use scope bring any restrictions.
In the present embodiment, by the combination of multiple GPS, the location data of all GPS is obtained in real time, according in location data
The value of the precision impact factor of acquisition, further obtains the weight of each GPS, then comprehensively consider each GPS location data and
Weight obtains the position of logistics unmanned plane, wherein obtains final location data again to different GPS imparting weights from subjective
It compares, the weight for analyzing to obtain GPS by the value of precision impact factor is more accurate, positions in the calculating of subsequent location data
Precision is also higher also more objective.
Embodiment 2
More GPS positioning methods of the logistics unmanned plane of the present embodiment are to be further improved on the basis of embodiment 1, step
After 11, more GPS positioning methods further include:
Whether the location data for judging each target GPS is three-dimensional data, if it is not, the weight of the target GPS is set as
0；If so, the step of executing the weight for calculating the target GPS according to the location data.
It should be noted that the three-dimensional data refers to the positioning states of GPS, carried out in the location data for obtaining GPS
Before weight calculation, the positioning states of GPS are determined, it is desirable that the positioning states of GPS will at least reach three-dimensional data, In
Had in the GSA Agreement of GPS whether be three-dimensional data positioning mark can then export 3 if three-dimensional data.
In the present embodiment, when choosing the data of GPS, whether the data for prejudging the GPS currently chosen are three dimensions
According to, if it is not, the weight of the GPS currently chosen is then set as 0, i.e., it should when finally determining the location data of logistics unmanned plane
The position that the location data of GPS does not influence logistics unmanned plane determines.
Embodiment 3
A kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, the processor realize that any one in embodiment 1 or 2 is as described in the examples when executing the computer program
More GPS positioning methods of logistics unmanned plane.
Fig. 3 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention 3 provides.Fig. 3, which is shown, to be suitable for being used in fact
The block diagram of the example electronic device 30 of existing embodiment of the present invention.The electronic equipment 30 that Fig. 3 is shown is only an example, no
The function and use scope for coping with the embodiment of the present invention bring any restrictions.
As shown in figure 3, electronic equipment 30 can be showed in the form of universal computing device, such as it can set for server
It is standby.The component of electronic equipment 30 can include but is not limited to: at least one processor 31, at least one processor 32, connection are not
The bus 33 of homologous ray component (including memory 32 and processor 31).
Bus 33 includes data/address bus, address bus and control bus.
Memory 32 may include volatile memory, such as random access memory (RAM) 321 and/or cache
Memory 322 can further include read-only memory (ROM) 323.
Memory 32 can also include the program means 325 with one group of (at least one) program module 324, such journey
Sequence module 324 includes but is not limited to: operating system, one or more application program, other program modules and program data,
It may include the realization of network environment in each of these examples or certain combination.
Processor 31 by operation storage computer program in memory 32, thereby executing various function application and
Data processing.
Electronic equipment 30 can also be communicated with one or more external equipments 34 (such as keyboard, sensing equipment etc.).It is this
Communication can be carried out by input/output (I/O) interface 35.Also, electronic equipment 30 can also by network adapter 36 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Net
Network adapter 36 is communicated by bus 33 with other modules of electronic equipment 30.It should be understood that although not shown in the drawings, can tie
It closes electronic equipment 30 and uses other hardware and/or software module, including but not limited to: microcode, device driver, redundancy processing
Device, external disk drive array, RAID (disk array) system, tape drive and data backup storage system etc..
It should be noted that although being referred to several units/modules or subelement/mould of electronic equipment in the above detailed description
Block, but it is this division be only exemplary it is not enforceable.In fact, being retouched above according to presently filed embodiment
The feature and function for two or more units/modules stated can embody in a units/modules.Conversely, above description
A units/modules feature and function can with further division be embodied by multiple units/modules.
Embodiment 4
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
The step of more GPS positioning methods of any one logistics unmanned plane as described in the examples in embodiment 1 or 2 are realized when row.
Wherein, what readable storage medium storing program for executing can use more specifically can include but is not limited to: portable disc, hard disk, random
Access memory, read-only memory, erasable programmable read only memory, light storage device, magnetic memory device or above-mentioned times
The suitable combination of meaning.
In possible embodiment, the present invention is also implemented as a kind of form of program product comprising program generation
Code, when described program product is run on the terminal device, said program code is realized in fact for executing the terminal device
The step of applying more GPS positioning methods of the logistics unmanned plane as described in the examples of any one in example 1 or 2.
Wherein it is possible to be write with any combination of one or more programming languages for executing program of the invention
Code, said program code can be executed fully on a user device, partly execute on a user device, is only as one
Vertical software package executes, part executes on a remote device or executes on a remote device completely on a user device for part.
Embodiment 5
A kind of more GPS positioning systems of logistics unmanned plane, the logistics unmanned plane includes at least two GPS, such as Fig. 4 institute
Show, more GPS positioning systems include that location data obtains module 1, precision impact factor obtains module 2, GPS weight calculation mould
Block 3 and position determination module 4；
The location data obtains the location data that module 1 is used to obtain the GPS in real time；
The precision impact factor obtains module 2 and is used to obtain the precision shadow of each GPS according to the location data of each GPS
Ring the value of the factor；
The GPS weight calculation module 3 is used to that each GPS to be calculated according to the value of the precision impact factor of all GPS
Weight；
The position determination module 4 is used to be obtained according to the location data of all GPS and the weight of each GPS described
The position of logistics unmanned plane.
In 3 the present embodiment of GPS weight calculation module, the GPS weight calculation module 3 includes the first computing unit 21, returns
One changes unit 22 and precision impact factor weight calculation unit 23；
First computing unit 21 is used to calculate the quadratic sum of the value of the precision impact factor of all GPS, and counts
Calculate the ratio of the value of the quadratic sum and the precision impact factor of each GPS；
The normalization unit 22 is for the ratio to be normalized；
Precision shadow of the precision impact factor weight calculation unit 23 for the ratio after normalizing as each GPS
Ring the weight of the factor；
The GPS weight calculation module 3 is used to be obtained according to the weight calculation of the precision impact factor of each GPS described
The weight of GPS.
In the present embodiment, the precision impact factor includes horizontal component dilution of precision, vertical component dilution of precision and speed
Spend at least one of component dilution of precision；
If the precision impact factor is 1, the GPS weight calculation module 3 is used for the precision shadow of each GPS
Ring weight of the weight of the factor as each GPS；
If the precision impact factor is 2 or 2 or more, as shown in figure 5, Fig. 5 provides another logistics unmanned plane
More GPS positioning systems, the GPS weight calculation module 3 further includes the second computing unit 24；
Second computing unit 24 is for the ratio after the normalization for all precision impact factors for calculating each GPS
Average value；
The GPS weight calculation module 3 is used for using the average value as the weight of each GPS.
In the present embodiment, by the combination of multiple GPS, the location data of all GPS is obtained in real time, according in location data
The value of the precision impact factor of acquisition, further obtains the weight of each GPS, then comprehensively consider each GPS location data and
Weight obtains the position of logistics unmanned plane, wherein obtains final location data again to different GPS imparting weights from subjective
It compares, the weight for analyzing to obtain GPS by the value of precision impact factor is more accurate, positions in the calculating of subsequent location data
Precision is also higher also more objective.
Embodiment 6
More GPS positioning systems of the logistics unmanned plane of the present embodiment are further improved on the basis of embodiment 5, are such as schemed
Shown in 6, more GPS positioning systems further include judgment module 5；
The judgment module 5 is for judging whether the location data of each target GPS is three-dimensional data, if it is not, will be described
The weight of target GPS is set as 0；If so, calling the GPS weight calculation module 3 to execute according to weight is not the positioning of 0 GPS
The movement of the weight for the GPS that it is 0 that data, which calculate the weight not,.
In the present embodiment, when choosing the data of GPS, whether the data for prejudging the GPS currently chosen are three dimensions
According to, if it is not, the weight of the GPS currently chosen is then set as 0, i.e., it should when finally determining the location data of logistics unmanned plane
The data of GPS are not as consideration object.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (14)
1. a kind of more GPS positioning methods of logistics unmanned plane, which is characterized in that the logistics unmanned plane includes at least two GPS,
More GPS positioning methods include:
The location data of all GPS is obtained in real time；
The value of the precision impact factor of each GPS is obtained according to the location data of each GPS；
The weight of the GPS is calculated according to the value of the precision impact factor of all GPS；
The position of the logistics unmanned plane is obtained according to the weight of the location data of all GPS and each GPS.
2. more GPS positioning methods of logistics unmanned plane as described in claim 1, which is characterized in that real-time obtain is owned
After the step of location data of GPS, more GPS positioning methods further include:
Whether the location data for judging each target GPS is three-dimensional data, if so, executing the precision shadow according to all GPS
The step of weight of the GPS is calculated in the value of the sound factor.
3. more GPS positioning methods of logistics unmanned plane as claimed in claim 2, which is characterized in that described according to all GPS's
The value of precision impact factor is calculated the step of weight of the GPS and specifically includes:
Calculate the quadratic sum of the value of the precision impact factor of all GPS；
Calculate the value of the precision impact factor of the quadratic sum and each GPS square ratio；
The ratio is normalized；
Using the ratio after normalization as the weight of the precision impact factor of the GPS；
The weight of the GPS is obtained according to the weight calculation of the precision impact factor of each GPS.
4. more GPS positioning methods of logistics unmanned plane as claimed in claim 3, which is characterized in that the precision impact factor
It is 1, the step of weight of the precision impact factor according to each GPS obtains the weight of the GPS specifically includes:
Using the weight of the precision impact factor of each GPS as the weight of the GPS.
5. more GPS positioning methods of logistics unmanned plane as claimed in claim 3, which is characterized in that the precision impact factor
It is at least two, the step of weight of the precision impact factor according to each GPS obtains the weight of the GPS specifically wraps
It includes:
The average value of ratio after calculating the normalization of all precision impact factors of each GPS；
Using the average value as the weight of the GPS.
6. more GPS positioning methods of logistics unmanned plane as described in claim 1, which is characterized in that the precision impact factor
Including at least one of horizontal component dilution of precision, vertical component dilution of precision and velocity component dilution of precision.
7. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized as claimed in any one of claims 1 to 6 when executing the computer program
More GPS positioning methods of logistics unmanned plane.
8. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is by processor
The step of more GPS positioning methods of logistics unmanned plane as claimed in any one of claims 1 to 6 are realized when execution.
9. a kind of more GPS positioning systems of logistics unmanned plane, which is characterized in that the logistics unmanned plane includes at least two GPS,
More GPS positioning systems include location data obtain module, precision impact factor obtain module, GPS weight calculation module and
Position determination module；
The location data obtains the location data that module is used to obtain all GPS in real time；
The precision impact factor obtain module be used to be obtained according to the location data of each GPS each GPS precision influence because
The value of son；
The GPS weight calculation module is used to be calculated the power of each GPS according to the value of the precision impact factor of all GPS
Weight；
The position determination module is used to obtain the logistics according to the location data of all GPS and the weight of each GPS
The position of unmanned plane.
10. more GPS positioning systems of logistics unmanned plane as claimed in claim 9, which is characterized in that more GPS positioning systems
System further includes judgment module；
The judgment module is for judging whether the location data of each target GPS is three-dimensional data, if so, executing the basis
The location data of all GPS calculates the step of weight of the target GPS.
11. more GPS positioning systems of logistics unmanned plane as claimed in claim 10, which is characterized in that the GPS weight calculation
Module further includes the first computing unit, normalization unit and precision impact factor weight calculation unit；
First computing unit is used to calculate the quadratic sum of the value of the precision impact factor of all GPS, and calculates described square
With the value of the precision impact factor with each GPS square ratio；
The normalization unit is for the ratio to be normalized；
Precision impact factor of the precision impact factor weight calculation unit for the ratio after normalizing as the GPS
Weight；
The GPS weight calculation module is used to obtain the power of the GPS according to the weight calculation of the precision impact factor of each GPS
Weight.
12. more GPS positioning systems of logistics unmanned plane as claimed in claim 11, which is characterized in that the precision influence because
Son is 1, and the GPS weight calculation module is used for using the weight of the precision impact factor of each GPS as the power of the GPS
Weight.
13. more GPS positioning systems of logistics unmanned plane as claimed in claim 11, which is characterized in that the precision influence because
Son is at least two, and the GPS weight calculation module further includes the second computing unit；
Second computing unit is flat for the ratio after the normalization for all precision impact factors for calculating each GPS
Mean value；
The GPS weight calculation module is used for using the average value as the weight of the GPS.
14. more GPS positioning systems of logistics unmanned plane as claimed in claim 9, which is characterized in that the precision impact factor
Including at least one of horizontal component dilution of precision, vertical component dilution of precision and velocity component dilution of precision.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123323A (en) * | 2019-12-31 | 2020-05-08 | 杭州电子科技大学 | Method for improving positioning precision of portable equipment |
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| CN111123323B (en) * | 2019-12-31 | 2022-04-01 | 杭州电子科技大学 | Method for improving positioning precision of portable equipment |
| CN112711051A (en) * | 2020-12-18 | 2021-04-27 | 易瓦特科技股份公司 | Flight control system positioning method, device, equipment and storage medium |
| CN114079858A (en) * | 2021-10-25 | 2022-02-22 | 摩拜(北京)信息技术有限公司 | Positioning method and device of electronic equipment and storage medium |
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