CN110632553A

CN110632553A - Positioning method, device and system, computer readable storage medium and unmanned aerial vehicle

Info

Publication number: CN110632553A
Application number: CN201910896904.XA
Authority: CN
Inventors: 张显志
Original assignee: Shenzhen Yidian Aviation Technology Co Ltd
Current assignee: Shenzhen Yidian Aviation Technology Co Ltd
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2019-12-31

Abstract

The embodiment of the application relates to a positioning method, a positioning device, a positioning system, a computer readable storage medium and an unmanned aerial vehicle, wherein the method comprises the following steps: respectively receiving wireless signals sent by a plurality of wireless communication transmitters through the wireless communication receiver; determining a distance between the drone and each of the wireless communication transmitters from the wireless signals; detecting a height value of the unmanned aerial vehicle to the ground; determining spatial location information of the drone based on the distance of the drone from each of the wireless communication transmitters and the altitude value. By the positioning method, the positioning device, the positioning system, the computer readable storage medium and the unmanned aerial vehicle, the unmanned aerial vehicle can be positioned more accurately.

Description

Positioning method, device and system, computer readable storage medium and unmanned aerial vehicle

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a positioning method, a positioning device, a positioning system, a computer readable storage medium and an unmanned aerial vehicle.

Background

Unmanned Aerial Vehicles (UAVs) are Unmanned Aerial vehicles that are operated by radio remote control devices and self-contained program control devices. The unmanned aerial vehicle can be used for military and civil use in the application field, for example, a reconnaissance plane and a target drone are used for military use, and the unmanned aerial vehicle is well applied to aerial photography, agriculture, plant protection, miniature self-timer shooting, express transportation, disaster rescue, wild animal observation and the like in the civil use aspect. When using unmanned aerial vehicle, need accurate fix a position unmanned aerial vehicle, generally use GPS (global positioning System) to fix a position unmanned aerial vehicle among the traditional mode, but GPS's signal probably has the risk of being closed, disturbing or induced, leads to fixing a position inaccurately.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, a positioning system, a computer-readable storage medium and an unmanned aerial vehicle, which can more accurately position the unmanned aerial vehicle.

A positioning method is applied to an unmanned aerial vehicle, a wireless communication receiver is arranged on the unmanned aerial vehicle, and the method comprises the following steps:

respectively receiving wireless signals sent by a plurality of wireless communication transmitters through the wireless communication receiver;

determining a distance between the drone and each of the wireless communication transmitters from the wireless signals;

detecting a height value of the unmanned aerial vehicle to the ground;

determining spatial location information of the drone based on the distance of the drone from each of the wireless communication transmitters and the altitude value.

A positioning system comprises an unmanned aerial vehicle and a plurality of wireless communication transmitters, wherein a wireless communication receiver is arranged on the unmanned aerial vehicle;

the unmanned aerial vehicle comprises:

a wireless communication receiver for receiving wireless signals transmitted by the plurality of wireless communication transmitters, respectively;

a processor for determining a distance of the drone from each of the wireless communication transmitters as a function of the wireless signals;

the processor is further configured to obtain a height value from the unmanned aerial vehicle to the ground, and determine spatial position information of the unmanned aerial vehicle based on the distance between the unmanned aerial vehicle and each wireless communication transmitter and the height value;

the wireless communication transmitter is used for transmitting wireless signals to the wireless communication receiver.

The utility model provides a positioner, is applied to unmanned aerial vehicle, be provided with the wireless communication receiver on the unmanned aerial vehicle, the device includes:

the receiving module is used for respectively receiving wireless signals sent by a plurality of wireless communication transmitters through the wireless communication receiver;

a distance determining module for determining the distance between the drone and each of the wireless communication transmitters according to the wireless signals;

the height detection module is used for detecting the height value of the unmanned aerial vehicle from the ground;

a positioning module for determining spatial location information of the drone based on the distance of the drone from each of the wireless communication transmitters and the altitude value.

A drone comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, causes the processor to implement a method as described above.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as set forth above.

According to the positioning method, the positioning device, the positioning system, the computer readable storage medium and the unmanned aerial vehicle, the unmanned aerial vehicle can receive wireless signals sent by the plurality of wireless communication transmitters through the wireless communication receiver, the distance between the unmanned aerial vehicle and each wireless communication transmitter is determined according to the wireless signals, the height value of the unmanned aerial vehicle to the ground is detected, the spatial position information of the unmanned aerial vehicle is determined based on the distance and the height value between the unmanned aerial vehicle and each wireless communication transmitter, the interference of positioning signals can be effectively reduced, and the unmanned aerial vehicle can be positioned more accurately. In addition, when signals of the satellite navigation positioning system are closed, interfered and induced, the tethered unmanned aerial vehicle can be ensured to stably hover at high altitude, and the task is smoothly completed.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is an architectural diagram of a positioning system in one embodiment;

FIG. 2 is an architectural diagram of another embodiment of a positioning system;

FIG. 3 is a flow diagram of a positioning method in one embodiment;

fig. 4 is a flow diagram of determining spatial location information for a drone in one embodiment;

FIG. 5 is a block diagram of a positioning system in one embodiment;

FIG. 6 is a block diagram of a positioning system in another embodiment;

FIG. 7 is a block diagram of a positioning device in one embodiment;

fig. 8 is a block diagram of the structure of the drone in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first client may be referred to as a second client, and similarly, a second client may be referred to as a first client, without departing from the scope of the present application. Both the first client and the second client are clients, but they are not the same client.

FIG. 1 is an architectural diagram of a positioning system in one embodiment. As shown in fig. 1, the positioning system includes a drone 10 and a plurality of wireless communication transmitters 20, and a wireless communication receiver 110 may be provided on the drone 10.

In this application embodiment, this positioning system can be applied to the unmanned aerial vehicle system of mooring.

In some embodiments, multiple wireless communication transmitters 20 may be respectively located at different locations on the ground and transmit wireless signals to the wireless communication receiver 110 on the drone 10. The wireless communication receiver 110 on the unmanned aerial vehicle 10 can detect signals on a communication channel, respectively receive wireless signals sent by each wireless communication transmitter 20 arranged on the ground, and then analyze the received wireless signals, so as to determine the relative position relationship between the unmanned aerial vehicle 10 and each wireless communication transmitter 20 sending wireless signals according to the analysis result of each wireless signal. The drone 10 may determine the spatial location coordinates of the drone 10 from the relative positional relationship with each wireless communication transmitter 20.

Alternatively, any one of the wireless communication transmitters 20 may be selected as the origin of the spatial coordinate system, and a three-dimensional spatial coordinate system may be established, wherein the X axis and the Y axis of the spatial coordinate system may be parallel to the ground, and the Z axis may be perpendicular to the ground, that is, the XOY plane of the spatial coordinate system is parallel to the ground, and the ZOX plane and the ZOY plane are perpendicular to the ground, respectively. The relative positional relationship between the drone 10 and each wireless communication transmitter 20 may be scaled to determine the spatial position coordinates (x, y, z) of the drone 10 in the spatial coordinate system. As a specific embodiment, the number of wireless communication transmitters 20 disposed at different positions on the ground may be greater than or equal to 3, for example, 3, 4, 5, etc., but is not limited thereto. The more the number of the wireless communication transmitters 20 is set, the more accurate the acquired spatial position coordinates of the unmanned aerial vehicle 10 can be made.

In one embodiment, the plurality of wireless communication transmitters 20 may not be all located on the ground, and the wireless communication transmitters 20 may be located at different heights by establishing a base station, for example, 5 wireless communication transmitters 20 are located, wherein 3 wireless communication transmitters 20 are located on the ground, 1 wireless communication transmitter 20 is located 6 meters from the ground, 1 wireless communication transmitter 20 is located 10 meters from the ground, and the like. The wireless communication transmitter 20 is arranged at different heights, so that the acquired spatial position coordinates of the unmanned aerial vehicle 10 are more accurate. The number and the arrangement positions of the wireless communication transmitters 20 are not particularly limited in the embodiment of the present application.

In one embodiment, the drone 10 may detect a height value of the ground, which may be a vertical distance from the drone 10 to the ground, and the detected height value may be used to obtain a coordinate value of the Z-axis of the drone 10 in the spatial coordinate system. The unmanned aerial vehicle 10 receives the wireless signals sent by the plurality of wireless communication transmitters 20 arranged at different positions on the ground through the wireless communication receiver 110, and determines the distance between the unmanned aerial vehicle 10 and each wireless communication transmitter 20 according to the received wireless signals. According to the distance between the unmanned aerial vehicle 10 and each wireless communication transmitter 20, the coordinate values of the X axis and the Y axis of the unmanned aerial vehicle 10 in the space coordinate system can be calculated, and the spatial position information of the unmanned aerial vehicle 10 can be obtained by combining the height value from the unmanned aerial vehicle 10 to the ground, and the spatial position information can include the spatial position coordinates (X, Y, z) of the unmanned aerial vehicle 10 in the space coordinate system and is used for representing the specific flight position of the unmanned aerial vehicle 10.

Fig. 2 is an architecture diagram of a positioning system in another embodiment, as shown in fig. 2, the positioning system includes a drone 10, a plurality of wireless communication transmitters 20, and a ground pressure gauge 30, and the drone 10 may be connected to the ground pressure gauge 30 through a tether. The unmanned aerial vehicle 10 may be provided with a wireless communication receiver 110 and a body barometer 120, wherein the body barometer 120 may detect a flying air pressure of the unmanned aerial vehicle 10, and the ground barometer 30 may detect an air pressure value on the ground. The ground barometer 30 and the body barometer 120 may be various types of barometers, for example, mercury barometers or liquid-less barometers, the mercury barometers utilize the principle of the torricelli experiment, the atmospheric pressure is different, the height of the mercury column is different, the liquid-less barometers determine the atmospheric pressure value by detecting the shape change of the metal box, and the metal box may deform under different atmospheric pressures, but is not limited to these two types of barometers, and may also be other types of barometers.

The drone 10 is connected to the ground barometer 30 by a tether, which may be a cable such as an optical fiber, which may be used to transmit data between the drone 10 and the ground barometer 30. The ground barometer 30 detects ground air pressure data, and can send the ground air pressure data to the unmanned aerial vehicle 10 through the tether. Unmanned aerial vehicle 10 acquires the organism atmospheric pressure data that detects through organism barometer 120, and the height value to ground of unmanned aerial vehicle 10 is confirmed to the difference between usable organism atmospheric pressure data and the ground atmospheric pressure data. As a mode, the power supply equipment on ground can also supply power to unmanned aerial vehicle 10's power through the hawser, and the flight of the steerable unmanned aerial vehicle 10 of hawser is in a fixed within range, can avoid unmanned aerial vehicle 10 to fly to the position of keeping away from wireless communication transmitter 20, leads to the unable problem of carrying out accurate location to unmanned aerial vehicle 10's position.

Unmanned aerial vehicle 10 receives the wireless signal that sets up a plurality of wireless communication transmitters 20 in different positions on ground respectively through wireless communication receiver 110 and sends, and confirm unmanned aerial vehicle 10 and each wireless communication transmitter 20's distance according to the wireless signal who receives, accessible organism barometer 120 and ground barometer 30 acquire the altitude value of unmanned aerial vehicle 10 to ground, according to unmanned aerial vehicle 10 and each wireless communication transmitter 20's distance and unmanned aerial vehicle 10 to the height value on ground again, confirm unmanned aerial vehicle 10's spatial position information.

As shown in fig. 3, in one embodiment, a positioning method is provided, which can be applied to the drone 10 in the positioning system, and the method can include the following steps:

step S310, the wireless communication receiver receives the wireless signals transmitted by the plurality of wireless communication transmitters.

The unmanned aerial vehicle can be provided with the wireless communication receiver, and wireless signals that a plurality of wireless communication transmitters of setting in different positions on ground sent can be received respectively to accessible wireless communication receiver. In some embodiments, a wireless communication transmitter may acquire a transmission time of day when transmitting a wireless signal and generate a timestamp corresponding to the transmission time of day. When the wireless communication receiver receives the wireless signal, the wireless signal can be analyzed to obtain an analysis result, the analysis result can include the transmission time of the wireless signal and the identity information of the wireless communication transmitter which transmits the wireless signal, and the identity information can be used for representing the identity of the wireless communication receiver which transmits the wireless signal. Alternatively, each wireless communication transmitter may be encoded, and each wireless communication transmitter may correspond to a unique code, which may be a string of one or more of numbers, letters, symbols, etc., which may be one of the wireless communication transmitters. The wireless communication transmitter sends a wireless signal to the wireless communication receiver of the unmanned aerial vehicle, the wireless signal can simultaneously contain the code of the wireless communication transmitter, and the wireless communication receiver analyzes the wireless signal to obtain the corresponding code so as to determine the identity of the wireless communication transmitter sending the wireless signal according to the code.

In some embodiments, the wireless communication receiver of the drone receives the wireless signals, may record the reception time of each received wireless signal, analyze the wireless signals to obtain the transmission time of the wireless signals, and may store the reception time and the transmission time of the wireless signals and the identity information of the wireless communication transmitter in correspondence, where the storage manner may be as shown in table 1:

TABLE 1

Wireless communication transmitter	Time of transmission	Time of reception
			A00548-1	14 hours 02 minutes 32 seconds 50 milliseconds	14 hours 02 minutes 32 seconds 250 milliseconds
F65210-3	14 hours 02 minutes 33 seconds 40 milliseconds	14 hours 02 minutes 33 seconds 190 milliseconds
			C32489-2	14 hours 02 minutes 32 seconds 500 milliseconds	14 hours 02 minutes 32 seconds 785 milliseconds

In one embodiment, the wireless communication receiver of the drone may further perform time synchronization with each wireless communication transmitter, before the wireless communication transmitter transmits the wireless signal to the wireless communication receiver, the wireless communication receiver may transmit the synchronization signal to the wireless communication receiver, and the wireless communication receiver may determine a time difference between its clock system and the clock system of the wireless communication transmitter according to the synchronization signal. Alternatively, the wireless communication receiver may determine a time difference value according to a reception time at which the synchronization signal is received and a synchronization time at which the synchronization signal is transmitted, and compare the time difference value with a preset threshold value. When the time difference is larger than the preset threshold, the time synchronization is needed and the time synchronization is carried out according to the synchronization signal. The preset threshold may be set according to actual requirements, such as 1 second, 3 seconds, etc., but is not limited thereto.

In one embodiment, multiple wireless communication transmitters may be provided through a unified console control. When the unmanned aerial vehicle flies, the geographical position of the unmanned aerial vehicle can be determined through satellite navigation signals, such as GPS signals, when the unmanned aerial vehicle is detected to be in the range of the plurality of wireless communication transmitters arranged according to the geographical position, the unmanned aerial vehicle can send an arrival instruction to the control console, and the control console can control the plurality of wireless communication transmitters to send wireless signals to the wireless communication receiver of the unmanned aerial vehicle according to the arrival instruction. When detecting that unmanned aerial vehicle is not in the within range of a plurality of wireless communication transmitters that set up according to unmanned aerial vehicle's geographical position, the steerable wireless communication transmitter of control cabinet stops to send wireless signal, and only when unmanned aerial vehicle is in the certain limit, wireless communication transmitter just sends wireless signal, can save the consumption of wireless communication transmitter. In other embodiments, the wireless communication transmitter may also always transmit wireless signals no matter where the geographical location of the drone is, and when the drone is within range of the plurality of wireless communication transmitters, the wireless communication receiver on the drone may receive the wireless signals transmitted by the wireless communication transmitter.

And step S320, determining the distance between the unmanned aerial vehicle and each wireless communication transmitter according to the wireless signals.

The unmanned aerial vehicle analyzes the plurality of wireless signals received by the wireless communication receiver, and the distance between the unmanned aerial vehicle and each wireless communication transmitter can be determined according to the analysis result. The unmanned aerial vehicle analyzes the received wireless signals, obtains the transmitting time of the wireless signals and the identity information corresponding to the wireless communication transmitter, and can calculate the transmission time delay according to the receiving time and the transmitting time of the wireless signals. The unmanned aerial vehicle can prestore the transmission speed of wireless signal to confirm the distance of unmanned aerial vehicle and the wireless communication transmitter of launching this wireless signal according to wireless signal's transmission delay and transmission speed, this distance can be transmission delay times transmission speed.

In one embodiment, the wireless communication receiver may be an Ultra Wide Band (UWB) receiver and the wireless communication transmitter may be a UWB transmitter. The UWB technology is a wireless carrier communication technology, which does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so that the occupied frequency spectrum range is wide, and signals can be transmitted over a very wide bandwidth by using the UWB technology. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability and the like, and can enable the positioning of the unmanned aerial vehicle to be more accurate. The UWB transmitter that sets up in different positions on ground can be to the UWB receiver send signal that sets up on the unmanned aerial vehicle, and the UWB receiver can carry out demodulation operation to the signal of receiving to obtain corresponding transmission data. The drone may determine the distance to each UWB transmitter from the signals received by the UWB receiver. It will be appreciated that the wireless communication receiver and the wireless communication transmitter may be other devices that transmit wireless signals, and are not limited to UWB devices.

And step S330, detecting the height value of the unmanned aerial vehicle to the ground.

Unmanned aerial vehicle detectable arrives the altitude value on ground, and this altitude value can refer to the vertical distance of unmanned aerial vehicle to ground, also is unmanned aerial vehicle's flying height, and the mode of detecting unmanned aerial vehicle to ground altitude value can be multiple. As a specific implementation mode, the unmanned aerial vehicle can be provided with an organism barometer, the organism barometer can be used for detecting the organism barometric value of the unmanned aerial vehicle, the ground can also be provided with a ground barometer, and the ground barometer can be used for detecting the barometric value of the ground. The unmanned aerial vehicle can determine the height value between the unmanned aerial vehicle and the ground according to the air pressure difference between the air pressure value of the unmanned aerial vehicle body and the air pressure value of the ground.

In other embodiments, the drone may also determine the height value to the ground directly from wireless signals transmitted by the plurality of wireless communication transmitters. A plurality of wireless communication transmitters can set up at co-altitude not, also can all set up on ground, unmanned aerial vehicle according to with every distance between the wireless communication transmitter to and the spatial position coordinate of each wireless communication transmitter, calculate unmanned aerial vehicle height value to ground. The manner in which the drone detects the height value of the ground is not limited in this embodiment of the application.

And step 340, determining the space position information of the unmanned aerial vehicle based on the distance and the height value between the unmanned aerial vehicle and each wireless communication transmitter.

In one embodiment, any one of the wireless communication transmitters can be selected as an origin of a space coordinate system, the space coordinate system is established, an X axis and a Y axis of the space coordinate system can be parallel to the ground, a Z axis of the space coordinate system can be perpendicular to the ground, and the unmanned aerial vehicle can acquire and store space position coordinates of other set wireless communication transmitters in the space coordinate system in advance. The unmanned aerial vehicle can confirm the coordinate value of the X axis and the Y axis of the unmanned aerial vehicle in a space coordinate system according to the distance between the unmanned aerial vehicle and each wireless communication transmitter and the space position coordinate of each wireless communication transmitter, and confirm the coordinate value of the Z axis of the unmanned aerial vehicle in the space coordinate system according to the height value from the unmanned aerial vehicle to the ground, so that the space position coordinate (X, Y, Z) of the unmanned aerial vehicle in the space coordinate system is obtained, and the space position information of the unmanned aerial vehicle is obtained.

In one embodiment, the wireless communication receiver on the unmanned aerial vehicle can receive the wireless signals sent by each wireless communication transmitter in real time, and when the unmanned aerial vehicle is in a motion state, the distance change between the unmanned aerial vehicle and each wireless communication transmitter at different times can be acquired according to the wireless signals sent by the same wireless communication transmitter which are received for multiple times. According to the distance change between the unmanned aerial vehicle and each wireless communication transmitter and the space position coordinates of each wireless communication transmitter, the direction information of the unmanned aerial vehicle relative to the wireless communication transmitter serving as the origin can be determined. For example, if the transmitter 1 is the origin of the spatial coordinate system, the spatial position coordinates are (0, 0, 0), the spatial position coordinates of the transmitter 2 are (2, 3, 0), the spatial position coordinates of the transmitter 3 are (-1, 4, 0), the distances between the unmanned aerial vehicle and the transmitters 1 and 3 gradually increase, and the distances between the unmanned aerial vehicle and the transmitters 2 gradually decrease, it is determined that the unmanned aerial vehicle is in the positive X-axis direction in the spatial coordinate system relative to the transmitter 1. According to the direction information of the unmanned aerial vehicle relative to the wireless communication transmitter serving as the origin, the unmanned aerial vehicle can be more accurately positioned, and the more the number of the wireless communication transmitters is, the more accurate spatial position coordinates of the unmanned aerial vehicle can be determined.

According to the positioning method in the embodiment, the unmanned aerial vehicle can respectively receive the wireless signals sent by the plurality of wireless communication transmitters through the wireless communication receiver, the distance between the unmanned aerial vehicle and each wireless communication transmitter is determined according to the wireless signals, the height value from the unmanned aerial vehicle to the ground is detected, the spatial position information of the unmanned aerial vehicle is determined based on the distance and the height value between the unmanned aerial vehicle and each wireless communication transmitter, the interference of positioning signals can be effectively reduced, and the unmanned aerial vehicle can be positioned more accurately.

In one embodiment, the step S330 of detecting the height value of the drone to the ground may include: the method comprises the steps of obtaining ground air pressure data detected by a ground barometer, obtaining body air pressure data detected by a body barometer, correcting the body air pressure data through difference, and determining the height value of the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected body air pressure data.

Unmanned aerial vehicle can set up organism barometer, and ground can set up at ground barometer, and unmanned aerial vehicle accessible mooring rope is connected with ground barometer to carry out data communication through the mooring rope. The surface barometer and the body barometer may be of various types, for example, mercury barometer or aneroid barometer, and are not limited herein. Ground barometer detectable ground atmospheric pressure data, this ground atmospheric pressure data can include the atmospheric pressure value on ground to with ground atmospheric pressure data through sending to unmanned aerial vehicle. Optionally, the ground pressure data may include environmental parameters of the ground, such as temperature, humidity, and the like of the ground, in addition to the ground pressure value.

Unmanned aerial vehicle accessible organism barometer detects organism atmospheric pressure data, and this organism atmospheric pressure data can include unmanned aerial vehicle's organism atmospheric pressure value. In one embodiment, the unmanned aerial vehicle can correct the body air pressure data detected by the body barometer through difference, can perform difference operation on the body air pressure data acquired for multiple times, and reject the body air pressure data with larger deviation. The method can set error amount according to actual demand, and judge whether the deviation of the air pressure data of the machine body is larger than the error amount, if so, the detected air pressure data of the machine body is inaccurate, wherein the deviation of the air pressure data of the machine body can be the difference between the air pressure data of the machine body detected by the air pressure gauge at this time and the air pressure data of the machine body detected at the last time, or the deviation value between the air pressure data of the machine body detected at this time and a function equation, and the function equation can be obtained by operation according to the air pressure data of the machine body detected for many times.

In some embodiments, the body air pressure data may include current body environmental parameters such as temperature and humidity, in addition to the body air pressure value of the unmanned aerial vehicle, and the unmanned aerial vehicle may be provided with sensors such as temperature and humidity for detecting the body environmental parameters. The unmanned aerial vehicle determines the height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected body air pressure data, can calculate the air pressure difference value between the ground air pressure value and the body air pressure value, and determines the height value from the unmanned aerial vehicle to the ground according to the relation equation between the air pressure difference value and the height. Optionally, weights may be assigned to the air pressure difference value, the temperature difference value, the humidity difference value, and the like, a height value from the unmanned aerial vehicle to the ground is determined through a weighting algorithm, or a plurality of height values are obtained according to a relation equation between parameters such as the air pressure difference value, the temperature difference value, the humidity difference value, and the like, and the height value from the unmanned aerial vehicle to the ground is determined through averaging.

According to the positioning method in the embodiment, the unmanned aerial vehicle can more accurately detect the height of the ground, and the positioning accuracy of the unmanned aerial vehicle is improved.

As shown in fig. 4, in one embodiment, the step 340 of determining the spatial location information of the drone based on the distance and height value of the drone from each wireless communication transmitter may include the steps of:

and step S402, establishing a projection point of the unmanned aerial vehicle on the ground.

After the unmanned aerial vehicle determines the distance from each wireless communication transmitter according to a plurality of wireless signals received by the wireless communication receiver, the unmanned aerial vehicle can be projected to the ground, and a projection point of the unmanned aerial vehicle on the ground is established. Selecting any one wireless communication transmitter arranged on the ground to establish a space coordinate system, wherein an X axis and a Y axis of the space coordinate system can be parallel to the ground, a Z axis can be perpendicular to the ground, the unmanned aerial vehicle is projected to the ground, the XOY plane can be used for projecting the unmanned aerial vehicle to the space coordinate system, coordinate values of the unmanned aerial vehicle on the X axis and the Y axis are unchanged, and the coordinate value of the Z axis is 0.

And S404, calculating the distance from the projection point to each UWB transmitter according to the distance between the unmanned aerial vehicle and each UWB transmitter and the height value.

The unmanned plane can calculate the projection point to each UWB transmitter according to the distance and the height value of each UWB transmitterThe distance from the projection point to the UWB transmitter can be further determined according to the colluding strand positioning, and the distance from the projection point to the UWB transmitter

Wherein, in the step (A),

is the distance between the drone and the UWB transmitter,

is the height value from the unmanned plane to the ground.

And step S406, determining the position coordinates of the projection points according to the distance between the projection points and each UWB transmitter.

In one embodiment, the drone may pre-store the spatial position coordinates of each UWB transmitter in the same spatial coordinate system, and when receiving the wireless signal, may find the spatial position coordinates of the UWB transmitter according to the identity information of the UWB transmitter that transmits the wireless signal. According to the space position coordinates of each UWB transmitter and the distance between the projection point and each UWB transmitter, the position coordinates of the projection point can be calculated, if the space position coordinates of the projection point in a space coordinate system are (X, Y, 0), the coordinate value X of the projection point on the X axis and the coordinate value Y of the projection point on the Y axis can be calculated.

For example, suppose that the ground is provided with 3 UWB transmitters, the spatial position coordinate of the transmitter 1 is (0, 0, 0), and the spatial position coordinate of the transmitter 2 is (

，

0), the spatial position coordinates of the transmitter 3 are: (

，

0), the distance from the projection point (x, y, 0) of the unmanned aerial vehicle on the ground to the transmitter 1 isThe distance from the projection point to the transmitter 2 is

The distance from the projection point to the transmitter 3 is

The following formula can be obtained:

，，

solving the three formulas to obtain the projection points x and y, thereby obtaining the position coordinates of the projection points.

Step S408, determining the space position information of the unmanned aerial vehicle based on the position coordinates and the height values of the projection points.

The unmanned aerial vehicle calculates the position coordinate (X, Y, 0) that obtains the projection point, and this X and Y are the coordinate value of unmanned aerial vehicle X axle and Y axle in the space coordinate system promptly, and unmanned aerial vehicle height value to ground can regard as the coordinate value of unmanned aerial vehicle Z axle in the space coordinate system, can obtain the space position coordinate (X, Y, Z) of unmanned aerial vehicle in the space coordinate system to acquire unmanned aerial vehicle's space position information.

In other embodiments, the drone may determine the spatial location information in other manners, for example, when the number of UWB transmitters is large enough, the spatial location coordinate of the drone may be directly calculated according to the spatial location coordinates of the UWB transmitters and the distances from the drone to the UWB transmitters, without additionally detecting the height value of the drone to the ground. The UWB transmitters can be arranged on the ground, and can also be arranged at different heights through the base station, and the space position coordinates of each UWB transmitter in a space coordinate system need to be measured in advance. As an embodiment, when the position of the UWB transmitter is changed, the spatial position coordinates of the changed UWB transmitter need to be determined again, and the changed spatial position coordinates are synchronized with the drone to update the position of the UWB transmitter.

According to the positioning method in the embodiment, the projection points of the unmanned aerial vehicle on the ground can be established, the position coordinates of the projection points are determined according to the positions of the UWB transmitters and the distance from the unmanned aerial vehicle to the UWB, then the space position information of the unmanned aerial vehicle is obtained, and the positioning accuracy of the unmanned aerial vehicle can be improved.

In one embodiment, the positioning method further includes: the method comprises the steps of obtaining the geographic position of the unmanned aerial vehicle through satellite navigation signals, judging whether spatial position information is matched with the geographic position, and sending prompt information when the spatial position information is not matched with the geographic position, wherein the prompt information is used for prompting the satellite navigation of the unmanned aerial vehicle to cause abnormal conditions.

When the unmanned aerial vehicle is positioned by the UWB technology, the satellite navigation signal can be used, for example, GPS and the like can acquire the geographic position of the unmanned aerial vehicle in real time, the GPS signal sent by the GPS navigation satellite can be received in real time, the geographic position of the unmanned aerial vehicle can be determined according to the GPS, and the geographic position can comprise the longitude and the latitude of the unmanned aerial vehicle on the earth and can also comprise the altitude and the like. In one embodiment, the drone determines the spatial position coordinates (x, y, z) of the drone in the spatial coordinate system according to the wireless signal sent by the UWB transmitter, and the spatial position coordinates (x, y, z) can be converted into corresponding longitude, latitude and altitude, and the spatial position information of the drone can be represented by the longitude, latitude and altitude obtained through conversion.

The unmanned aerial vehicle can compare the spatial position information determined by using the UWB technology with the geographic position detected by the GPS, and judge whether the spatial position information is matched with the geographic position detected by the GPS, and the matching of the spatial position information with the geographic position detected by the GPS can mean that the difference value between the spatial position information and the geographic position detected by the GPS is within a preset error range. If the difference between the spatial location information and the geographic location detected by the GPS is beyond a preset error range, it can be determined that the spatial location information is not matched with the geographic location detected by the GPS. Because UWB technique receives the condition of disturbing and is less than GPS location far away, UWB location is more accurate than GPS location, consequently when spatial location information and GPS detected geographical position mismatch, can judge that GPS location abnormal conditions appears. The unmanned aerial vehicle can generate prompt information and send the prompt information to the management equipment, for example, the prompt information can be sent to host equipment or a mobile terminal of a manager, so that the manager is prompted that the GPS positioning of the unmanned aerial vehicle is abnormal.

In some embodiments, the situation that UWB positioning is abnormal is not excluded, when the unmanned aerial vehicle determines that the spatial position information is not matched with the geographic position detected by the GPS, the spatial position information obtained by positioning through the UWB technology and the geographic position detected by the GPS can be simultaneously sent to the management device, and whether UWB positioning or GPS positioning is abnormal is determined by the manager, so that the abnormal situation can be adjusted, and the positioning accuracy of the unmanned aerial vehicle is ensured.

The positioning method in the embodiment can detect whether the GPS positioning of the unmanned aerial vehicle is accurate or not by using UWB positioning, so that the positioning accuracy of the unmanned aerial vehicle is improved, and the safety of the unmanned aerial vehicle during operation is also improved.

In one embodiment, the positioning method further includes: detecting whether the unmanned aerial vehicle reaches the designated space position according to the space position information, controlling the unmanned aerial vehicle to hover when the unmanned aerial vehicle reaches the designated space position, receiving control instructions sent by other equipment, analyzing the control instructions, and executing operation according to an analysis result.

The administrator can control the unmanned aerial vehicle to execute the task through the management equipment, and as an implementation mode, the unmanned aerial vehicle can be controlled to execute corresponding task operation when flying to reach a specified spatial position. The management device can send a hovering instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle can analyze the hovering instruction to obtain the designated spatial position. The unmanned aerial vehicle can determine the spatial position information in real time according to the wireless signals sent by the UWB transmitter, and judge whether the unmanned aerial vehicle reaches the specified spatial position, and when the unmanned aerial vehicle reaches the specified spatial position, the unmanned aerial vehicle can execute hovering operation and does not fly any more.

After the unmanned aerial vehicle hovers at the designated space position, the unmanned aerial vehicle can receive control instructions sent by other equipment and execute corresponding tasks according to the control instructions, and the other equipment can be management equipment or control instructions sent by other unmanned aerial vehicles. The unmanned aerial vehicle can analyze the control command to obtain task content required to be executed, for example, the task content can be that the unmanned aerial vehicle launches a weapon or takes a picture through a camera and the like, the task content can also be that the control command is forwarded to other unmanned aerial vehicles, the unmanned aerial vehicle serves as relay equipment for transmitting the command, the command is transmitted and the like, and specific limitation is not made here.

The positioning method in the embodiment can position the unmanned aerial vehicle by using the UWB technology, and can improve the accuracy and efficiency of the unmanned aerial vehicle for executing tasks.

In one embodiment, a positioning method is provided, which is applied to a drone, on which a wireless communication receiver is arranged, and the method includes the following steps:

and (1) respectively receiving wireless signals sent by a plurality of wireless communication transmitters through a wireless communication receiver.

And (2) determining the distance between the unmanned aerial vehicle and each wireless communication transmitter according to the wireless signals.

And (3) detecting the height value from the unmanned aerial vehicle to the ground.

In one embodiment, the unmanned aerial vehicle is further provided with a body barometer, and the unmanned aerial vehicle is connected with the ground barometer through a mooring cable; the step (3) comprises the following steps: acquiring ground air pressure data detected by a ground air pressure meter; acquiring body air pressure data detected by a body barometer, and correcting the body air pressure data through difference; and determining the height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected air pressure data of the body.

And (4) determining the space position information of the unmanned aerial vehicle based on the distance and the height value between the unmanned aerial vehicle and each wireless communication transmitter.

In one embodiment, the wireless communication receiver is a UWB receiver and the wireless communication transmitter is a UWB transmitter; the step (4) comprises the following steps: establishing a projection point of the unmanned aerial vehicle on the ground;

calculating the distance from the projection point to each UWB transmitter according to the distance between the unmanned aerial vehicle and each UWB transmitter and the height value; determining the position coordinates of the projection points according to the distance from the projection points to each UWB transmitter; and determining the space position information of the unmanned aerial vehicle based on the position coordinates and the height values of the projection points.

In one embodiment, the above positioning method further includes: acquiring the geographical position of the unmanned aerial vehicle through a satellite navigation signal; judging whether the spatial position information is matched with the geographic position; when the satellite navigation system is not matched with the unmanned aerial vehicle, prompt information is sent, and the prompt information is used for prompting that the satellite navigation of the unmanned aerial vehicle is abnormal.

In one embodiment, the above positioning method further includes: detecting whether the unmanned aerial vehicle reaches a specified spatial position according to the spatial position information; when the unmanned aerial vehicle reaches the designated space position, controlling the unmanned aerial vehicle to hover and receiving control instructions sent by other equipment; and analyzing the control instruction and executing operation according to an analysis result.

As shown in fig. 5, in one embodiment, a positioning system 500 is provided, the positioning system 500 includes a drone 510 and a wireless communication transmitter 520, the drone 510 includes a wireless communication receiver 512 and a processor 514, and the wireless communication receiver 512 is connected with the processor 514.

A wireless communication receiver 512 for receiving wireless signals transmitted by the plurality of wireless communication transmitters 520, respectively;

a processor 514 for determining the distance of the drone 510 from each wireless communication transmitter 520 based on the wireless signals.

The processor 514 is further configured to obtain a height value of the drone 510 to the ground, and determine spatial location information of the drone 510 based on the distance between the drone 510 and each wireless communication transmitter 520 and the height value.

A wireless communication transmitter 520 for transmitting wireless signals to the wireless communication receiver 512.

As shown in fig. 6, in another embodiment, a positioning system 500 is provided, the positioning system 500 includes a drone 510, a wireless communication transmitter 520 and a ground pressure gauge 520, the drone 510 includes a wireless communication receiver 512, a processor 514 and a body pressure gauge 516, and the wireless communication receiver 512 and the body pressure gauge 516 may be respectively connected to the processor 514. The drone 510 may be connected 530 to a ground barometer via a tether.

Ground barometer connects 530 for detect ground atmospheric pressure data, and send ground atmospheric pressure data to unmanned aerial vehicle through the mooring line.

Organism barometer 516 for detect unmanned aerial vehicle's organism atmospheric pressure data.

And the processor 514 is further configured to acquire the body air pressure data and correct the body air pressure data through a difference.

And the processor 514 is further configured to obtain the ground air pressure data, and determine a height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected body air pressure data.

In one embodiment, the wireless communication transmitter 520 is a UWB transmitter and the wireless communication receiver 512 is an ultra wideband UWB receiver.

The processor 514 is further configured to establish a projection point of the unmanned aerial vehicle on the ground; calculating the distance from the projection point to each UWB transmitter 520 according to the distance between the drone 510 and each UWB transmitter 520 and the height value; determining the location coordinates of the proxels according to the distance from the proxels to each UWB transmitter 520; the spatial location information of the drone 510 is determined based on the location coordinates and the altitude value of the proxels.

In one embodiment, the drone 510 further includes a GPS chip and a communication module, which may be respectively connected to the processor 514, the GPS chip being configured to obtain the geographic location of the drone through GPS.

The processor 514 is further configured to obtain a geographic position transmitted by the GPS chip, and determine whether the spatial position information of the unmanned aerial vehicle 510 matches the geographic position; when not matching, send the prompt message through communication module, this prompt message is used for indicting that unmanned aerial vehicle 510's GPS abnormal conditions appears.

In one embodiment, the processor 514 is further configured to detect whether the drone 510 arrives at the specified spatial location based on the spatial location information; when the designated space position is reached, the unmanned aerial vehicle 510 is controlled to hover, and a control instruction sent by other equipment is received through the communication module; and analyzing the control instruction and executing operation according to an analysis result.

In the positioning system in the above embodiment, the unmanned aerial vehicle can receive the wireless signals sent by the plurality of wireless communication transmitters respectively through the wireless communication receiver, determine the distance between the unmanned aerial vehicle and each wireless communication transmitter according to the wireless signals, detect the height value from the unmanned aerial vehicle to the ground, and determine the spatial position information of the unmanned aerial vehicle based on the distance and the height value between the unmanned aerial vehicle and each wireless communication transmitter, so that the interference of the positioning signals can be effectively reduced, and the unmanned aerial vehicle can be positioned more accurately.

As shown in fig. 7, in one embodiment, a positioning apparatus 700 is provided for use with a drone having a wireless communication receiver disposed thereon. The positioning device 700 may include a receiving module 710, a distance determining module 720, an altitude detecting module 730, and a positioning module 740.

The receiving module 710 is configured to receive the wireless signals sent by the multiple wireless communication transmitters through the wireless communication receiver, respectively.

And a distance determining module 720, configured to determine, according to the wireless signal, a distance between the drone and each wireless communication transmitter.

And the height detection module 730 is used for detecting the height value from the unmanned aerial vehicle to the ground.

And a positioning module 740, configured to determine spatial location information of the drone based on the distance and the height value between the drone and each wireless communication transmitter.

The positioner in above-mentioned embodiment, the wireless signal that a plurality of wireless communication transmitters sent is received respectively to unmanned aerial vehicle accessible wireless communication receiver, confirm the distance of unmanned aerial vehicle and every wireless communication transmitter according to wireless signal, detect the altitude value of unmanned aerial vehicle to ground, and based on the distance and the altitude value of unmanned aerial vehicle and every wireless communication transmitter, confirm unmanned aerial vehicle's spatial position information, can effectively reduce positioning signal's interference, fix a position unmanned aerial vehicle more accurately.

In one embodiment, the drone is further provided with a body barometer, the drone being connected to the ground barometer by a tether. The height detection module 730 includes a first obtaining unit, a second obtaining unit and a height determining unit.

The first acquisition unit is used for acquiring the ground air pressure data detected by the ground air pressure meter.

And the second acquisition unit is used for acquiring the air pressure data of the body detected by the air pressure gauge of the body and correcting the air pressure data of the body through difference.

And the height determining unit is used for determining the height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected air pressure data of the unmanned aerial vehicle body.

The positioner in the above-mentioned embodiment, unmanned aerial vehicle can more accurately detect the height on ground, improves the accuracy to the unmanned aerial vehicle location.

In one embodiment, the wireless communication receiver is an ultra-wideband UWB receiver and the wireless communication transmitter is a UWB transmitter. The positioning module 740 includes an establishing unit, a calculating unit, a coordinate determining unit, and a spatial position determining unit.

And the establishing unit is used for establishing a projection point of the unmanned aerial vehicle on the ground.

And the calculating unit is used for calculating the distance from the projection point to each UWB transmitter according to the distance between the unmanned aerial vehicle and each UWB transmitter and the height value.

And the coordinate determination unit is used for determining the position coordinates of the projection points according to the distances from the projection points to each UWB transmitter.

And the space position determining unit is used for determining the space position information of the unmanned aerial vehicle based on the position coordinates and the height values of the projection points.

The positioner in above-mentioned embodiment can establish the projection point of unmanned aerial vehicle on ground, determines the position coordinate of projection point according to the position of each UWB transmitter and unmanned aerial vehicle to UWB's distance earlier, obtains unmanned aerial vehicle's spatial position information again, can improve the accuracy of unmanned aerial vehicle location.

In one embodiment, the positioning device 700 includes a navigation module and a position matching module in addition to the receiving module 710, the distance determining module 720, the height detecting module 730 and the positioning module 740.

And the navigation module is used for acquiring the geographic position of the unmanned aerial vehicle through the satellite navigation signal.

And the position matching module is used for judging whether the spatial position information is matched with the geographic position or not, and sending prompt information when the spatial position information is not matched with the geographic position, wherein the prompt information is used for prompting the abnormal situation of the satellite navigation of the unmanned aerial vehicle.

The positioner in the above-mentioned embodiment, whether usable UWB location detects unmanned aerial vehicle's GPS location is accurate, has both improved the accuracy of unmanned aerial vehicle location, has also improved the security in the time of unmanned aerial vehicle operation.

In one embodiment, the positioning apparatus 700 includes a hovering module and an executing module in addition to the receiving module 710, the distance determining module 720, the height detecting module 730, the positioning module 740, the GPS module and the position matching module.

And the positioning module 740 is further configured to detect whether the drone reaches the designated spatial location according to the spatial location information.

And the hovering module is used for controlling the unmanned aerial vehicle to hover when the designated space position is reached and receiving a control instruction sent by other equipment.

And the execution module is used for analyzing the control instruction and executing operation according to the analysis result.

The positioner in above-mentioned embodiment, usable UWB technique is fixed a position unmanned aerial vehicle, can improve unmanned aerial vehicle executive task's accuracy and efficiency.

Fig. 8 is a block diagram of the structure of the drone in one embodiment. As shown in fig. 8, in an embodiment, the drone 800 may be a server, or a computer, or a terminal. The drone 800 may include one or more of the following components: a processor 810 and a memory 820, the memory 820 may store one or more applications, the one or more applications may be configured to be executed by the one or more processors 810, the one or more programs configured to perform the methods as described above.

Processor 810 may include one or more processing cores. The processor 810 interfaces with various interfaces and circuitry throughout the various parts within the drone 800, performing various functions of the drone 800 and processing data by executing or executing instructions, programs, sets of codes, or sets of instructions stored in the memory 820, as well as invoking data stored in the memory 820. Alternatively, the processor 810 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 810 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 810, but may be implemented by a communication chip.

The Memory 820 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 820 may be used to store instructions, programs, code sets, or instruction sets. The memory 820 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the drone 800 in use, and the like.

It is understood that the drone 800 may include more or less structural elements than those shown in the above structural block diagrams, for example, a camera, a UWB receiver, a body barometer, etc., which are not limited herein.

In an embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when being executed by a processor, carries out the method as described in the above embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.

Any reference to memory, storage, database, or other medium as used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A positioning method is applied to an unmanned aerial vehicle, a wireless communication receiver is arranged on the unmanned aerial vehicle, and the method comprises the following steps:

detecting a height value of the unmanned aerial vehicle to the ground;

2. The method of claim 1, wherein the drone is further provided with a body barometer, the drone being connected to a ground barometer by a tether;

the detecting the height value of the unmanned aerial vehicle to the ground comprises:

acquiring ground air pressure data detected by the ground air pressure meter;

acquiring body air pressure data detected by the body barometer, and correcting the body air pressure data through difference;

and determining the height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected air pressure data of the unmanned aerial vehicle body.

3. The method of claim 1, wherein the wireless communication receiver is an ultra-wideband UWB receiver and the wireless communication transmitter is a UWB transmitter;

determining spatial location information of the drone based on the distance of the drone from each of the wireless communication transmitters, and the altitude value, including:

establishing a projection point of the unmanned aerial vehicle on the ground;

calculating the distance from the projection point to each UWB transmitter according to the distance between the unmanned aerial vehicle and each UWB transmitter and the height value;

determining the position coordinates of the projection points according to the distance from the projection points to each UWB transmitter;

and determining the space position information of the unmanned aerial vehicle based on the position coordinates of the projection points and the height values.

4. The method of claim 1, further comprising:

acquiring the geographical position of the unmanned aerial vehicle through a satellite navigation signal;

judging whether the spatial position information is matched with the geographic position;

and when the satellite navigation system is not matched with the unmanned aerial vehicle, sending prompt information, wherein the prompt information is used for prompting that the satellite navigation of the unmanned aerial vehicle is abnormal.

5. The method of claim 1, further comprising:

detecting whether the unmanned aerial vehicle reaches a specified spatial position according to the spatial position information;

when the designated space position is reached, controlling the unmanned aerial vehicle to hover and receiving control instructions sent by other equipment;

and analyzing the control instruction and executing operation according to an analysis result.

6. A positioning system is characterized by comprising an unmanned aerial vehicle and a plurality of wireless communication transmitters, wherein the unmanned aerial vehicle is provided with a wireless communication receiver;

the unmanned aerial vehicle comprises:

7. The system of claim 6, further comprising a ground barometer, the drone being connected to the ground barometer by a tether;

the ground barometer is used for detecting ground air pressure data and sending the ground air pressure data to the unmanned aerial vehicle through the mooring cable;

the unmanned aerial vehicle also comprises a body barometer for detecting body air pressure data of the unmanned aerial vehicle;

the processor is further used for acquiring the air pressure data of the machine body and correcting the air pressure data of the machine body through difference;

the processor is further used for acquiring the ground air pressure data and determining the height value from the unmanned aerial vehicle to the ground according to the ground air pressure data and the corrected air pressure data of the unmanned aerial vehicle body.

8. The utility model provides a positioner, its characterized in that is applied to unmanned aerial vehicle, be provided with the wireless communication receiver on the unmanned aerial vehicle, the device includes:

9. A drone comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, causes the processor to implement the method of any one of claims 1 to 5.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.