CN110764125A - Method and system for improving landing positioning accuracy of unmanned aerial vehicle based on power inspection - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicle positioning, and discloses a method and a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on electric power inspection. The phase measurement value; then combined with the inter-station and inter-satellite double-difference observation equation, ignoring the integer constraint of the integer ambiguity, the baseline vector R _n and the ambiguity floating-point solution are obtained by the least square method

and the floating-point solution obtained by

The whole-cycle ambiguity is fixed by the step-by-step ambiguity determination method; the optimal solution of the baseline vector is obtained from the optimal solution of the whole-cycle ambiguity, and the precise position of the mobile base station is obtained under the condition of the known position of the base station. The invention proposes an improved method for the high-precision positioning of the UAV Beidou navigation system using RTK technology, which can meet the engineering requirements of the UAV patrol inspection, and can provide a reference for optimizing the performance of the Beidou navigation and positioning system.

Description

A method and system for improving UAV landing positioning accuracy based on power inspection

technical field

The invention belongs to the technical field of unmanned aerial vehicle positioning, and in particular relates to a method and a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on electric power inspection.

Background technique

At present, the existing technologies commonly used in the industry are as follows:

On December 27, 2012, Beidou Navigation officially provided positioning, navigation and other services to the Asia-Pacific region. On November 5, 2017, China's Beidou-3 was launched, marking China's start to build a global navigation and positioning system. China will build a global Beidou satellite navigation system to provide open, free, high-quality services for global users. With the gradual development and improvement of Beidou navigation, it is widely used in many fields. As an efficient means of inspection of high-voltage transmission lines in power systems, drones play a very important role in the maintenance of high-voltage transmission lines. In the process of drone inspection and aerial photography, high-voltage tower landing and charging, etc., the Beidou navigation system carried by itself is required to achieve high precision and positioning. Especially when the UAV adopts the wireless charging method on the high-voltage transmission line tower platform, the positioning accuracy of the navigation will also have an impact on the wireless charging efficiency of the UAV.

With the wide application of UAVs in the inspection of high-voltage transmission lines in power systems, the requirements for the positioning accuracy of UAVs are also higher.

Due to the accuracy limitations of the Beidou navigation system in the civilian field, the traditional single-point positioning accuracy is at the meter level or more than 10 meters, and the pseudo-range differential positioning accuracy is at the decimeter level, which obviously cannot reach the accuracy of UAV inspection of high-voltage transmission lines. Require. In order to meet the high-precision positioning and landing requirements of UAVs during the inspection process, RTK technology that can achieve centimeter-level positioning accuracy must be used. However, in practical applications, considering the influence of the charging contact area on the charging efficiency when charging the drone wirelessly, it is necessary to improve the RTK technology to optimize the positioning accuracy.

To sum up, the problems existing in the prior art are:

The existing positioning accuracy cannot meet the accuracy requirements when the drone is charging, and inaccurate positioning will also affect the wireless charging efficiency of the drone.

The positioning accuracy of the existing civil Beidou navigation and positioning system is above the meter level or ten meters. When the drone is wirelessly charged, the contact area with the induction coil will affect the wireless charging efficiency.

The difficulty of solving the above technical problems:

The existing civilian Beidou navigation and positioning accuracy is at the meter level or even ten meters level, but to achieve efficient wireless charging of drones, the landing positioning accuracy must be controlled at the centimeter or even millimeter level. Under the existing civil Beidou navigation and positioning accuracy, it is obviously impossible to achieve.

The significance of solving the above technical problems:

Adding RTK technology can improve the landing positioning accuracy of UAVs to centimeters or even millimeters, improve the efficiency of wireless charging, and then improve the efficiency of UAV power inspections, saving manpower, time, funds and other costs of the inspection system.

SUMMARY OF THE INVENTION

Aiming at the problems existing in the prior art, the present invention provides a method and system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection.

The present invention is implemented in this way, a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection, and the method for improving the landing positioning accuracy of an unmanned aerial vehicle based on the power inspection includes:

并由得到的浮点解

使用逐级模糊度确定法固定整周模糊度；由整周模糊度的最优解，得到基线向量的最优解，在基准站已知位置的条件下，得到移动基站的精确位置。The carrier cycle slip is detected and repaired using the geometric distance-free combination method, and the continuously available carrier phase measurement value is obtained; then combined with the inter-station double-difference observation equation, ignoring the integer constraint of the whole cycle ambiguity, the least squares method is used to obtain Baseline vector R _n and ambiguity floating point solution

and the floating-point solution obtained by

The whole-cycle ambiguity is fixed by the step-by-step ambiguity determination method; the optimal solution of the baseline vector is obtained from the optimal solution of the whole-cycle ambiguity, and the precise position of the mobile base station is obtained under the condition of the known position of the base station.

Further, the method for improving the landing positioning accuracy of the UAV based on power inspection includes the following steps:

In step 1, the mobile station u and the reference station z perform single-difference processing on satellites i and j respectively to obtain a single-difference carrier phase measurement value, and construct a double-difference carrier phase measurement value from the single-difference measurement value.

In step 2, the carrier cycle slip is detected and repaired by using the geometric distance-free combination method, and a continuously available measured value of the carrier phase is obtained.

In the actual positioning process, there is a situation in which the whole cycle count is skipped or interrupted due to the loss of lock of the satellite signal. Therefore, the correct detection and recovery of the carrier cycle slip is one of the very important and must be solved problems in the carrier phase measurement. . The geometric distance-free method has the advantage of being simple and efficient, so this method is used to detect repair cycle slips.

Step 3: Use the least squares method to obtain the baseline vector R _n and the ambiguity floating point solution It is to use the least squares method on the continuously available carrier phase value obtained in step 2 to obtain the baseline vector and the ambiguity floating point solution.

使用逐级模糊度确定法固定整周模糊度。Step 4, based on the obtained floating point solution

The integer ambiguity is fixed using the step-by-step ambiguity determination method.

Step 5: Calculate and obtain the optimal integer solution of the integer ambiguity, and obtain the optimal solution of the baseline vector based on the obtained optimal integer solution; confirm the ambiguity of the whole cycle, and judge whether the ambiguity is fixed at the same time; Step 6; if it is not fixed, go to Step 3; the integer ambiguity is obtained by adjusting the continuously available carrier phase values, and the integer ambiguity is often not an integer but a real number. Excellent integer solution.

Step 6, using the known unknowns of the base station to determine the precise position of the mobile base station.

Further, in step 1, the method for calculating the single-difference carrier phase measurement value specifically includes:

The mobile station u and the base station z perform single-difference processing on satellites i and j respectively, the formula is as follows:

和

分别为移动站u和基准站z分别对卫星i和j作单差处理后得到的单差载波相位测量值；

where:

and

are the single-difference carrier phase measurement values obtained after the mobile station u and the base station z perform single-difference processing on satellites i and j respectively;

Further, in step 1, the method for constructing the double-difference carrier phase measurement value includes:

The double-difference carrier phase measurement value is constructed from the single-difference measurement value. The double-difference measurement formula is as follows:

为双差观测量，

where:

is the double-difference observation,

Further, the method for confirming the integer ambiguity specifically includes:

Using the step-by-step ambiguity determination method, the integer ambiguity is solved step by step from the widest lane to the narrowest lane according to the combined measurement values of different wavelengths.

Another object of the present invention is to provide an information data processing terminal that implements the method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection.

Another object of the present invention is to provide a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection.

Another object of the present invention is to provide a system for improving the landing positioning accuracy of the UAV based on the power inspection, which realizes the method for improving the landing positioning accuracy of the UAV based on the power inspection. The landing positioning accuracy system includes:

The double-difference carrier phase measurement value building module is used for the mobile station and the base station to perform single-difference processing on the satellite to obtain the single-difference carrier phase measurement value, and construct the double-difference carrier phase measurement value from the single-difference measurement value.

The continuously available carrier phase measurement value acquisition module is used to detect and repair the carrier cycle slip by using the geometric distance-free combination method to obtain the continuously available carrier phase measurement value.

The baseline vector and ambiguity floating-point solution acquisition module is used to obtain the baseline vector and ambiguity floating-point solution by using the least squares method.

使用逐级模糊度确定法固定整周模糊度。Integer ambiguity acquisition module for floating point solutions based on obtained

The integer ambiguity is fixed using the step-by-step ambiguity determination method.

The whole-cycle ambiguity confirmation module is used to calculate and obtain the optimal integer solution of the whole-cycle ambiguity, and obtain the optimal solution of the baseline vector based on the obtained optimal integer solution; confirm the whole-cycle ambiguity, and judge whether the ambiguity is not fixed.

The precise position determination module of the mobile base station uses the known unknowns of the reference station to determine the precise position of the mobile base station.

Another object of the present invention is to provide a wireless charging device for drones that implements the method for improving the landing positioning accuracy of drones based on power inspection.

Another object of the present invention is to provide an inspection drone that implements the method for improving the landing positioning accuracy of the drone based on power inspection.

To sum up, the advantages and positive effects of the present invention are:

The invention proposes an improved method for the high-precision positioning of the UAV Beidou navigation system using RTK technology, which can meet the engineering requirements of the UAV patrol inspection, and can provide a reference for optimizing the performance of the Beidou navigation and positioning system. Through a large number of UAV flight positioning experiments, the positioning accuracy of the improved RTK algorithm is compared with other traditional positioning algorithms. The experimental results show that the improved RTK algorithm of the present invention optimizes the positioning accuracy of the Beidou navigation system. It can realize fast and accurate positioning of the UAV.

构造双差载波相位测量值，能够有效消除接收机时钟误差。The present invention measures the value by a single difference

Constructing double-difference carrier phase measurements can effectively eliminate receiver clock errors.

The invention uses the step-by-step ambiguity determination method to solve the whole cycle ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement values of different wavelengths, which has nothing to do with the motion state of the user receiver, and is not easily affected by ionospheric delay and tropospheric delay. Due to the influence of delay, the algorithm complexity is greatly simplified compared with the geometric correlation algorithm, and the solution efficiency is significantly improved. It can even improve the RTK positioning accuracy from centimeter-level to millimeter-level, optimizing the positioning and landing performance of the UAV.

Compared with the prior art, the advantages of the present invention further include:

See Table 2 of the present invention for comparison with single-point positioning and pseudo-range differential positioning accuracy

Table 2 Comparison of positioning accuracy test data

It can be seen from Table 2 that in the single-point positioning mode, the horizontal positioning error is about 4.5m, and the vertical positioning error is about 5.3m; in the pseudorange differential positioning mode, the horizontal positioning error is about 0.6m, and the vertical positioning error is about 1.8m; In RTK mode, the positioning error in the horizontal direction is 0.0087m, and the positioning error in the vertical direction is 0.0189m. Compared with the traditional two positioning methods, the carrier phase differential mode has a great improvement in positioning accuracy, reaching the centimeter level or even the millimeter level.

Description of drawings

FIG. 1 is a flowchart of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by an embodiment of the present invention.

FIG. 2 is a schematic diagram of a method for improving the landing positioning accuracy of an unmanned aerial vehicle based on electric power inspection provided by an embodiment of the present invention.

FIG. 3 is a schematic diagram of a differential technology provided by an embodiment of the present invention.

FIG. 4 is a schematic diagram of a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by an embodiment of the present invention.

In the figure: 1. Double-difference carrier phase measurement value building module; 2. Continuously available carrier phase measurement value acquisition module; 3. Baseline vector and ambiguity floating point solution acquisition module; 4. Integer cycle ambiguity acquisition module; 5. The whole cycle ambiguity confirmation module; 6. The accurate position determination module of the mobile base station.

FIG. 5 is a result diagram of a positioning error experiment of RTK technology in a horizontal direction provided by an embodiment of the present invention.

FIG. 6 is a graph showing the experimental result of the positioning error of the RTK technology in the vertical direction provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The technical solutions and technical effects of the present invention will be described in detail below with reference to the accompanying drawings.

The method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by the embodiment of the present invention includes:

并由得到的浮点解

使用逐级模糊度确定法固定整周模糊度；由整周模糊度的最优解，得到基线向量的最优解，在基准站已知位置的条件下，得到移动基站的精确位置。The carrier cycle slip is detected and repaired using the geometric distance-free combination method, and the continuously available carrier phase measurement value is obtained; then combined with the inter-station double-difference observation equation, ignoring the integer constraint of the whole cycle ambiguity, the least squares method is used to obtain Baseline vector R _n and ambiguity floating point solution

and the floating-point solution obtained by

The whole-cycle ambiguity is fixed by the step-by-step ambiguity determination method; the optimal solution of the baseline vector is obtained from the optimal solution of the whole-cycle ambiguity, and the precise position of the mobile base station is obtained under the condition of the known position of the base station.

As shown in FIG. 1-FIG. 2, the method for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection provided by an embodiment of the present invention includes the following steps:

S101, the mobile station u and the reference station z perform single-difference processing on satellites i and j respectively to obtain a single-difference carrier phase measurement value, and construct a double-difference carrier phase measurement value from the single-difference measurement value.

S102, the carrier cycle slip is detected and repaired by using the geometric distance-free combination method, and a continuously available measured value of the carrier phase is obtained.

S103, use the least squares method to obtain the baseline vector R _n and the ambiguity floating point solution

S104, based on the obtained floating point solution The integer ambiguity is fixed using the step-by-step ambiguity determination method.

S105, calculate and obtain the optimal integer solution of the ambiguity of the whole cycle, and obtain the optimal solution of the baseline vector based on the obtained optimal integer solution; and confirm the ambiguity of the whole cycle, and judge whether the ambiguity is fixed at the same time; if it is fixed in the turning step S106; if not fixed, go to step S103.

S106, the precise location of the mobile base station is determined by using the known unknowns of the base station.

In step S101, the method for calculating a single-difference carrier phase measurement value provided by the embodiment of the present invention specifically includes:

The mobile station u and the base station z perform single-difference processing on satellites i and j respectively, the formula is as follows:

和

分别为移动站u和基准站z分别对卫星i和j作单差处理后得到的单差载波相位测量值；

where:

and

are the single-difference carrier phase measurement values obtained after the mobile station u and the base station z perform single-difference processing on satellites i and j respectively;

In step S101, the method for constructing a double-difference carrier phase measurement value provided by the embodiment of the present invention includes:

The double-difference carrier phase measurement value is constructed from the single-difference measurement value. The double-difference measurement formula is as follows:

为双差观测量，

where:

is the double-difference observation,

The method for confirming the integer ambiguity provided by the embodiment of the present invention specifically includes:

Using the step-by-step ambiguity determination method, the integer ambiguity is solved step by step from the widest lane to the narrowest lane according to the combined measurement values of different wavelengths.

The present invention will be further described below in conjunction with specific embodiments.

Example 1:

1. Inspection drone wireless charging platform

During the inspection of the power system transmission line by the UAV, due to the limitation of the cruising range of the UAV, the UAV needs to be charged after a certain distance of inspection by the UAV. The present invention will use a charging platform placed on a high-voltage transmission tower to wirelessly charge the drones landing on the platform.

1.1 UAV wireless charging device

The drone wireless charging platform is placed on the high-voltage transmission tower, and the high-voltage tower and the charging platform are connected through the transmission line to charge the drone. The device end of the charging platform mainly includes Beidou positioning module, gravity induction module, transmitting coil, central controller and battery, etc. The UAV end mainly includes receiving coil, battery pack and Beidou positioning module. The Beidou positioning module realizes precise positioning of the UAV landing platform, and the built-in transmitting coil of the platform and the receiving coil mounted on the UAV transmit energy.

1.2 Influence of positioning accuracy on charging efficiency

During the wireless charging process of the drone, the larger the contact area between the receiving coil mounted on the drone end and the transmitting coil of the platform, the higher the wireless charging efficiency will be. Therefore, the positioning accuracy of the drone when it lands will directly affect the Wireless charging efficiency. The key is to improve the accuracy of the Beidou positioning system.

2 Beidou system positioning error

2.1 Propagation path error

The propagation path errors mainly include tropospheric delay errors, ionospheric delay errors and multipath effects. For the tropospheric delay error, the tropospheric model should be introduced to compensate and reduce the error; for the ionospheric error, the differential technology should be used to weaken the ionospheric delay error. The multipath effect is regarded as an important factor causing the positioning error. Due to the complexity of the surrounding environment of the observation station and the reflection coefficient of the reflector, it is difficult to establish a model to reduce the multipath effect error. The influence of multipath effect is particularly significant in static fast positioning and real-time dynamic positioning.

2.2 Spatial error and user part error

Spatial errors are mainly divided into satellite clock errors and satellite ephemeris errors. For the user part, the positioning bias is mainly due to receiver noise and unmodeled long baselines. In the process of high-precision relative positioning, a long baseline requires the establishment of a more complete observation model, otherwise the generated errors are easily absorbed by the position parameters, further expanding the positioning deviation, and the longer the baseline, the greater the deviation.

Table 1 Effects of various error sources on measured values

3 RTK technology principle

3.1 Differential working principle

Due to the existence of various errors in satellite navigation and positioning signals, the single-point positioning accuracy obviously cannot meet the high-precision positioning requirements of UAV inspection operations. Therefore, the differential technology is usually used to improve the positioning accuracy, and the technical principle is shown in Figure 3.

The base station and the mobile station observe the satellite positioning signal at the same time. Under the condition of a certain baseline distance, the two stations observe the same satellite, and the errors contained in the received signal are basically the same. At this time, the differential calculation can effectively cancel the common error part between the base station and the mobile station, including ionospheric delay, tropospheric delay, star clock error and ephemeris error, and the positioning accuracy of the receiver can be improved.

3.2 Carrier phase differential (RTK) technology

Differential techniques can be divided into three types: position difference, pseudorange difference and carrier phase difference.

Pseudo-range difference is the most widely used difference technology at present. The positioning accuracy of pseudo-range difference method can reach the decimeter level, but as the distance between the base station and the mobile station increases, the positioning accuracy will decrease. Obviously, the pseudo-range difference cannot meet the requirements of high-precision positioning for UAV inspection.

RTK technology is to send the measured value of the carrier phase received by the base station to the receiver of the mobile station, perform differential operation with the measured value of the carrier phase of the mobile station receiver itself, and finally obtain the baseline vector and the initial integer ambiguity by solving the high Precision positioning. The carrier phase observation equation is as follows:

ф=λ ^-1 [r+c(δt _u -δt ^s )-I+T]+N+ε _ф (1)

Where: ф is the measured value of the carrier phase, λ is the carrier wavelength, r is the geometric distance between the receiver and the satellite, c is the vacuum speed of light, δt _u is the receiver clock error, δt ^s is the satellite clock error, and I is the ionospheric delay , T is the tropospheric delay, N is the integer ambiguity, ε _ф is the carrier phase measurement noise, which mainly includes receiver noise and multipath effect error.

4 carrier phase difference process

4.1 Carrier Phase Difference Model

The RTK processing process includes four processing steps: carrier cycle slip detection and repair, floating point solution of integer ambiguity, determination of integer ambiguity, and verification of integer ambiguity correctness. For the mobile receiving station, the key is to solve the ambiguity of the whole circle accurately and quickly to complete the precise positioning. In order to eliminate the influence of tropospheric delay and ionospheric delay, under the condition of short baseline, mobile station u and base station z can make single difference processing on satellites i and j respectively, the equation is as follows:

和分别为移动站u和基准站z分别对卫星i和j作单差处理后得到的单差载波相位测量值。

where:

and are the single-difference carrier phase measurement values obtained by the mobile station u and the reference station z after performing single-difference processing on satellites i and j respectively.

构造双差载波相位测量值，能够有效消除接收机时钟误差。双差观测量方程式如下：Measured by single difference

Constructing double-difference carrier phase measurements can effectively eliminate receiver clock errors. The double-difference observation equation is as follows:

为双差观测量，

where:

is the double-difference observation,

First, the carrier cycle slip is detected and repaired by using the geometric distance-free combination method to ensure that the measured value of the carrier phase is continuously available. Then combined with the inter-station and inter-satellite double-difference observation equation, ignoring the integer constraint of the ambiguity of the whole week, the baseline vector R_n and the ambiguity floating-point solution N^ are obtained by the least square method. From the obtained floating-point solution N^, the ambiguity of the whole circle is fixed by using the step-by-step ambiguity determination method. From the optimal solution of the integer ambiguity, the optimal solution of the baseline vector can be obtained. Under the condition that the position of the base station is known, the precise position of the mobile base station can be obtained.

4.2 Improved method to optimize real-time positioning accuracy

The step-by-step ambiguity determination method based on the measurement value of the wide lane is easier to solve than the narrow lane. The integral ambiguity can be solved step by step from the widest lane to the narrowest lane according to the combined measurement values of different wavelengths. Because this method is a geometry-independent algorithm, it is very suitable for RTK technology. The algorithm has nothing to do with the motion state of the user receiver, and is not easily affected by the ionospheric delay and tropospheric delay. Compared with the geometric correlation algorithm, the algorithm complexity is greatly simplified, the solution efficiency is significantly improved, and the RTK positioning accuracy can even be improved from centimeter-level to Millimeter level, optimizing the positioning and landing performance of the UAV.

5. The present invention will be further described below in conjunction with the experimental analysis of the unmanned aerial vehicle.

5.1 Experimental Platform

In order to verify the optimized RTK positioning accuracy of Beidou system, a UAV experimental platform was built. Carry out the UAV flight test and analyze the positioning accuracy in three modes: single point, pseudorange difference and RTK. During the flight test, an open and barrier-free experimental site should be selected. In the case that the base station receiver antenna is fixed at a known precise coordinate point, the mobile station receiver antenna is installed on the UAV.

The UAV equipped with the mobile station receiver flies according to the planned trajectory, with an average speed of about 50km/h. It uses three modes of single-point positioning, pseudo-range differential positioning, and RTK positioning to locate the UAV, and record about half of it. hours of location data.

5.2 Analysis of experimental results

The horizontal and vertical positioning accuracy (2σ) errors in the three modes are shown in the following table:

Table 2 Comparison of positioning accuracy test data

group Single Point pseudorange difference RTK Level (m) 4.487 0.593 0.0087 Vertical (m) 5.256 1.8310 0.0189

It can be seen from Table 2 that in the single-point positioning mode, the horizontal positioning error is about 4.5m, and the vertical positioning error is about 5.3m; in the pseudo-range differential positioning mode, the horizontal positioning error is about 0.6m, and the vertical positioning error is about 1.8m; In RTK mode, the positioning error in the horizontal direction is 0.0087m, and the positioning error in the vertical direction is 0.0189m. Compared with the traditional two positioning methods, the carrier phase differential mode has a great improvement in positioning accuracy, reaching the centimeter level or even the millimeter level.

The present invention will be further described below in conjunction with a system for improving the landing positioning accuracy of an unmanned aerial vehicle based on power inspection.

As shown in FIG. 4 , the system of the present invention to improve the landing positioning accuracy of the UAV based on the power inspection includes:

The double-difference carrier phase measurement value building module 1 is used for performing single-difference processing on the satellite to obtain the single-difference carrier phase measurement value by the mobile station and the reference station respectively, and constructs the double-difference carrier phase measurement value from the single-difference measurement value;

The continuously available carrier phase measurement value acquisition module 2 is used to detect and repair the carrier cycle slip by using the geometric distance-free combination method to obtain the continuously available carrier phase measurement value.

The baseline vector and ambiguity floating-point solution obtaining module 3 is used for obtaining the baseline vector and the ambiguity floating-point solution by using the least square method.

使用逐级模糊度确定法固定整周模糊度。Integer ambiguity acquisition module 4 for floating point solutions based on obtained

The integer ambiguity is fixed using the step-by-step ambiguity determination method.

The whole cycle ambiguity confirmation module 5 is used to calculate and obtain the optimal integer solution of the whole cycle ambiguity, and obtain the optimal solution of the baseline vector based on the obtained optimal integer solution; confirm the whole cycle ambiguity, and judge the ambiguity at the same time Is it fixed.

The precise position determination module 6 of the mobile base station determines the precise position of the mobile base station by using the known unknowns of the reference station.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. The utility model provides a method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection, which is characterized in that, the method for improving unmanned aerial vehicle landing positioning accuracy based on electric power inspection includes:

detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;

then combining the interstation intersatellite double-difference observation equation, neglecting integral constraint of whole-cycle ambiguity, and obtaining a baseline vector R by using a least square method_nSum ambiguity float solution

And from the resulting floating point solution

Fixing the integer ambiguity by using a step-by-step ambiguity determination method;

and calculating an optimal solution according to the obtained integer ambiguity, acquiring the optimal solution of the baseline vector according to the obtained integer ambiguity optimal solution, and acquiring the accurate position of the mobile base station under the condition that the position of the reference station is known.

2. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 1, wherein the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection comprises the following steps:

step one, performing single difference processing on satellites i and j respectively by a mobile station u and a reference station z to obtain a single difference carrier phase measured value, and constructing a double difference carrier phase measured value by the single difference measured value;

step two, detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuously available carrier phase measurement value;

step three, solving a baseline vector R by using a least square method_nSum ambiguity float solution

Step four, based on the obtained floating point solution

Fixing the integer ambiguity by using a step-by-step ambiguity determination method;

calculating to obtain an integer solution with the optimal integer ambiguity of the whole cycle, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not; if the steering is fixed in the sixth steering step; if not, turning to the third step;

and step six, determining the accurate position of the mobile base station by using the known unknown of the reference station.

3. The method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the calculation method of the single-difference carrier phase measurement specifically comprises the following steps:

the mobile station u and the reference station z respectively perform single difference processing on the satellites i and j, and the formula is as follows:

in the formula:

and

respectively performing single difference processing on the satellites i and j for the mobile station u and the reference station z to obtain single difference carrier phase measurement values;

δt_uz＝δt_u-δt_z；

4. the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to claim 2, wherein in the first step, the double-difference carrier phase measurement value construction method comprises the following steps:

and constructing a double-difference carrier phase measurement value by using the single-difference measurement value, wherein the double-difference observation value formula is as follows:

in the formula:

in order to obtain a two-difference observed quantity,

5. the method for improving unmanned aerial vehicle landing positioning accuracy based on power inspection according to claim 2, wherein the integer ambiguity confirming method specifically comprises:

and solving the ambiguity step by step from the widest lane to the narrowest lane according to the combined measurement value of different wavelengths by using a step-by-step ambiguity determination method.

6. An information data processing terminal for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.

7. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method for improving the accuracy of drone landing location based on power routing inspection according to any one of claims 1 to 5.

8. The system for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection, which is used for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5, is characterized by comprising the following steps:

the double-difference carrier phase measurement value construction module is used for respectively carrying out single-difference processing on the satellite by the mobile station and the reference station to obtain a single-difference carrier phase measurement value and constructing the double-difference carrier phase measurement value by the single-difference measurement value;

the continuous available carrier phase measurement value acquisition module is used for detecting and repairing carrier cycle slip by using a non-geometric distance combination method to obtain a continuous available carrier phase measurement value;

the base line vector and ambiguity floating solution acquisition module is used for solving a base line vector and ambiguity floating solution by using a least square method;

integer ambiguity acquisition module for obtaining floating point solution based on the obtained integer ambiguity

Fixing the integer ambiguity by using a step-by-step ambiguity determination method;

the integer ambiguity confirming module is used for calculating to obtain an integer solution with the optimal integer ambiguity, and obtaining an optimal solution of the baseline vector based on the obtained optimal integer solution; confirming the ambiguity of the whole cycle, and judging whether the ambiguity is fixed or not;

and the mobile base station accurate position determining module determines the accurate position of the mobile base station by using the known unknown of the reference station.

9. An unmanned aerial vehicle wireless charging device for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power patrol inspection according to any one of claims 1 to 5.

10. An inspection unmanned aerial vehicle for realizing the method for improving the landing positioning accuracy of the unmanned aerial vehicle based on the power inspection according to any one of claims 1-5.

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