CN111295567A

CN111295567A - Course determining method, device, storage medium and movable platform

Info

Publication number: CN111295567A
Application number: CN201880065652.XA
Authority: CN
Inventors: 龚云; 潘国秀
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2020-06-16
Also published as: WO2020113391A1

Abstract

A course determining method, device, storage medium and movable platform. The course determining method comprises the following steps: acquiring the current measurement length and the current measurement heading of the base line of the double RTK antenna assembly (S302); determining whether the current measurement course is an authentic course or not according to the current measurement length of the base line of the double RTK antenna assemblies (S304); if not, repeating the steps; if yes, outputting the current measured heading (S306). According to the method, the accuracy of judging the reliability of the measured course is further improved, and the accuracy and the reliability of the movable platform for executing flight operation according to the measured course are further improved.

Description

Course determining method, device, storage medium and movable platform

Technical Field

The embodiment of the invention relates to the technical field of control, in particular to a course determining method, a course determining device, a computer readable storage medium and a movable platform.

Background

Since the last century, extensive research has been carried out at home and abroad in the fields of satellite positioning, orientation and attitude measurement, and the like, and compared with other orientation and attitude measurement systems, the system has the advantages of low cost, small volume, high precision, stability and the like.

The base station transmits the observed quantity of the carrier information and the coordinate information of the station to the user station together in real time through a data link in the same principle as the pseudo-range difference. The user station receives the carrier information phase of the GPS satellite and the carrier information phase from the reference station, and forms a phase difference observation value (static, rapid static, dynamic and the like) for real-time processing, so that a centimeter-level positioning result can be given in real time.

In the related technology, a measurement course output by a positioning board card (hereinafter abbreviated as an RTK board card) developed based on an RTK technology is fed back to a flight controller of a movable platform, and the flight controller adjusts a flight trajectory in real time according to the measurement course, so that the accuracy of the measurement course determines the accuracy of the flight trajectory of the movable platform.

Disclosure of Invention

The embodiment of the invention aims to provide a course determining method, a course determining device, a movable platform and a computer readable storage medium, so as to determine whether a measured course is a credible course or not while outputting the measured course, thereby improving the accuracy of the measured course and a flight track.

In order to achieve the above object, according to the technical solution of the first aspect of the present invention, a method for determining a heading is provided, including: acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies; determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies; and if so, outputting the current measurement course.

The technical solution of the second aspect of the present invention provides a device for determining a heading, where the device for determining a heading includes a processor, and the processor is configured to: acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies; determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies; and if so, outputting the current measurement course.

An aspect of the third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is configured to, when executed, implement the steps of the heading determination method according to the first aspect of the embodiments of the present invention.

In a fourth aspect of the present invention, there is provided a movable platform, including: a motive device configured to effect movement of the movable platform; the heading determination device defined according to the second aspect of the present invention is configured to determine the reliability of the measured heading.

Based on the course determining method, the course determining device, the movable platform and the computer readable storage medium provided by the embodiment of the invention, the reliability of the current measured course is determined through the current measurement length of the baseline, especially, when the current measured course is not reliable, the measurement of the current course can be timely triggered again until the output measured course is the reliable course, in addition, when the current measured course is reliable, the current measured course is timely provided to the flight controller for the flight controller to adjust and monitor the flight track in real time, so that the accuracy and reliability of the movable platform during the execution of flight operation are improved, and the possibility of losing the movable platform is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 illustrates a schematic diagram of a movable platform system of one embodiment of the present invention;

FIG. 2 shows a schematic diagram of a dual RTK antenna assembly of a movable platform of one embodiment of the present invention;

FIG. 3 shows a schematic diagram of a heading determination scheme of one embodiment of the invention;

FIG. 4 is a schematic diagram illustrating a method of determining heading according to another embodiment of the invention;

FIG. 5 shows a schematic diagram of a computer-readable storage medium of another embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Heading determination methods include using RTK for determination, e.g., orientation via dual antennas of a movable platform, a single antenna of a movable platform, and a base station. The movable platform may be an aircraft, a handheld mapping device, an automobile, a boat, or the like. The method can be used for scenes such as delivery detection of the movable platform, track correction of the movable platform, operation of the movable platform and the like.

In some embodiments, a current measurement length and a current measurement heading of a baseline of a dual RTK antenna assembly are acquired; and determining whether the current measurement course is an authentic course or not according to the current measurement length of the base line of the double RTK antenna assemblies, and finally outputting the authentic current measurement course.

In some embodiments, a current measurement length and a current measurement heading of a baseline of a dual RTK antenna assembly are acquired; and determining whether the current measured course is an authentic course or not according to the current measured length of the base line of the double RTK antenna assemblies, and sending prompt information such as alarm information when the current measured course is not authentic.

In some embodiments, a current measurement length and a current measurement heading of a baseline of a dual RTK antenna assembly are acquired; and finally outputting the current measurement course and the attitude of the movable platform according to the current measurement length of the base line of the double RTK antenna assemblies.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As shown in fig. 1, the movable platform system 10 may include a control terminal 110 and a movable platform 120. Wherein the movable platform 120 may be a single-rotor or multi-rotor movable platform, in some cases, the movable platform 120 may be a fixed-wing movable platform.

The movable platform 120 may include a power system 102, a flight control system 104 (with a built-in heading determination system), and a fuselage. Where the movable platform 120 is embodied as a multi-rotor movable platform, the fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The movable platform may further comprise a foot rest, wherein the foot rest is connected to the body for supporting the movable platform when landing.

The power system 102 may include one or more power components 1022 for providing flight power to the movable platform 120, the power enabling the movable platform 120 to achieve one or more degrees of freedom of motion.

The heading determination system may include processor 502, memory 1044, and sensing system 1046. The sensing system 1046 comprises one or more types of sensors, wherein the sensing system 1046 may output transmission sensing data to measure status data of the movable platform 120. The sensing system 1046 may include, for example, at least one of a barometer, a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit, a visual sensor (monocular or binocular), a global navigation satellite system, and a barometer, among others. For example, the global navigation satellite System may be a Global Positioning System (GPS).

The processor 502 is used to control various operations of the movable platform. For example, processor 502 may control movement of the movable platform, and for another example, processor 502 may control sensing system 1046 of the movable platform to collect data.

In many embodiments, sensing system 1046 may include an image capture device 1064, where image capture device 1064 may be, for example, a camera or camcorder, for capturing an image, where image capture device 1064 may be in communication with processor 502 and capture a photograph as determined by the heading of processor 502.

In some embodiments, movable platform 120 further includes a pan/tilt head 106, pan/tilt head 106 may include a motor 1062, pan/tilt head 106 may be configured to carry image capture device 1064, and processor 502 may determine the motion of pan/tilt head 106 by a heading of the motor. It should be understood that the pan/tilt head 106 may be independent of the movable platform 120 or may be part of the movable platform 120. In some embodiments, image capture device 1064 may be fixedly attached to the body of movable platform 120.

The movable platform 120 also includes a transmission device 112, and the transmission device 112 may transmit data acquired by the sensing system 1046 and/or the image acquisition device 1064 to the control terminal 110, as determined by the heading of the processor 502. The control terminal 110 may include a transmission device (not shown), the transmission device of the heading determining terminal may establish a wireless communication connection with the transmission device 112 of the movable platform 120, the transmission device of the heading determining terminal may receive data transmitted by the transmission device 112, and in addition, the control terminal 110 may transmit a heading determining instruction to the movable platform 120 through the transmission device configured by itself.

The control terminal 110 may include a controller 1102 and a display device 1104. The controller 1102 can determine various operations of the terminal in determining the heading of the heading. For example, the controller 1102 may receive data transmitted by the movable platform 120 via the transmission device 112 with a determination of heading, and for example, the display device 1104 may display the transmitted data with a determination of heading, wherein the data may include images of the environment captured by the image capture device 1064, pose information, position information, power information, and so forth.

The movable platform 120 further includes a Battery System 108, the Battery System 108 may include a Battery 1082 and a BMS (Battery Management System) 1084, and the Battery 1082 is used by default to supply power to the movable platform 120, such as to supply power to the power components 1022, the transmission device 112, the pan/tilt head 106, the image capturing device 1064, and other hardware and electronics.

In addition, as can be seen from fig. 1 and fig. 2, the dual RTK antenna assembly 114, specifically including the master RTK antenna and the slave RTK antenna, is disposed on the movable platform 120, and the measurement length of the baseline is calculated according to the carrier information sent by the positioning satellite, and the measurement heading is continuously obtained according to the measurement length.

It will be appreciated that the determiner of any of the above headings may comprise one or more processors, wherein the one or more processors may operate individually or in concert.

It should be understood that the above-mentioned nomenclature for the components of the movable platform 120 is for identification purposes only, and should not be construed as limiting embodiments of the present invention.

With reference to fig. 1, fig. 2, fig. 3, and fig. 4, a method for determining a heading according to an embodiment of the present invention specifically includes:

step S302, obtaining the current measurement length and the current measurement heading of the base line of the double RTK antenna assemblies.

Specifically, the carrier information sent by the positioning satellite to the dual RTK antenna assemblies requires a certain time, i.e., transmission delay, for propagation from the positioning satellite to the dual RTK antenna assemblies. As is well known, the transmission delay of the carrier information is proportional to the transmission distance, and when the distances from the main RTK antenna and the slave RTK antenna to the positioning satellite are different, the continuous carrier information received by the main RTK antenna and the slave RTK antenna will have different phases, i.e. phase differences, at the same time, and further the integer ambiguity and the phase differences are combined to calculate the current measurement length of the baseline and the current measurement heading.

Step S304, determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies.

Specifically, since the baseline of the dual RTK antenna assembly has an actual baseline size, there is an error between the calculated current measured length of the baseline and the actual baseline size, based on which it can be determined whether the current measured length of the resolved baseline is authentic. If the current measurement length of the baseline is not reliable, step S302 needs to be executed again until the current measurement length of the baseline is within the error-allowable range. In one embodiment, if the current measurement length of the baseline is not trusted, the current measurement length of the baseline can be fused with other data to obtain a trusted current measurement length.

And S306, if yes, outputting the current measurement heading.

Specifically, when the current measured course is determined to be the credible course, the current measured course is output to be used for the flight control system to feedback and adjust the flight track of the movable platform.

Based on the course determining method provided by the embodiment of the invention, when the double RTK antenna assemblies receive carrier information of the positioning satellite, due to the fact that satellite searching conditions are poor, multipath interference exists or the movable platform is located indoors, the current measurement length of the base line obtained by resolving through the double RTK antenna assemblies usually has larger errors, and therefore the current measurement course has larger errors, whether the current measurement course is credible or not is verified through the current measurement length of the base line, and the reliability and the accuracy of the double RTK antenna assemblies in directional attitude determination of the movable platform can be improved.

In some embodiments, the acquiring the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly includes: and receiving carrier information sent by the positioning satellite, wherein the carrier information is used for determining the current measurement length and the current measurement heading of the base line of the double RTK antenna assembly.

Specifically, carrier information sent by a positioning satellite is received, and the carrier information is used for determining the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly, namely the current measurement length and the current measurement heading of the baseline are obtained based on phase difference calculation.

In some embodiments, the dual RTK antenna assembly is configured to receive carrier information transmitted by a positioning satellite.

In some embodiments, the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, the acquiring a current measured length and a current measured heading of a baseline of the dual RTK antenna assembly includes: determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna; calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value; and generating the current measurement length and the current measurement heading of the base line of the double RTK antenna assemblies according to the single-difference observation value.

Specifically, the positioning accuracy of the dual RTK antenna assembly can be improved to a centimeter level by determining the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, calculating the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, recording the difference as a single-difference observation value, and finally generating the current measurement length and the current measurement course of the base line of the dual RTK antenna assembly according to the single-difference observation value.

Clock deviation, integer ambiguity, delay error of a transmission system, ephemeris error of a positioning satellite and the like are added in the calculation process of the single-difference observation value, so that the current measurement length of the calculation base line and the reliability of the current measurement course are further improved.

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly includes: and determining whether the current measured course is a credible course according to whether the current measured length of the baseline meets a preset error range.

Specifically, whether the positioning scheme of the dual RTK antenna assembly meets the preset error can be determined by comparing whether the current measurement length of the baseline meets the preset error range, and therefore, when it is determined that the current measurement length of the baseline meets the preset error range, it can be determined that the current measurement heading calculated according to the current measurement length of the baseline is also credible.

In some embodiments, before acquiring the current measured length of the baseline of the dual RTK antenna assembly, further comprising: determining the preset error range according to a baseline size of the dual RTK antenna assembly; and determining the length of the preset base line according to the error range and the size of the base line, and storing.

Specifically, the baseline size of the dual RTK antenna assembly is directly related to the preset error range, so that the reliability and accuracy of the error range can be improved by determining the preset error range according to the baseline size of the dual RTK antenna assembly, and further, whether the current measured length of the baseline is credible or not can be further improved by determining and storing the preset baseline length according to the error range and the baseline size, and further, the reliability and accuracy of the scheme for judging whether the current measured course is credible or not can be further improved.

In some embodiments, there is a positive correlation between the baseline dimension and the error range.

Specifically, if the actual baseline size is larger, the error range is larger, that is, the confidence interval of the current measured heading is larger, and meanwhile, the actual baseline size is smaller, the error range is smaller, that is, the confidence interval of the current measured heading is smaller.

In some embodiments, before acquiring the current measured length of the baseline of the dual RTK antenna assembly, further comprising: and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

Specifically, the preset base line length is determined and stored by obtaining the record of whether the historical measured course is the credible course, the historical measured course is calculated based on the base line length, and the historical measured course is more consistent with the actual flight environment of the movable platform.

In some embodiments, the error range is less than or equal to 20 centimeters.

Specifically, based on a large amount of experimental data, it can be determined that the error range is less than or equal to 20 centimeters.

In some embodiments, further comprising: and acquiring corresponding state identification information according to the satellite searching condition.

Specifically, corresponding state identification information is obtained through satellite searching conditions, and the state identification information assists in judging whether the current measurement length of the base line is credible or not, so that whether the current measurement course is a credible course or not is determined.

The state identification information output by the dual RTK antenna assembly is specifically as follows in table 1:

TABLE 1

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly includes: and determining whether the current measuring course is an authentic course or not according to the current measuring length of the base line of the double RTK antenna assemblies and the state identification information.

Specifically, according to the current measurement length of the baseline of the dual RTK antenna assembly, as shown in table 1, under the condition that the state identification information is 50, whether the current measurement course is reliable or not is judged by comparing the current measurement length of the baseline with the preset baseline length, so that the condition that the movable platform adopts wrong course information due to misjudgment of the dual RTK antenna assembly is reduced, and the accuracy and reliability of the flight trajectory of the movable platform are improved.

In some embodiments, the star finding situation comprises at least one of: number of satellites searched, signal-to-noise ratio, elevation angle, lock time, positioning information.

For example, when the movable platform flies in an urban area, due to the fact that a large number of buildings exist, the propagation process of signals is interfered, signal fading and phase shift are caused, and the signals received by the double RTK antenna assemblies are inaccurate.

For example, in a low-latitude area, ionosphere activity is active, which may cause problems of fluctuation of an observation signal-to-noise ratio of a satellite, frequent loss of lock of a signal, large resolving error, and the like.

For another example, the dual RTK antenna assemblies themselves are not well designed, which results in low and unstable signal-to-noise ratio of received satellite signals, poor capability of filtering clutter, easy signal loss, and the like.

For another example, the satellite searching speed is too fast, and the drift, that is, the positioning is not accurate, and the positioning is off-tracking, is easily caused.

In some embodiments, the obtaining the corresponding state identification information according to the satellite searching condition includes: and acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the satellite searching condition.

Specifically, the narrow-lane fixed solution relates to the sum of phase observations of carrier information of the master RTK antenna and the slave RTK antenna, the effective wavelength of the carrier information corresponding to the narrow-lane fixed solution is 10.7 centimeters, the narrow-lane fixed solution is very effective in eliminating the influence of an ionosphere on the current measurement course, and other pre-stored identification information can refer to table 1, but is not limited thereto.

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly and the state identification information includes: and when the state identification information is detected to be the narrow lane fixed solution, comparing whether the current measurement length of the baseline meets a preset error range.

Specifically, when the state identification information is detected to be the narrow lane fixed solution, whether the current measurement length of the baseline meets a preset error range is compared, that is, whether the narrow lane fixed solution is credible is checked according to the current measurement length of the baseline. If yes, judging that the current measured course is credible, and outputting the current measured course. If not, the steps are repeated. In some embodiments, the current measured heading comprises a yaw angle and/or a pitch angle; the yaw angle is an included angle determined according to the machine head direction of the movable platform and a preset course, and the pitch angle is an included angle determined according to the machine body direction of the movable platform and the horizontal direction.

In some embodiments, generating the current measurement length of the baseline and the current measurement heading according to the single-difference observation value specifically includes: in a first coordinate system, calculating to obtain a measurement result of a baseline according to the single-difference observation value and the corresponding integer ambiguity; converting the measurement result of the base line from a first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna; and determining the current measuring course according to the longitude coordinate and the latitude coordinate.

Specifically, in a first coordinate system, a measurement result of a base line is obtained through calculation according to the single-difference observation value and the corresponding integer ambiguity, the measurement result of the base line is further converted from the first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna, and finally, the current measurement course is determined according to the longitude coordinate and the latitude coordinate, so that the accuracy of the current measurement course is improved to a centimeter level.

In some embodiments, the first coordinate system comprises a geocentric coordinate system.

In some embodiments, the second coordinate system comprises a north-celestial-east coordinate system.

In some embodiments, outputting the current measured heading includes sending the current measured heading to the terminal device. The terminal equipment can be a movable platform, namely a carrier of the double RTK antenna assemblies, and also can be a remote control end and a mobile phone APP. And when the current measuring course is output, the user can know the current measuring course information.

In some embodiments, outputting the current measured heading further comprises controlling an alert device to issue an alert message. When the carrier of the double RTK antenna assemblies is close to the obstacle or the carrier advances according to the current measuring course and risks colliding with the obstacle, the alarm device is controlled and alarm information is sent out. The alarm device can be a movable platform, namely a carrier of the double RTK antenna assemblies, and can also be a remote control end and a mobile phone APP. The alarm message may be issued by the alarm lamp emitting light, the speaker emitting an alarm sound, or the vibrator generating vibration.

The specific steps of some of the above embodiments are described below with reference to fig. 4:

as shown in fig. 4, the method for determining the heading of the movable platform includes: step S402, acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies; step S404, acquiring corresponding state identification information according to the satellite searching condition; step S406, judging whether the state identification information is a narrow lane fixed solution, if so, executing step S408, and if not, executing step S402; step S408, comparing whether the current measurement length of the baseline meets a preset error range, if so, executing step S410, and if not, executing step S402; and step S410, outputting the current measured heading.

As shown in fig. 5, the device 500 for determining a heading corresponding to the above-mentioned method for determining a heading specifically includes the following hardware devices and implementation schemes:

the heading determining apparatus includes a processor 502 and also includes dual RTK antenna assemblies 504.

In some embodiments, the processor 502 is configured to:

a current measured length of the baseline and a current measured heading of the dual RTK antenna assembly 504 are acquired.

Specifically, the carrier information sent by the positioning satellite to the dual RTK antenna assemblies 504 requires a certain amount of time, i.e., transmission delay, to propagate from the positioning satellite to the dual RTK antenna assemblies 504. As is well known, the transmission delay of the carrier information is proportional to the transmission distance, and when the distances from the main RTK antenna and the slave RTK antenna to the positioning satellite are different, the continuous carrier information received by the main RTK antenna and the slave RTK antenna will have different phases, i.e. phase differences, at the same time, and further the integer ambiguity and the phase differences are combined to calculate the current measurement length of the baseline and the current measurement heading.

The processor 502 determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504; if not, repeating the steps.

Specifically, since the baseline of the dual RTK antenna assembly 504 has an actual baseline size, an error exists between the calculated current measured length of the baseline and the actual baseline size, based on which it can be determined whether the current measured length of the resolved baseline is authentic, and if the current measured length of the baseline is not authentic, the re-execution is required until the current measured length of the baseline is within an error-allowable range.

The processor 502 is further configured to: and if the current measured course is determined to be the credible course, outputting the current measured course.

Based on the course determining method provided by the embodiment of the invention, when the dual RTK antenna assemblies 504 receive carrier information of the positioning satellite, due to poor satellite searching conditions or multipath interference, or when the movable platform is indoors, the current measurement length of the baseline calculated by the dual RTK antenna assemblies 504 usually has a large error, so that the current measurement course has a larger error, and whether the current measurement course is credible or not is verified by the current measurement length of the baseline, so that the reliability and accuracy of the dual RTK antenna assemblies 504 in directional attitude determination of the movable platform can be improved.

In some embodiments, the acquiring, by the processor 502, the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: and receiving carrier information sent by the positioning satellite, wherein the carrier information is used for determining the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504.

Specifically, carrier information sent by the positioning satellite is received, and the carrier information is used for determining the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504, that is, the current measurement length and the current measurement heading of the baseline are obtained based on phase difference solution.

In some embodiments, the dual RTK antenna assembly 504 is used to receive carrier information transmitted by the positioning satellites. The carrier information is used for determining the current measurement length and the current measurement heading of the base line of the dual RTK antenna assembly.

In some embodiments, the dual RTK antenna assembly 504 includes a master RTK antenna and a slave RTK antenna, and the processor 502 acquiring the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna; calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value; and generating a current measurement length and a current measurement heading of the baseline of the dual RTK antenna assembly 504 from the single-difference observation.

Specifically, the positioning accuracy of the dual RTK antenna assembly 504 can be improved to a centimeter level by determining the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, calculating the difference between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, recording the difference as a single-difference observation value, and finally generating the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504 according to the single-difference observation value.

In some embodiments, the determining, by the processor 502, whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 includes: comparing whether the current measurement length of the base line meets a preset error range; if not, repeating the steps; if yes, judging that the current measured course is credible, and outputting the current measured course.

Specifically, by comparing whether the current measurement length of the baseline meets the preset error range, it can be determined whether the positioning scheme of the dual RTK antenna assembly 504 meets the preset error, and therefore, when it is determined that the current measurement length of the baseline meets the preset error range, it can be determined that the current measurement heading calculated according to the current measurement length of the baseline is also credible.

In some embodiments, the processor 502, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly 504, is further configured to: determining the preset error range from a baseline size of the dual RTK antenna assembly 504; and determining the length of the preset base line according to the error range and the size of the base line, and storing.

Specifically, since the baseline size of the dual RTK antenna assembly 504 is directly related to the preset error range, determining the preset error range according to the baseline size of the dual RTK antenna assembly 504 can improve the reliability and accuracy of the error range, and further determining and storing the length of the preset baseline according to the error range and the baseline size can further improve whether the current measured length of the baseline is reliable, so as to further improve the reliability and accuracy of the scheme for judging whether the current measured course is a reliable course.

In some embodiments, the processor 502, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly 504, is further configured to: and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

In some embodiments, the error range is less than or equal to 20 centimeters.

In some embodiments, the processor 502 is further configured to: and acquiring corresponding state identification information according to the satellite searching condition.

The state identification information output by the dual RTK antenna assembly 504 is specifically shown in table 1.

In some embodiments, the determining, by the processor 502, whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 includes: and determining whether the current measuring course is an authentic course according to the current measuring length of the base line of the double RTK antenna assembly 504 and the state identification information.

Specifically, according to the current measurement length of the baseline of the dual RTK antenna assembly 504, as shown in table 1, in the case that the state identification information is 50, by comparing the current measurement length of the baseline with the preset baseline length, whether the current measurement course is reliable or not is judged, so that the situation that the mobile platform adopts wrong course information due to misjudgment of the dual RTK antenna assembly 504 is reduced, and the accuracy and reliability of the flight trajectory of the mobile platform are improved.

In some embodiments, the obtaining, by the processor 502, corresponding state identification information according to a satellite searching condition includes: and acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the satellite searching condition.

In some embodiments, the determining, by the processor 502, whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 and the state identification information includes: and when the state identification information is detected to be the narrow lane fixed solution, comparing whether the current measurement length of the baseline meets a preset error range.

Specifically, when the state identification information is detected to be the narrow lane fixed solution, whether the current measurement length of the baseline meets a preset error range is compared, that is, whether the narrow lane fixed solution is credible is checked according to the current measurement length of the baseline. If the current measurement length of the baseline meets a preset error range, judging that the current measurement course is credible, and outputting the current measurement course; if not, the steps are repeated.

In some embodiments, the current measured heading comprises a yaw angle and/or a pitch angle; the yaw angle is an included angle determined according to the machine head direction of the movable platform and a preset course, and the pitch angle is an included angle determined according to the machine body direction of the movable platform and the horizontal direction.

In some embodiments, the generating, by the processor 502, the current measured length of the baseline and the current measured heading from the single-difference observation includes: in a first coordinate system, calculating to obtain a measurement result of a baseline according to the single-difference observation value and the corresponding integer ambiguity; converting the measurement result of the base line from a first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna; and determining the current measuring course according to the longitude coordinate and the latitude coordinate.

As shown in fig. 5, an embodiment of the present invention provides a computer-readable storage medium 600, a processor 502 and a memory 1044 are provided on the device 500 for determining a heading, the computer-readable storage medium 600 has a computer program 602 stored thereon, and the computer program 602 implements the steps of the method for determining a heading as defined in any one of the above embodiments when executed by the processor 502.

The Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 1044 is used for storing program codes and recording status data.

In some embodiments, the processor 502 executes the computer program 602 to implement the method for determining heading, specifically performing the following steps:

And determining whether the current measured course is an authentic course or not according to the current measured length of the base line of the double RTK antenna assembly 504, and if not, repeating the steps.

And if so, outputting the current measurement course.

In some embodiments, the acquiring the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: and receiving carrier information sent by the positioning satellite, wherein the carrier information is used for determining the current measurement length and the current measurement heading of the baseline of the dual RTK antenna assembly 504.

In some embodiments, the dual RTK antenna assembly 504 is used to receive carrier information transmitted by the positioning satellites.

In some embodiments, the dual RTK antenna assembly 504 includes a master RTK antenna and a slave RTK antenna, the acquiring the current measured length and the current measured heading of the baseline of the dual RTK antenna assembly 504 includes: determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna; calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value; and generating a current measurement length and a current measurement heading of the baseline of the dual RTK antenna assembly 504 from the single-difference observation.

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 includes: comparing whether the current measurement length of the base line meets a preset error range; if not, repeating the steps; if yes, judging that the current measured course is credible, and outputting the current measured course.

In some embodiments, before acquiring the current measured length of the baseline of the dual RTK antenna assembly 504, further comprising: determining the preset error range from a baseline size of the dual RTK antenna assembly 504; and determining the length of the preset base line according to the error range and the size of the base line, and storing.

In some embodiments, before acquiring the current measured length of the baseline of the dual RTK antenna assembly 504, further comprising: and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

In some embodiments, the error range is less than or equal to 20 centimeters.

The state identification information output by the dual RTK antenna assembly 504 is specifically shown in table 1 above.

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 includes: and determining whether the current measuring course is an authentic course according to the current measuring length of the base line of the double RTK antenna assembly 504 and the state identification information.

In some embodiments, determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly 504 and the state identification information includes: and when the state identification information is detected to be the narrow lane fixed solution, comparing whether the current measurement length of the baseline meets a preset error range.

Further, it will be understood that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A course determining method is suitable for a movable platform and is characterized by comprising the following steps:

acquiring the current measurement length and the current measurement course of the base line of the double RTK antenna assemblies;

determining whether the current measurement course is an authentic course according to the current measurement length of the base line of the double RTK antenna assemblies;

and if so, outputting the current measurement course.

2. The heading determination method of claim 1, wherein the acquiring the current measured length of the baseline and the current measured heading for the dual RTK antenna assembly comprises:

and receiving carrier information sent by the positioning satellite, wherein the carrier information is used for determining the current measurement length and the current measurement heading of the base line of the double RTK antenna assembly.

3. The method of determining heading as claimed in claim 2, wherein the dual RTK antenna assemblies are configured to receive carrier information transmitted by a positioning satellite.

4. The method of determining a heading as claimed in claim 1 or 2, wherein the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, and the acquiring a current measured length of the baseline and a current measured heading of the dual RTK antenna assembly includes:

determining a carrier information phase of the master RTK antenna and a carrier information phase of the slave RTK antenna;

calculating a difference value between the carrier information phase of the master RTK antenna and the carrier information phase of the slave RTK antenna, and recording the difference value as a single difference observation value;

and generating the current measurement length and the current measurement heading of the base line of the double RTK antenna assemblies according to the single-difference observation value.

5. The heading determination method of claim 1, wherein determining whether the current measured heading is an authentic heading based on a current measured length of a baseline of the dual RTK antenna assembly comprises:

and comparing whether the current measurement length of the baseline meets a preset error range.

6. The heading determination method of claim 5, further comprising, prior to obtaining the current measured length of the baseline of the dual RTK antenna assembly:

determining the preset error range according to a baseline size of the dual RTK antenna assembly;

and determining the length of the preset base line according to the error range and the size of the base line, and storing.

7. The method of determining heading of claim 6, wherein the baseline dimension is positively correlated with the error range.

8. The heading determination method of claim 5, further comprising, prior to obtaining the current measured length of the baseline of the dual RTK antenna assembly:

and acquiring a record of whether the historical measured course is a credible course, determining the length of the preset baseline, and storing.

9. The heading determination method of claim 5,

the error range is less than or equal to 20 centimeters.

10. The heading determination method of claim 1, further comprising, prior to determining whether the current measured heading is an authentic heading based on a current measured length of a baseline of the dual RTK antenna assembly:

and determining whether to determine the current measurement heading according to the current measurement length of the base line of the double RTK antenna assemblies according to the state identification information of the RTK positioning device.

11. The method for determining heading of claim 10, wherein the status indication information is determined from a star finding situation, wherein the star finding situation comprises at least one of: number of satellites searched, signal-to-noise ratio, elevation angle, lock time, positioning information.

12. The heading determination method of claim 10, wherein determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly comprises:

and determining whether the current measuring course is an authentic course or not according to the current measuring length of the base line of the double RTK antenna assemblies and the state identification information.

13. The heading determination method of claim 11, comprising:

and acquiring a narrow lane fixed solution or other pre-stored identification information in the state identification information according to the satellite searching condition.

14. The method for determining a heading of claim 13, wherein determining whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly and the status identification information includes:

and when the state identification information is detected to be the narrow lane fixed solution, determining whether the current measured course is a credible course.

15. The heading determination method of claim 1,

the current measurement course comprises a yaw angle and/or a pitch angle;

the yaw angle is an included angle determined according to the machine head direction of the movable platform and a preset course, and the pitch angle is an included angle determined according to the machine body direction of the movable platform and the horizontal direction.

16. The method for determining the heading of claim 4, wherein generating the current measured length of the baseline and the current measured heading from the single-difference observation specifically comprises:

in a first coordinate system, calculating to obtain a measurement result of a baseline according to the single-difference observation value and the corresponding integer ambiguity;

converting the measurement result of the base line from a first coordinate system to a second coordinate system according to a preset coordinate rotation matrix so as to determine a longitude coordinate and a latitude coordinate corresponding to the main RTK antenna;

and determining the current measuring course according to the longitude coordinate and the latitude coordinate.

17. The heading determination method of claim 16,

the first coordinate system comprises a geocentric coordinate system; and/or the presence of a gas in the gas,

the second coordinate system comprises a north-east coordinate system.

18. The heading determination method of claim 1, wherein outputting the current measured heading comprises:

and sending the current measured course to terminal equipment, and/or controlling an alarm device to send out alarm information.

19. A heading determination device for a movable platform, the heading determination device comprising a processor configured to:

and if so, outputting the current measurement course.

20. The heading determination device of claim 19, further comprising dual RTK antenna assemblies for receiving carrier information transmitted by a positioning satellite.

21. The heading determination device of claim 20, wherein the carrier information is used to determine a current measured length and a current measured heading of a baseline of the dual RTK antenna assembly.

22. The heading determination device of claim 19 or 20, wherein the dual RTK antenna assembly includes a master RTK antenna and a slave RTK antenna, and the acquiring the current measured length of the baseline and the current measured heading of the dual RTK antenna assembly specifically includes:

23. The heading determination device of claim 19, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly, including:

24. The heading determination device of claim 23, wherein the processor, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly, is further configured to:

25. The heading determining device of claim 24,

the baseline dimension is positively correlated with the error range.

26. The heading determination device of claim 23, wherein the processor, prior to acquiring the current measured length of the baseline of the dual RTK antenna assembly, is further configured to:

27. The heading determining device of claim 23,

the error range is less than or equal to 20 centimeters.

28. The heading determination device of claim 19, wherein the processor is further configured to:

29. The heading determination device of claim 28, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly, including:

30. The heading determination device of claim 28, wherein the status indication information is determined from a star finding situation, wherein the star finding situation comprises at least one of: number of satellites searched, signal-to-noise ratio, elevation angle, lock time, positioning information.

31. The heading determining device of claim 28, comprising:

32. The heading determination device of claim 29, wherein the processor determines whether the current measured heading is an authentic heading based on the current measured length of the baseline of the dual RTK antenna assembly and the state identification information, including:

33. The heading determining device of claim 19,

the current measurement course comprises a yaw angle and/or a pitch angle;

34. The heading determination device of claim 22, wherein the processor generates the current measured length of the baseline and the current measured heading from the single-difference observation, specifically comprising:

35. The heading determining device of claim 34,

the second coordinate system comprises a north-east coordinate system.

36. The heading determination device of claim 19, wherein the outputting the current measured heading comprises:

37. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, carries out the steps of the method of determining a heading according to any one of claims 1 to 18.

38. A movable platform, comprising:

a motive device configured to effect movement of the movable platform;

the heading determination device as claimed in any one of claims 19 to 36 configured to determine a confidence level of a measured heading.

39. The movable platform of claim 38,

the movable platform is an unmanned aerial vehicle or a flying image acquisition device.