CN112306096B - Unmanned aerial vehicle automatic following method, system, equipment and storage medium - Google Patents
Unmanned aerial vehicle automatic following method, system, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides an unmanned aerial vehicle automatic following method, a system, equipment and a storage medium, wherein the method comprises the following steps: time synchronization is carried out on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on a target; acquiring receiving and transmitting time information of wireless signals through the plurality of wireless receivers; acquiring position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information; acquiring target position information of the unmanned aerial vehicle center according to the preset position relation between the unmanned aerial vehicle center and the wireless transmitter and the position information; and controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to the target position. Through setting up a plurality of wireless receivers on unmanned aerial vehicle and obtaining the wireless signal that wireless transmitter on the target sent in real time to obtain the relative position relation of unmanned aerial vehicle and target through the calculation, and then realize accurate following.
Description
Technical Field
The application relates to the technical field of electricity, in particular to an unmanned aerial vehicle automatic following method, an unmanned aerial vehicle automatic following system, unmanned aerial vehicle automatic following equipment and a storage medium.
Background
With the development of industry and scientific technology, unmanned aerial vehicles are popularized and applied in various fields in life, and with the continuous research and development of unmanned aerial vehicle technology, unmanned aerial vehicle automatic following technology is developed and gradually enters into daily life of people. At present, positioning technologies commonly used in automatic following technology of unmanned aerial vehicle mainly comprise GPS following, image following, infrared following, mobile network base station following and the like, however, the technologies are difficult to realize accurate following, and some of the technologies are also easily affected by ambient light, so that the operation of the unmanned aerial vehicle is easily affected.
Disclosure of Invention
An object of the embodiment of the application is to provide an unmanned aerial vehicle automatic following method, system, device and storage medium, which are used for carrying out signal transmission with a signal generator on a target by arranging a plurality of signal receivers on the unmanned aerial vehicle so as to obtain the relative position relationship between the target and the unmanned aerial vehicle, thereby realizing accurate following.
The embodiment of the application provides an unmanned aerial vehicle automatic following method, which comprises the following steps: time synchronization is carried out on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on a target; acquiring receiving and transmitting time information of wireless signals through the plurality of wireless receivers; acquiring position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information; acquiring target position information of the unmanned aerial vehicle center according to the preset position relation between the unmanned aerial vehicle center and the wireless transmitter and the position information; and controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to the target position.
In the implementation process, firstly, time of a plurality of wireless receivers on the unmanned aerial vehicle and time of a wireless transmitter on a target are synchronized, then receiving and transmitting time information of wireless signals sent by the wireless transmitters are obtained through the plurality of wireless receivers, and further position information of the wireless transmitters relative to the unmanned aerial vehicle center is obtained through calculation according to the receiving and transmitting time information, and further target position information of the unmanned aerial vehicle center is obtained according to the preset position relation between the unmanned aerial vehicle center and the wireless transmitters and the position information. Therefore, the unmanned aerial vehicle can be controlled to move to the target position according to the target position information. Through the arrangement of a plurality of signal receivers, and through calculation, the relative position relation between the target and the unmanned aerial vehicle is obtained, so that accurate following is performed.
Further, the step of obtaining the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the transceiving time information includes: acquiring the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the receiving and transmitting time information; acquiring phase difference information among the wireless signals respectively received by the plurality of wireless receivers; and acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information.
In the implementation process, the distance between the information in the unmanned aerial vehicle and the wireless transmitter is calculated according to the receiving and transmitting time information of the wireless signals, then phase difference information between the wireless signals respectively received by a plurality of wireless receivers is obtained, and further, the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle is calculated according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information, so that accurate relative position information can be obtained, and accurate following is achieved.
Further, the step of obtaining the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the transceiving time information includes: acquiring distances between the plurality of wireless receivers and the wireless transmitter respectively according to the receiving and transmitting time information; and acquiring the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the distances between the plurality of wireless receivers and the wireless transmitter.
In the implementation process, the distances between the wireless receivers and the wireless transmitters can be calculated according to the receiving and transmitting time information of the wireless signals, and then the distance between the center of the unmanned aerial vehicle and the wireless transmitters can be calculated according to the calculated distances, so that a data basis is provided for the acquisition of subsequent position information.
Further, the step of acquiring phase difference information between the wireless signals received by the plurality of wireless receivers respectively includes: acquiring cross spectrum information among the wireless signals received by the plurality of wireless receivers; and acquiring phase difference information among the wireless signals respectively received by the plurality of wireless receivers according to the cross spectrum information.
In the implementation process, the cross spectrum information among the wireless signals received by the plurality of wireless receivers is firstly obtained, and then the phase difference information among the wireless signals respectively received by the plurality of wireless receivers is obtained according to the cross spectrum information, so that the position information of the center of the unmanned aerial vehicle relative to the wireless transmitter can be calculated according to the phase difference information.
In a second aspect, embodiments of the present application provide an automatic unmanned aerial vehicle following system, the system comprising: the synchronization module is used for performing time synchronization on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on a target; the data acquisition module is used for acquiring the receiving and transmitting time information of the wireless signals through the plurality of wireless receivers; the data processing module is used for acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information, and acquiring the target position information of the center of the unmanned aerial vehicle according to the preset position relation between the center of the unmanned aerial vehicle and the wireless transmitter and the position information; and the control module is used for controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to the target position.
Further, the data processing module is further configured to obtain a distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the transceiving time information, obtain phase difference information between the wireless signals received by the plurality of wireless receivers respectively, and obtain position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information.
Further, the data processing module is further configured to obtain distances between the plurality of wireless receivers and the wireless transmitter according to the transceiving time information, and obtain distances between the center of the unmanned aerial vehicle and the wireless transmitter according to the distances between the plurality of wireless receivers and the wireless transmitter.
Further, the data processing module is further configured to obtain cross spectrum information between the wireless signals received by the plurality of wireless receivers, and obtain phase difference information between the wireless signals received by the plurality of wireless receivers according to the cross spectrum information.
In a third aspect, an apparatus provided in an embodiment of the present application includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In a fourth aspect, an embodiment of the present application provides a storage medium having instructions stored thereon, which when executed on a computer, cause the computer to perform the method according to any one of the first aspects.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer, causes the computer to perform the method according to any one of the first aspects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an automatic following method of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of an automatic following method of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an automatic following system of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a block diagram of a device for automatically following an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
An object of the embodiment of the present application is to provide an automatic unmanned aerial vehicle following method, system, device and storage medium, which can be applied to the unmanned aerial vehicle field, and is used for setting a plurality of wireless receivers on an unmanned aerial vehicle, and performing time synchronization with a wireless transmitter, and further calculating and finally obtaining position information of the center of the unmanned aerial vehicle relative to the wireless transmitter according to wireless signals received by each wireless receiver, wherein several people can follow according to a preset position relationship, so as to achieve an accurate following effect.
Referring to fig. 1, fig. 1 is a schematic flowchart of an automatic unmanned aerial vehicle following method according to an embodiment of the present application, where the method includes:
step S110, time synchronization is carried out on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on the target.
For example, it is first necessary to synchronize the times of the plurality of wireless receivers on the unmanned aerial vehicle and the wireless transmitter on the target so that the transmission time and the reception time of the wireless signal can be acquired simultaneously after the respective wireless receivers acquire the wireless signal transmitted by the wireless transmitter.
In this application embodiment, can set up four wireless receiver on the unmanned aerial vehicle, preferably, can set up respectively on unmanned aerial vehicle's four horn to the distance from unmanned aerial vehicle center equals, can make things convenient for subsequent data calculation processing.
Step S120, acquiring, by the plurality of wireless receivers, the time information of transmission and reception of the wireless signals.
The wireless transmitter on the target transmits wireless signals to the unmanned aerial vehicle in real time, and the plurality of wireless receivers on the unmanned aerial vehicle respectively receive the wireless signals, so that the wireless signal transmitting time and the receiving time of the wireless signals received by the wireless receivers can be obtained.
In one embodiment, when the wireless signal may be CDMA coded, due to the orthogonal correlation of the CDMA signal, not only the current aircraft may not be interfered by external wireless signals, but also a plurality of preset transmitters may be located at the same time, and the locating transmitters may be switched in a following manner.
And step S130, acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information.
For example, the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle can be obtained through calculation according to the transmitting time of the wireless signal and the receiving time of each wireless receiver for receiving the wireless signal.
Step S140, obtaining target position information of the unmanned aerial vehicle center according to the preset position relationship between the unmanned aerial vehicle center and the wireless transmitter and the position information.
The position of the unmanned aerial vehicle center to be moved, namely the target position, can be calculated according to the preset position relation between the unmanned aerial vehicle center and the wireless transmitter after the position information of the wireless transmitter relative to the unmanned aerial vehicle center is obtained.
And step S150, controlling the unmanned aerial vehicle to move according to the target position information until the unmanned aerial vehicle center moves to the target position.
After the target position is calculated, the unmanned aerial vehicle can be controlled to move until the center of the unmanned aerial vehicle reaches the target position, and the following is completed.
Referring to fig. 2, fig. 2 is a schematic flowchart of an automatic unmanned aerial vehicle following method according to an embodiment of the present application, where the method includes:
step S210, time synchronization is carried out on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on the target.
Step S220, acquiring the time information of the wireless signal transmitted and received by the plurality of wireless receivers.
Steps S210 and S220 are the same as steps S110 and S120, and will not be described here.
And step S230, obtaining the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the receiving and transmitting time information.
Optionally, in step S230, the method for automatically following an unmanned aerial vehicle provided in the embodiment of the present application includes: step S231, obtaining the distances between the wireless receivers and the wireless transmitters respectively according to the receiving and transmitting time information; step S232, obtaining the distances between the center of the unmanned aerial vehicle and the wireless transmitter according to the distances between the plurality of wireless receivers and the wireless transmitter.
The distances between the wireless receivers and the wireless transmitters can be obtained according to the transceiving time of the wireless signals, and the distance R between the center of the unmanned aerial vehicle and the wireless transmitters can be obtained according to the distances.
Step S240, obtaining phase difference information between the wireless signals received by the plurality of wireless receivers respectively.
Optionally, in step S240, the method for automatically following an unmanned aerial vehicle provided in the embodiment of the present application includes: step S241, obtaining the cross spectrum information among the wireless signals received by the plurality of wireless receivers; step S242, obtaining phase difference information between the wireless signals received by the plurality of wireless receivers respectively according to the cross spectrum information.
For example, four wireless receivers are used to build a quad-array, the sides of the rectangle formed by the four wireless receivers are 2a and 2b respectively, so that the cross spectrum between the wireless signals received by the wireless receivers can be obtained first, and further the phase difference information between the wireless signals received by the wireless receivers can be obtained according to the cross spectrum
The calculation formula of the phase difference is:
wherein S is ij Is a cross spectrum.
Step S250, obtaining position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information.
The position information of the wireless transmitter relative to the center of the unmanned aerial vehicle can be obtained by calculation according to the distance between the center of the unmanned aerial vehicle and the wireless receiver and the phase difference information, and the calculation formula is as follows:
wherein (x, y, z) is the coordinates of the wireless transmitter relative to the center of the drone, i.e. the position locationWherein R is the distance between the center of the unmanned aerial vehicle and the wireless transmitter,
for the phase difference information between the wireless signals received by the wireless receivers, a and b are respectively half of the two side lengths of a four-element array formed by the four wireless receivers.
Step S260, obtaining target position information of the unmanned aerial vehicle center according to the preset position relationship between the unmanned aerial vehicle center and the wireless transmitter and the position information.
And step S270, controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to the target position.
Steps S260 and S270 are the same as steps S140 and S150, and will not be described here.
In a possible implementation scenario, firstly, time synchronization is performed on a plurality of wireless receivers on an unmanned aerial vehicle and a wireless transmitter on a target, then the wireless transmitter transmits wireless signals in real time, the plurality of wireless receivers can acquire the transmitting time of the wireless signals and the receiving time of the wireless signals respectively received after receiving the wireless signals, further, the distance between each wireless receiver and the wireless transmitter can be calculated according to the transmitting and receiving time, further, the distance R between the center of the unmanned aerial vehicle and the wireless transmitter can be calculated, a quaternary array is established by four wireless receivers, the side lengths 2a and 2b of the quaternary array are obtained, and then the cross spectrum S between the wireless signals received by each wireless receiver is acquired ij Further, phase difference information among the wireless signals received by the wireless receivers is obtained through calculation
And is further based on the phase difference information->
The coordinate information of the wireless transmitter relative to the center of the unmanned aerial vehicle is obtained by calculating the distance R between the center of the unmanned aerial vehicle and the wireless transmitter and the side lengths 2a and 2b of the quaternary array, and then the coordinate information can be obtained according to the pre-measurementThe unmanned aerial vehicle center and the wireless transmitter are arranged to control the unmanned aerial vehicle to move and follow, so that accurate following is realized, and the unmanned aerial vehicle is not easily influenced by external environment in the following process.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an automatic following system of an unmanned aerial vehicle according to an embodiment of the present application. It should be understood that the system in fig. 3 corresponds to the method embodiment in fig. 1 to 2, and can perform the steps involved in the method embodiment, and specific functions of the system may be referred to the above description, and detailed descriptions are omitted herein as appropriate to avoid redundancy. The system includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or cured in the Operating System (OS) of the system. Specifically, the system includes:
the synchronization module 310 is configured to time synchronize a plurality of wireless receivers disposed on the unmanned aerial vehicle with a wireless transmitter disposed on the target.
The data acquisition module 320 is configured to acquire transceiving time information of the wireless signals through the plurality of wireless receivers.
The data processing module 330 is configured to obtain, according to the transceiving time information, position information of the wireless transmitter relative to the center of the unmanned aerial vehicle, and obtain, according to a preset positional relationship between the center of the unmanned aerial vehicle and the wireless transmitter and the position information, target position information of the center of the unmanned aerial vehicle.
And the control module 340 is configured to control the unmanned aerial vehicle to move according to the target position information until the unmanned aerial vehicle center moves to a target position.
In one embodiment, the data processing module 330 is further configured to obtain a distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the transceiving time information, obtain phase difference information between the wireless signals received by the plurality of wireless receivers respectively, and obtain position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information.
In one embodiment, the data processing module 330 is further configured to obtain distances between the plurality of wireless receivers and the wireless transmitter according to the transceiving time information, and obtain distances between the center of the unmanned aerial vehicle and the wireless transmitter according to the distances between the plurality of wireless receivers and the wireless transmitter.
In one embodiment, the data processing module 330 is further configured to obtain cross spectrum information between the wireless signals received by the plurality of wireless receivers, and obtain phase difference information between the wireless signals respectively received by the plurality of wireless receivers according to the cross spectrum information.
The application further provides a device, please refer to fig. 4, and fig. 4 is a block diagram of a device for automatically following an unmanned aerial vehicle provided in an embodiment of the application. The device may include a processor 410, a communication interface 420, a memory 430, and at least one communication bus 440. Wherein the communication bus 440 is used to enable direct connection communication of these components. The communication interface 420 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 410 may be an integrated circuit chip with signal processing capabilities.
The processor 410 may be a general-purpose processor, including a central processing unit (CPU, central Processing Unit), a network processor (NP, network Processor), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 410 may be any conventional processor or the like.
The Memory 430 may be, but is not limited to, random access Memory (RAM, random Access Memory), read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable Read Only Memory (EEPROM, electric Erasable Programmable Read-Only Memory), and the like. The memory 430 has stored therein computer readable instructions which, when executed by the processor 410, may cause the apparatus to perform the various steps described above in relation to the method embodiments of fig. 1-2.
Optionally, the device may further comprise a memory controller, an input output unit.
The memory 430, the memory controller, the processor 410, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the elements may be electrically coupled to each other via one or more communication buses 440. The processor 410 is configured to execute executable modules stored in the memory 430, such as software functional modules or computer programs included in the device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 4 is merely illustrative, and that the apparatus may also include more or fewer components than shown in fig. 4, or have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application further provides a storage medium, where instructions are stored, and when the instructions run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment, so that repetition is avoided, and no further description is given here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. An unmanned aerial vehicle automatic following method, comprising:
time synchronization is carried out on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on a target;
acquiring receiving and transmitting time information of wireless signals through the plurality of wireless receivers;
acquiring position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information;
acquiring target position information of the unmanned aerial vehicle center according to the preset position relation between the unmanned aerial vehicle center and the wireless transmitter and the position information;
controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to a target position;
the step of obtaining the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information comprises the following steps:
acquiring the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the receiving and transmitting time information;
acquiring phase difference information among the wireless signals respectively received by the plurality of wireless receivers;
acquiring position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information;
wherein the plurality of wireless receivers are four wireless receivers; the expression for acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information is as follows:
wherein (x, y, z) is the location information, R is the distance between the centre of the unmanned aerial vehicle and the wireless transmitter, < ->
And a and b are respectively half of two side lengths of a quaternary array formed by the four wireless receivers for the phase difference information between the wireless signals received by the wireless receivers.
2. The unmanned aerial vehicle automatic following method according to claim 1, wherein the step of acquiring the distance between the unmanned aerial vehicle center and the wireless transmitter according to the transceiving time information comprises:
acquiring distances between the plurality of wireless receivers and the wireless transmitter respectively according to the receiving and transmitting time information;
and acquiring the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the distances between the plurality of wireless receivers and the wireless transmitter.
3. The unmanned aerial vehicle automatic following method according to claim 1, wherein the step of acquiring the phase difference information between the wireless signals respectively received by the plurality of wireless receivers comprises:
acquiring cross spectrum information among the wireless signals received by the plurality of wireless receivers;
and acquiring phase difference information among the wireless signals respectively received by the plurality of wireless receivers according to the cross spectrum information.
4. An unmanned aerial vehicle automatic following system, comprising:
the synchronization module is used for performing time synchronization on a plurality of wireless receivers arranged on the unmanned aerial vehicle and a wireless transmitter arranged on a target;
the data acquisition module is used for acquiring the receiving and transmitting time information of the wireless signals through the plurality of wireless receivers;
the data processing module is used for acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the receiving and transmitting time information, and acquiring the target position information of the center of the unmanned aerial vehicle according to the preset position relation between the center of the unmanned aerial vehicle and the wireless transmitter and the position information;
the control module is used for controlling the unmanned aerial vehicle to move according to the target position information until the center of the unmanned aerial vehicle moves to the target position;
the data processing module is also used for acquiring the distance between the center of the unmanned aerial vehicle and the wireless transmitter according to the receiving and transmitting time information; acquiring phase difference information among the wireless signals respectively received by the plurality of wireless receivers; acquiring position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information; wherein the plurality of wireless receivers are four wireless receivers; the expression for acquiring the position information of the wireless transmitter relative to the center of the unmanned aerial vehicle according to the distance between the center of the unmanned aerial vehicle and the wireless transmitter and the phase difference information is as follows:
wherein (x, y, z) is the location information, R is the distance between the centre of the unmanned aerial vehicle and the wireless transmitter, < ->
And a and b are respectively half of two side lengths of a quaternary array formed by the four wireless receivers for the phase difference information between the wireless signals received by the wireless receivers.
5. The unmanned aerial vehicle automatic following system of claim 4, wherein the data processing module is further configured to obtain distances between the plurality of wireless receivers and the wireless transmitter, respectively, based on the transceiving time information, and obtain distances between the unmanned aerial vehicle center and the wireless transmitter, based on the distances between the plurality of wireless receivers and the wireless transmitter, respectively.
6. The unmanned aerial vehicle automatic following system of claim 4, wherein the data processing module is further configured to obtain cross-spectrum information between the wireless signals received by the plurality of wireless receivers, and obtain phase difference information between the wireless signals respectively received by the plurality of wireless receivers according to the cross-spectrum information.
7. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the unmanned aerial vehicle automatic following method of any of claims 1 to 3 when the computer program is executed.
8. A storage medium for storing instructions that when executed on a computer cause the computer to perform the unmanned aerial vehicle auto-follow method of any of claims 1 to 3.
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