CN112334791B - Positioning method, positioning system, remote control equipment and RTK module - Google Patents
Positioning method, positioning system, remote control equipment and RTK module Download PDFInfo
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- CN112334791B CN112334791B CN201980039844.8A CN201980039844A CN112334791B CN 112334791 B CN112334791 B CN 112334791B CN 201980039844 A CN201980039844 A CN 201980039844A CN 112334791 B CN112334791 B CN 112334791B
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- 238000000034 method Methods 0.000 title claims abstract description 91
- 238000013507 mapping Methods 0.000 claims description 18
- 230000001413 cellular effect Effects 0.000 claims description 16
- 238000010295 mobile communication Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 4
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- 230000008569 process Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005507 spraying Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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Abstract
A positioning method, a system (10), a remote control device (12) and an RTK module (14) are provided, the system (10) comprises the RTK module (14) and the remote control device (12), positioning differential data (202) can be sent to the RTK module (14) by the remote control device (12) under the condition that the RTK module (14) is in a connection state with the remote control device (12), the RTK module (14) acquires satellite positioning data and the positioning differential data, and geographic position information (204) of the RTK module (14) is determined according to the satellite positioning data and the positioning differential data. Therefore, the positioning method can achieve centimeter-level positioning, ensure that the precision error in the whole operation process is kept at centimeter level, and achieve the requirement of accurate operation. And, use RTK module (14) and remote control device (12) cooperation, small in size, facilitate the use, and with low costs.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a positioning method, a positioning system, a remote control device, and an RTK module.
Background
Along with the development of unmanned aerial vehicle plant protection technology to and unmanned aerial vehicle plant protection has characteristics such as little, the pesticide utilization ratio is high to the crop harm, more and more peasant households or farmers begin to adopt unmanned aerial vehicle to carry out plant protection operation, especially utilize plant protection unmanned aerial vehicle to carry out pesticide and chemical fertilizer and spray etc.. When a user of the agricultural plant protection system performs an operation, the user needs to define an operation boundary in an operation land frame.
For example, a user can perform planning operation based on a remote control device with a built-in GPS, the user holds the remote control device, acquires geographical position information of an operation boundary through a GPS module, and transmits the geographical position information to an APP of the remote control device to realize planning operation. However, because of the low positioning accuracy of the GPS, there may be a phenomenon of heavy spraying or missing spraying at the edge of the work land.
Disclosure of Invention
In view of the above, in order to overcome the problems in the related art, the present application provides a positioning method, a positioning system, a remote control device and an RTK module.
According to a first aspect of embodiments of the present application, there is provided a positioning system, the positioning system including a remote control device and an RTK module, if the RTK module is in a connection state with the remote control device;
the remote control device is used for sending positioning differential data to the RTK module;
the RTK module is used for acquiring satellite positioning data and the positioning differential data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
According to a second aspect of embodiments of the present application, there is provided a positioning method applied to a positioning system, where the positioning system includes a remote control device and an RTK module, and if the RTK module is in a connection state with the remote control device;
The remote control device sends positioning differential data to the RTK module;
the RTK module acquires satellite positioning data and the positioning differential data, and determines geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
According to a third aspect of embodiments of the present application, there is provided a positioning method applied to a remote control device, where if an RTK module is in a connection state with the remote control device, the method includes:
transmitting positioning differential data to the RTK module;
and receiving the geographical position information of the RTK module, which is sent by the RTK module, wherein the geographical position information is obtained according to satellite positioning data and the positioning differential data acquired by the RTK module.
According to a fourth aspect of embodiments of the present application, there is provided a positioning method applied to an RTK module, and if the RTK module is in a connection state with a remote control device, the method includes:
receiving positioning differential data sent by the remote control equipment;
and acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
According to a fifth aspect of embodiments of the present application, there is provided a remote control device, comprising: a memory and a processor;
The memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor;
the processor is configured to read computer instructions from the memory to implement a positioning method as follows:
if the RTK module is in a connection state with the remote control device, sending positioning differential data to the RTK module;
and receiving the geographical position information of the RTK module, which is sent by the RTK module, wherein the geographical position information is obtained according to satellite positioning data and the positioning differential data acquired by the RTK module.
According to a sixth aspect of embodiments of the present application, there is provided an RTK module, including: a satellite signal receiving antenna, a memory and a processor connected by a communication bus;
the satellite signal receiving antenna is used for receiving satellite positioning data;
the memory is used for storing computer instructions executable by the processor;
the processor is configured to read computer instructions from the memory to implement a positioning method as follows:
receiving positioning differential data sent by the remote control equipment;
and acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
according to the embodiment of the application, under the condition that the RTK module and the remote control equipment are in a connection state, the remote control equipment is utilized to send positioning differential data to the RTK module, the RTK module obtains satellite positioning data and positioning differential data, and geographic position information of the RTK module is determined according to the satellite positioning data and the positioning differential data. Therefore, the positioning scheme of the embodiment of the application can achieve centimeter-level positioning, ensure that the precision error in the whole operation process is kept at centimeter level, and achieve the requirement of accurate operation. And the RTK module is matched with remote control equipment for use, so that the portable remote control equipment is small in size, convenient to carry and low in cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a positioning system according to an exemplary embodiment of the present application.
Fig. 2 is a flow chart illustrating a positioning method applied to a positioning system according to an exemplary embodiment of the present application.
FIG. 3 is a schematic diagram of another positioning system according to an exemplary embodiment of the present application.
Fig. 4 is a flowchart illustrating another positioning method applied to a positioning system according to an exemplary embodiment of the present application.
Fig. 5 is a flow chart of a positioning method according to an exemplary embodiment of the present application.
Fig. 6 is a flow chart of another positioning method according to an exemplary embodiment of the present application.
Fig. 7 is a block diagram of a remote control device according to an exemplary embodiment of the present application.
Fig. 8 is a block diagram of an RTK module according to an exemplary embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items. Unless otherwise indicated, the terms "front," "rear," "lower," and/or "upper" and the like are merely for convenience of description and are not limited to one location or one spatial orientation. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "plurality" means at least two.
With the improvement of living standard and the development of technology, movable platforms have gradually moved into daily life and some industry applications. The movable platform may be an unmanned aerial vehicle, an automobile, a ship, etc. Taking an unmanned aerial vehicle as an example, the unmanned aerial vehicle, namely an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV for short) is an unmanned aerial vehicle which is controlled by remote control equipment and a program control device. Unmanned vehicles are widely used and are often applied to industries such as agricultural plant protection, urban management, geology, weather, electric power, rescue and relief work, video shooting and the like. Positioning techniques are involved, both in the mapping phase and in the flight control phase of unmanned aircraft. The embodiment of the application can be a position location application scene for a movable platform remote control device. By way of example, the remote control device in the embodiments of the present application may be a remote control device for an unmanned aerial vehicle, and the embodiments of the present application may be used to determine a flight area of the unmanned aerial vehicle. Specifically, the unmanned aerial vehicle may be an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, and the embodiments of the present application may also be used to plan an operation area of the agricultural unmanned aerial vehicle or the mapping unmanned aerial vehicle.
For ease of understanding, an agricultural unmanned aerial vehicle is exemplified. Before an agricultural unmanned aerial vehicle performs plant protection operations, it is often necessary to survey and draw farmlands. The related art carries positioner to walk round around farmland through the survey staff, measures the positional information of farmland boundary point. And further planning an operation route of the agricultural unmanned aerial vehicle according to the positioning information of the farmland boundary points. For example, a surveyor walks around a farmland with a remote control device having a built-in GPS to frame an area of work to cause an agricultural unmanned aerial vehicle to begin performing plant protection operations based on the area of work. However, because of the low positioning accuracy of the GPS, there may be a phenomenon of heavy spraying or missing spraying at the edge of the working area.
In view of this, the embodiment of the present application provides a positioning scheme, providing an RTK module and a remote control device, and when the RTK module and the remote control device are in a connection state, transmitting positioning differential data to the RTK module by using the remote control device, the RTK module obtains satellite positioning data and positioning differential data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data. Because Real-time kinematic (RTK) is a global navigation satellite system (Global Navigation Satellite System, GNSS) high-precision positioning technology, the positioning precision can reach the centimeter level, and therefore, the positioning scheme of the embodiment of the application can reach the centimeter level positioning, ensure that the precision error in the whole operation process is kept at the centimeter level, and meet the requirement of accurate operation. And moreover, the RTK module with low cost and high precision is matched with remote control equipment for use, so that the device is small in size, convenient to use and low in cost.
The positioning scheme of the present application is exemplified below with reference to the accompanying drawings. Features of the following examples, examples and embodiments may be combined with each other without conflict.
For ease of understanding, an example description is first provided from a positioning system. Referring now to FIG. 1, there is shown a schematic diagram of a positioning system 10 according to an exemplary embodiment of the present application, the positioning system 10 including a remote control device 12 and an RTK module 14, the RTK module 14 being in a connected state with the remote control device 12; the remote control device 12 is configured to send positioning differential data to the RTK module; the RTK module 14 is configured to obtain satellite positioning data and the positioning differential data, and determine geographic location information of the RTK module 14 according to the satellite positioning data and the positioning differential data.
For economy of description, the positioning scheme of the present application will be further illustrated with reference to a positioning method applied to a positioning system. It should be understood that the positioning method for the positioning system and the related art in the positioning system are the same, and the related art will not be repeated.
FIG. 2 is a flow chart of a positioning method for a positioning system including a remote control device and an RTK module according to an exemplary embodiment of the present application;
In step 202, if the RTK module is in a connection state with the remote control device, the remote control device sends positioning differential data to the RTK module;
in step 204, the RTK module obtains satellite positioning data and the positioning differential data, and determines geographic location information of the RTK module according to the satellite positioning data and the positioning differential data.
The remote control device 12 may be a control device for controlling the movement of the movable platform, for example, a movement controller of the movable platform, or other general purpose or special purpose processor. The movable platform may be an unmanned aerial vehicle, an automobile, a ship, etc. In one example, the mobile platform may be an unmanned aerial vehicle and the positioning system is configured to determine a flight area of the unmanned aerial vehicle. Correspondingly, the positioning method is used for determining the flight area of the unmanned aerial vehicle. For example, the unmanned aerial vehicle may be an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, the positioning system being for planning a working area of the agricultural unmanned aerial vehicle or the mapping unmanned aerial vehicle, and the method being for planning a working area of the agricultural unmanned aerial vehicle or the mapping unmanned aerial vehicle, respectively. The following embodiments are mainly schematically illustrated using a movable platform as an agricultural unmanned aerial vehicle.
In a specific implementation, when an operator carries the RTK module in a connection state and the remote control device to perform dotting along the boundary of an operation land, the RTK module can receive positioning differential data sent by the remote control device in real time, and therefore, the RTK module can calculate geographic position information of the RTK module by adopting the positioning differential data acquired from the remote control device and satellite positioning data acquired by the RTK module. Because the operator carries the RTK module, the positioning information of the boundary of the operation land block can be obtained according to the geographical position information of the RTK module. Specifically, the operator can perform dotting at regular intervals, and obtain positioning information of the corresponding boundary point by pressing the record button. After the personnel completes the dotting of the whole operation land, in certain scenes, the boundary information of the operation land can be generated aiming at the positioning information of the dotted boundary points, so as to generate flight route information and the like. Then, the remote control device may also upload flight path information to the agricultural unmanned aerial vehicle, which performs a plant protection operation based on the flight path information.
When being used for planning the operation region of agricultural unmanned aerial vehicle aircraft, through the location of centimetre level, can improve the precision of spraying the region, prevent to spray the place outside the region when spraying for the crop and lead to environmental pollution, perhaps the place in the region does not spray and lead to spraying inequality scheduling problem.
The RTK module can be a module capable of acquiring satellite positioning data and receiving positioning differential data sent by the remote control equipment, and can determine geographic position information of the RTK module by utilizing the satellite positioning data and the positioning differential data. The RTK module is internally provided with a GPS function and a positioning differential data resolving function so as to determine high-precision geographic position information of the RTK module.
By way of example, the RTK module may include: a satellite signal receiving antenna, a memory and a processor connected by a communication bus; the satellite signal receiving antenna is used for receiving satellite positioning data; the memory is used for storing computer instructions executable by the processor; the processor is configured to read the computer instructions from the memory to implement the positioning method as follows: receiving positioning differential data sent by the remote control equipment; and acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
In the embodiment of the application, the external RTK module can be connected with the remote control equipment, so that the RTK module receives positioning differential data transmitted by the remote control equipment, determines the geographic position information of the RTK module by utilizing the satellite positioning data acquired by the RTK module and the received positioning differential data, and can also transmit the geographic position information of the RTK module to the remote control equipment.
The connection between the remote control device and the RTK module can be a short-distance wireless communication connection, such as Bluetooth connection, zigBee connection, infrared data connection and the like, or can be a wired connection. In one example, the RTK module is removably connected to the remote control device. According to the embodiment, through the pluggable connection mode of the RTK module and the remote control equipment, the functions of the remote control equipment are more flexible, a user can select according to actual requirements and application scenes, the RTK module can be inserted into the remote control equipment when high-precision positioning is needed, the RTK module is not required to be carried when high-precision positioning is not needed, the remote control equipment is more flexible to use on the basis of more accurate positioning, and user experience is improved.
Further, the RTK module may be an RTK dongle. RTK dongle can insert on remote control device's USB mouth, is an external equipment, has advantages such as small, with low costs, plug, uses more nimble on the basis that the location is more accurate, improves user experience.
The RTK module can combine the satellite positioning data acquired by the RTK module and the received positioning differential data to perform resolving, so that deviation correction is realized, the high-precision centimeter-level positioning requirement of industry users is met, the RTK module is low in cost, small in size and more flexible and efficient in operation.
As an example of the present application, positioning differential data may be obtained by:
the positioning differential data is acquired from the RTK reference station by the remote control device and is sent to the RTK module by the remote control device. Further, the positioning system further comprises an RTK reference station, and the remote control device comprises a wireless communication module, wherein the wireless communication module is used for acquiring the positioning differential data sent by the RTK reference station. The RTK module receives positioning differential data sent by the remote control equipment and determines geographic position information of the RTK module by combining the acquired satellite positioning data.
In general, an RTK reference station may be used to accurately locate a certain coordinate point on a geographic location, so that the coordinate point of the location can be accurately obtained by analyzing the relative location between the certain location and the RTK reference station, and a high-precision positioning result may be obtained by performing real-time carrier phase differential processing using positioning differential data sent by the RTK reference station and satellite positioning data collected by the RTK module.
In particular implementations, the positioning differential data may include RTCM (Radio Technical Commission for Maritime services, international maritime transport radio technical commission) differential data, which may also be referred to as differential RTCM signals. The RTK reference station can send out differential RTCM signals in a broadcast mode or the like, an RTK module in the coverage range of the reference station can receive the differential RTCM signals, and then the current positioning coordinates are calculated by adopting the differential RTCM signals.
For example, an RTK reference station may be erected and configured prior to plant protection operations using an agricultural unmanned aerial vehicle. At the beginning of erection of the RTK reference station, the RTK reference station may be placed at a certain position near the work site, and then the remote control device is connected to the RTK reference station through a wireless communication module in the remote control device. The RTK reference station broadcasts positioning differential data (e.g., RTCM differential data) outwardly. The operator can hold the RTK module in a connected state and the remote control device, and dotting along the boundary of the working land, and the remote control device transmits RTCM differential data sent by the RTK reference station received at the boundary point to the RTK module. The RTK module can acquire geographic position information of the RTK module according to satellite positioning data acquired at the boundary point and the received RTCM differential data, the geographic position information is transmitted to the remote control equipment, and the remote control equipment can determine positioning information of the boundary point according to the geographic position information of the RTK module and send the positioning information of a plurality of boundary points to an upper layer positioning application module (such as APP). The acquisition time of the RTCM differential data is the same as the acquisition time of the satellite positioning data.
It should be understood that the RTK reference station may be erected in a variety of manners, and in addition, an already erected RTK reference station may be adopted, so that an operator does not need to erect the RTK reference station before performing plant protection operation by using the agricultural unmanned aerial vehicle each time, which is not described in detail herein.
In some scenarios, as another example of the present application, the positioning differential data is obtained by the remote control device from a location server. The location server is a server that can provide positioning differential data.
The positioning system further comprises a cellular mobile communication module for acquiring the differential positioning data sent by the location server. The cellular mobile communication module may be a 2G, 3G, 4G, or 5G module, etc.
In one example, the cellular mobile communication module may be integrated into a remote control device to enable the remote control device to obtain differential positioning data sent by the location server using the cellular mobile communication module.
In some cases, the remote control device may not have a built-in cellular mobile communication module, and in order to avoid the problem of high cost caused by modifying the remote control device, the cellular mobile communication module may be connected to the remote control device in the form of an external device. When the cellular mobile communication module is connected with the remote control device, the cellular mobile communication module is used for sending the positioning differential data to the remote control device. Further, the cellular mobile communication module is connected with the remote control equipment in a pluggable manner. By way of example, the 4G module may be a 4G dongle, thereby enabling a pluggable connection of the 4G dongle with the remote control device. In the embodiment, through setting some functional modules to be connected with the remote control equipment in a pluggable manner, the functions of the remote control equipment are more flexible, a user can select according to actual demands and application scenes, and the problems of large volume, high cost and the like caused by integrating all the modules in the remote control equipment are avoided.
It should be understood that the remote control device may also acquire the positioning differential data from the location server in other manners, for example, connect to the location server through wifi hotspots to obtain the positioning differential data, which is not described in detail herein.
High precision positioning may not be required in some application scenarios, for which purpose in one embodiment high precision positioning functions and low precision positioning functions are provided in the remote control device. Accordingly, as shown in FIG. 3, which is a schematic diagram of another positioning system according to an exemplary embodiment of the present application, the positioning system 30 includes a remote control device 32 and an RTK module 34. The remote control device 32 further comprises a protocol parsing module 322, a positioning application module 321 and a positioning module 323, wherein the protocol parsing module 322 is used for:
and if the preset high-precision positioning condition is met, analyzing the geographical position information determined by the RTK module. Further, the analysis data can be sent to a positioning application module of the remote control device;
and if the preset low-precision positioning condition is met, analyzing the positioning data acquired by the positioning module. Further, the analysis data can be sent to a positioning application module of the remote control device.
Accordingly, another positioning method applied to a positioning system is also provided, as shown in fig. 4, which is a flowchart of another positioning method applied to a positioning system according to an exemplary embodiment of the present application, where the positioning system includes a remote control device and an RTK module;
in step 402, if a preset high-precision positioning condition is met, the remote control device sends positioning differential data to the RTK module;
in step 404, the RTK module obtains satellite positioning data and the positioning differential data, and determines geographic location information of the RTK module according to the satellite positioning data and the positioning differential data.
In step 406, the RTK module transmits the determined geographic location information to a remote control device.
In step 408, the remote control device parses the geographic location information sent by the RTK module.
In step 410, when the preset low-precision positioning condition is met, the positioning data collected by the positioning module in the remote control device is analyzed.
The accuracy of the positioning data collected by the positioning module is lower than that of the geographical position information determined by the RTK module, and compared with the RTK module, the positioning module can be called a low-accuracy positioning module or a sub-high-accuracy positioning module. In one example, the positioning module includes, but is not limited to, one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, a beidou positioning module, and the like.
It should be appreciated that the low precision positioning of the positioning module in this embodiment is a relatively high precision positioning of the RTK module, and in fact the low precision positioning may also be a relatively high precision positioning, such as a meter level positioning, etc., particularly configured as desired.
In this embodiment, high-precision positioning data may be obtained when the high-precision positioning condition is satisfied, low-precision positioning data may be obtained when the low-precision positioning condition is satisfied, and different data transmitted by the RTK module and the positioning module may be respectively parsed by the protocol parsing module and transmitted to the upper positioning application module through the unified interface, so that the upper positioning application module does not need to be modified to be compatible with different data. Taking unmanned vehicles as an example, a low-cost high-precision RTK module is used, so that the precision error of the whole operation using process is kept at the centimeter level, the requirement of accurate operation is met, and the unmanned aerial vehicle is small in size and convenient to use. For consumer unmanned aerial vehicle application scene, need not carry out, for example, accurate measurement operation in farmland, need not connect basic station or position server, can use built-in low accuracy positioning module, compromise economical and practical, satisfy daily use scene.
Regarding the positioning condition, in one example, the connection state of the RTK module and the remote control device may be taken as a determination condition of high-precision positioning/low-precision positioning. Specifically, the preset high-precision positioning condition meets the following requirements: the RTK module is in a connection state with the remote control equipment; the preset low-precision positioning condition meets the following conditions: the RTK module is in an unconnected state with the remote control device.
In this example, when the RTK module is disconnected from the remote control device, for example, the RTK dongle module is removed, the remote control device adaptively switches to the positioning module, analyzes the positioning data collected by the positioning module, and sends the analysis data to the positioning application module of the remote control device, so that the high-precision positioning function or the low-precision positioning function is automatically switched according to the connection state of the RTK module and the remote control device. The user can decide whether to use the high-precision positioning function according to whether the RTK module is connected to the remote control equipment, the high-precision and low-precision can be adaptively switched, and the user experience is improved.
As another example, in order to achieve the selectivity of high-precision positioning and low-precision positioning, the satisfaction of the preset high-precision positioning condition may include: the current positioning mode is in a high-precision positioning mode; the meeting of the preset low-precision positioning condition may include: the current positioning mode is in a low-precision positioning mode; the current positioning mode is determined based on a positioning mode instruction input by a user, and the positioning mode instruction comprises: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
In this embodiment, the current positioning mode may be determined by way of inputting a positioning mode instruction, thereby achieving the selectivity of the high-precision positioning mode and the low-precision positioning mode.
After the RTK module determines the geographic position information of the RTK module according to the satellite positioning data and the positioning differential data, the geographic position information of the RTK module can be transmitted to the remote control device. In different application scenarios, the positioning data required by the remote control device may be different, in some scenarios, the positioning data of the current boundary point needs to be positioned, and if the geographic position of the RTK module can directly represent the position of the current boundary point, the geographic position information of the RTK module can be used as the positioning data of the current boundary point. In some scenarios, the operator may characterize the position of the current boundary point by the position of the remote control device, and there may be a distance between the remote control device and the RTK module, and in one example, in order to improve positioning accuracy, the remote control device is further configured to determine the geographical position information of the remote control device according to the geographical position information of the RTK module and the preset distance compensation value. And further uses the geographical location information of the remote control device to perform subsequent positioning related processing.
For example, the preset distance compensation value may be: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
The distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control device may be the distance between the phase center of the satellite signal receiving antenna in the RTK module and the designated position on the remote control device. The designated position may be a preset position such as a center, an edge, etc., or a position of any one point on the remote control device set by the user.
According to the embodiment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment is used as a preset distance compensation value, so that the geographical position information of the remote control equipment with high accuracy can be obtained.
The various technical features in the above embodiments may be arbitrarily combined as long as there is no conflict or contradiction between the features, but are not described in detail, and therefore, the arbitrary combination of the various technical features in the above embodiments also falls within the scope of the disclosure of the present application.
Fig. 5 is a schematic flow chart of a positioning method according to an exemplary embodiment of the present application, where the method is applied to a remote control device, and if an RTK module is in a connection state with the remote control device, the method includes:
In step 502, transmitting positioning differential data to the RTK module;
in step 504, geographic location information of the RTK module sent by the RTK module is received, where the geographic location information is obtained according to satellite positioning data and the positioning differential data acquired by the RTK module.
In one embodiment, the positioning differential data comprises RTCM differential data.
In one embodiment, the positioning differential data is obtained from an RTK reference station.
In one embodiment, the positioning differential data is obtained from a location server.
In one embodiment, the method further comprises:
if a preset high-precision positioning condition is met, analyzing the geographical position information determined by the RTK module;
and if the preset low-precision positioning condition is met, analyzing positioning data acquired by a positioning module in the remote control equipment.
In one embodiment, the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, and a beidou positioning module.
In one embodiment, the preset high-precision positioning condition is satisfied by: the RTK module is in a connection state with the remote control equipment; the preset low-precision positioning condition meets the following conditions: the RTK module is in an unconnected state with the remote control device.
In one embodiment, the preset high-precision positioning condition is satisfied by: the current positioning mode is in a high-precision positioning mode; the preset low-precision positioning condition meets the following conditions: the current positioning mode is in a low-precision positioning mode;
the current positioning mode is determined based on a positioning mode instruction input by a user, and the positioning mode instruction comprises: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
In one embodiment, the method further comprises: and determining the geographical position information of the remote control equipment according to the geographical position information of the RTK module and a preset distance compensation value.
In one embodiment, the preset distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
In one embodiment, the remote control device is a remote control device of an unmanned aerial vehicle, and the method is for determining a flight area of the unmanned aerial vehicle.
In one embodiment, the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, and the method is used to plan a work area of the agricultural unmanned aerial vehicle or mapping unmanned aerial vehicle.
The various technical features in the above embodiments may be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features, but are limited to a spread and are not described one by one.
Accordingly, a positioning method is also provided from the RTK module side. As shown in fig. 6, there is a flowchart of another positioning method according to an exemplary embodiment of the present application, where the method is applied to an RTK module, and if the RTK module is in a connection state with a remote control device, the method includes:
in step 602, positioning differential data sent by the remote control device is received;
in step 604, satellite positioning data is obtained and geographic location information of the RTK module is determined from the satellite positioning data and the positioning differential data.
Correspondingly, a remote control device is also provided. As shown in fig. 7, which is a hardware configuration diagram of a remote control device schematically illustrated in accordance with an exemplary embodiment of the present application, the remote control device 70 includes: a memory 710 and a processor 720. The memory 710 is coupled to the processor via a communication bus for storing computer instructions executable by the processor. The processor 720 is configured to read computer instructions from the memory to implement the following positioning method:
If the RTK module is in a connection state with the remote control device, sending positioning differential data to the RTK module;
and receiving the geographical position information of the RTK module, which is sent by the RTK module, wherein the geographical position information is obtained according to satellite positioning data and the positioning differential data acquired by the RTK module.
It should be understood that, in addition to the memory 710 and the processor 720 shown in fig. 7, the remote control device may also include other hardware, such as a network interface, a memory, etc., according to the actual functions of the device, which will not be described herein.
In one embodiment, the positioning differential data comprises RTCM differential data.
In one embodiment, the positioning differential data is obtained from an RTK reference station.
In one embodiment, the positioning differential data is obtained from a location server.
In one embodiment, the apparatus is further for reading computer instructions from the memory to effect the steps of:
if a preset high-precision positioning condition is met, analyzing the geographical position information determined by the RTK module;
and if the preset low-precision positioning condition is met, analyzing positioning data acquired by a positioning module in the remote control equipment.
In one embodiment, the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, and a beidou positioning module.
In one embodiment, the preset high-precision positioning condition is satisfied by: the RTK module is in a connection state with the remote control equipment; the preset low-precision positioning condition meets the following conditions: the RTK module is in an unconnected state with the remote control device.
In one embodiment, the preset high-precision positioning condition is satisfied by: the current positioning mode is in a high-precision positioning mode; the preset low-precision positioning condition meets the following conditions: the current positioning mode is in a low-precision positioning mode;
the current positioning mode is determined based on a positioning mode instruction input by a user, and the positioning mode instruction comprises: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
In one embodiment, the positioning differential data comprises RTCM differential data.
In one embodiment, the apparatus is further for reading computer instructions from the memory to effect the steps of:
and determining the geographical position information of the remote control equipment according to the geographical position information of the RTK module and a preset distance compensation value.
In one embodiment, the preset distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
In one embodiment, the remote control device is a remote control device of an unmanned aerial vehicle, the remote control device being configured to determine a flight area of the unmanned aerial vehicle.
In one embodiment, the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, and the remote control device is used to plan a work area of the agricultural unmanned aerial vehicle or mapping unmanned aerial vehicle.
Accordingly, an embodiment of the present application further provides an RTK module, as shown in fig. 8, which is a hardware structure diagram of the RTK module shown in the present application according to an exemplary embodiment, where the RTK module 80 includes: a satellite signal receiving antenna 810, a memory 820, and a processor 830 connected by a communication bus;
the satellite signal receiving antenna 810 is configured to receive satellite positioning data;
the memory 820 is used to store computer instructions executable by the processor;
the processor 830 is configured to read computer instructions from the memory 820 to implement the following positioning method:
Receiving positioning differential data sent by the remote control equipment;
and acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data.
In one embodiment, the RTK module is removably coupled to the remote control device.
In one embodiment, the RTK module is an RTK dongle.
Correspondingly, the embodiment of the application also provides a computer storage medium, wherein the storage medium stores program instructions, and the program instructions realize the positioning method when being executed by a processor.
For the positioning method and the remote control device as well as the RTK module embodiments, reference is made to the partial description of the positioning system embodiments for the relevance of the same, since they essentially correspond to the positioning system embodiments. The method and apparatus embodiments described above are merely illustrative, in which the elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
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. 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.
The foregoing has outlined the detailed description of the method and apparatus provided in the embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the method and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present application should not be construed as being limited thereto in view of the foregoing.
Claims (52)
1. The positioning system is characterized by comprising remote control equipment and an RTK module, wherein if the RTK module is in a connection state with the remote control equipment, the current positioning mode is switched to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control equipment, the current positioning mode is switched to a low-precision positioning mode;
in the high-precision positioning mode, the remote control device is used for sending positioning differential data to the RTK module; the RTK module is used for acquiring satellite positioning data and the positioning differential data and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data; the remote control equipment is used for analyzing the geographical position information of the RTK module;
in the low-precision positioning mode, the remote control device is used for analyzing positioning data acquired by a positioning module of the remote control device.
2. The system of claim 1, wherein the positioning system further comprises an RTK reference station, the remote control device comprising a wireless communication module for acquiring the positioning differential data transmitted by the RTK reference station.
3. The system of claim 1, wherein the positioning system further comprises a cellular mobile communication module for acquiring the differential positioning data sent by a location server.
4. A system according to claim 3, wherein the cellular mobile communication module is removably connected to the remote control device for transmitting the positioning differential data to the remote control device when the cellular mobile communication module is connected to the remote control device.
5. The system of claim 1, wherein the remote control device further comprises a protocol parsing module, a positioning application module, and a positioning module, the protocol parsing module configured to:
under the high-precision positioning mode, analyzing the geographical position information determined by the RTK module, and sending analysis data to a positioning application module of the remote control equipment;
and in the low-precision positioning mode, analyzing the positioning data acquired by the positioning module and sending the analyzed data to a positioning application module of the remote control equipment.
6. The system of claim 5, wherein the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, and a beidou positioning module.
7. The system of claim 5, wherein the current positioning mode is determined based on a user-entered positioning mode instruction comprising: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
8. The system of claim 1, wherein the positioning differential data comprises RTCM differential data.
9. The system of claim 1, wherein the remote control device is further configured to determine the geographical location information of the remote control device based on the geographical location information of the RTK module and a preset distance compensation value.
10. The system of claim 9, wherein the preset distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
11. The system of claim 1, wherein the RTK module is removably coupled to the remote control device.
12. The system of claim 11, wherein the RTK module is an RTK dongle.
13. The system of any one of claims 1-12, wherein the remote control device is a remote control device of an unmanned aerial vehicle, and the positioning system is configured to determine a flight area of the unmanned aerial vehicle.
14. The system of claim 13, wherein the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, and the positioning system is configured to plan a work area of the agricultural unmanned aerial vehicle or the mapping unmanned aerial vehicle.
15. A positioning method applied to a positioning system, wherein the positioning system comprises a remote control device and an RTK module, the method comprising:
if the RTK module is in a connection state with the remote control device, switching the current positioning mode to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control device, switching the current positioning mode to a low-precision positioning mode;
in the high-precision positioning mode, the remote control device is used for sending positioning differential data to the RTK module; the RTK module is used for acquiring satellite positioning data and the positioning differential data and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data; the remote control equipment is used for analyzing and applying the geographical position information of the RTK module;
in the low-precision positioning mode, the remote control device is used for analyzing and applying positioning data acquired by a positioning module of the remote control device.
16. The method of claim 15, wherein the positioning differential data is obtained by the remote control device from an RTK reference station.
17. The method of claim 15, wherein the positioning system further comprises a cellular mobile communication module, the positioning differential data being obtained from a location server by the cellular mobile communication module.
18. The method of claim 17, wherein the cellular mobile communication module is removably coupled to the remote control device for transmitting the positioning differential data to the remote control device when the cellular mobile communication module is coupled to the remote control device.
19. The method of claim 15, wherein the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, a beidou positioning module.
20. The method of claim 15, wherein the current positioning mode is determined based on a user-entered positioning mode instruction comprising: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
21. The method of claim 15, wherein the positioning differential data comprises RTCM differential data.
22. The method of claim 15, wherein the method further comprises:
and determining the geographical position information of the remote control equipment according to the geographical position information of the RTK module and a preset distance compensation value.
23. The method of claim 22, wherein the predetermined distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
24. The method of claim 15, wherein the RTK module is removably coupled to the remote control device.
25. The method of claim 24, wherein the RTK module is an RTK dongle.
26. The method according to any one of claims 15-25, wherein the remote control device is a remote control device of an unmanned aerial vehicle, the method being for determining a flight area of the unmanned aerial vehicle.
27. The method of claim 26, wherein the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, the method being used to plan a working area of the agricultural unmanned aerial vehicle or mapping unmanned aerial vehicle.
28. A positioning method, wherein the method is applied to a remote control device, the method comprising:
if the RTK module is in a connection state with the remote control equipment, switching the current positioning mode to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control equipment, switching the current positioning mode to a low-precision positioning mode;
in the high-precision positioning mode, the remote control device is used for sending positioning differential data to the RTK module; the RTK module is used for acquiring satellite positioning data and the positioning differential data and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data; the remote control equipment is used for analyzing the geographical position information of the RTK module;
in the low-precision positioning mode, the remote control device is used for analyzing positioning data acquired by a positioning module of the remote control device.
29. The method of claim 28, wherein the positioning differential data comprises RTCM differential data.
30. The method of claim 28, wherein the positioning differential data is obtained from an RTK reference station.
31. The method of claim 28, wherein the positioning differential data is obtained from a location server.
32. The method of claim 28, wherein the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, a beidou positioning module.
33. The method of claim 28, wherein the current positioning mode is determined based on a user-entered positioning mode instruction comprising: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
34. The method of claim 28, wherein the method further comprises:
and determining the geographical position information of the remote control equipment according to the geographical position information of the RTK module and a preset distance compensation value.
35. The method of claim 34, wherein the predetermined distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
36. The method according to any one of claims 28-35, wherein the remote control device is a remote control device of an unmanned aerial vehicle, the method being for determining a flight area of the unmanned aerial vehicle.
37. The method of claim 36, wherein the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, the method being for planning a work area of the agricultural unmanned aerial vehicle or mapping unmanned aerial vehicle.
38. A positioning method, wherein the method is applied to an RTK module, the method comprising:
under the condition that the current positioning mode is switched to the high-precision positioning mode, positioning differential data sent by remote control equipment are received; acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning difference data so that the remote control equipment analyzes the geographic position information of the RTK module;
if the RTK module is in a connection state with the remote control equipment, switching the current positioning mode to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control equipment, switching the current positioning mode to a low-precision positioning mode; in the low-precision positioning mode, the remote control device is used for analyzing positioning data acquired by a positioning module of the remote control device.
39. A remote control apparatus, comprising: a memory and a processor;
The memory is connected with the processor through a communication bus and is used for storing computer instructions executable by the processor;
the processor is configured to read computer instructions from the memory to implement a positioning method as follows:
if the RTK module is in a connection state with the remote control equipment, switching the current positioning mode to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control equipment, switching the current positioning mode to a low-precision positioning mode;
in the high-precision positioning mode, the remote control device is used for sending positioning differential data to the RTK module; the RTK module is used for acquiring satellite positioning data and the positioning differential data and determining geographic position information of the RTK module according to the satellite positioning data and the positioning differential data; the remote control equipment is used for analyzing the geographical position information of the RTK module;
in the low-precision positioning mode, the remote control device is used for analyzing positioning data acquired by a positioning module of the remote control device.
40. The apparatus of claim 39, wherein the positioning differential data comprises RTCM differential data.
41. The apparatus of claim 39, wherein the positioning differential data is obtained from an RTK reference station.
42. The apparatus of claim 39, wherein the positioning differential data is obtained from a location server.
43. The apparatus of claim 39, wherein the positioning module is one or more of a GPS positioning module, a GLONASS (GLONASS) positioning module, a Galileo (Galileo) positioning module, a beidou positioning module.
44. The apparatus of claim 39, wherein the current positioning mode is determined based on a user-entered positioning mode instruction comprising: an instruction to enable a high precision positioning mode or an instruction to enable a low precision positioning mode.
45. The apparatus of claim 39, wherein the positioning differential data comprises RTCM differential data.
46. The apparatus of claim 39, wherein the apparatus is further for reading computer instructions from the memory to effect the steps of:
and determining the geographical position information of the remote control equipment according to the geographical position information of the RTK module and a preset distance compensation value.
47. The apparatus of claim 46, wherein the preset distance compensation value is: when the RTK module is connected with the remote control equipment, the distance between the phase center of the satellite signal receiving antenna in the RTK module and the remote control equipment.
48. The device of any one of claims 39-47, wherein the remote control device is a remote control device of an unmanned aerial vehicle, the remote control device being configured to determine a flight area of the unmanned aerial vehicle.
49. The apparatus of claim 48, wherein the unmanned aerial vehicle is an agricultural unmanned aerial vehicle or a mapping unmanned aerial vehicle, and the remote control apparatus is configured to plan a work area of the agricultural unmanned aerial vehicle or mapping unmanned aerial vehicle.
50. An RTK module, comprising: a satellite signal receiving antenna, a memory and a processor connected by a communication bus;
the satellite signal receiving antenna is used for receiving satellite positioning data;
the memory is used for storing computer instructions executable by the processor;
under the condition that the current positioning mode is switched to the high-precision positioning mode, positioning differential data sent by remote control equipment are received; acquiring satellite positioning data, and determining geographic position information of the RTK module according to the satellite positioning data and the positioning difference data so that the remote control equipment analyzes the geographic position information of the RTK module;
If the RTK module is in a connection state with the remote control equipment, switching the current positioning mode to a high-precision positioning mode, and if the RTK module is in an unconnected state with the remote control equipment, switching the current positioning mode to a low-precision positioning mode; in the low-precision positioning mode, the remote control device is used for analyzing and applying positioning data acquired by a positioning module of the remote control device.
51. The RTK module of claim 50, wherein the RTK module is removably connected to the remote control device.
52. The RTK module of claim 50, wherein the RTK module is an RTK dongle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/115593 WO2021087727A1 (en) | 2019-11-05 | 2019-11-05 | Positioning method and system, remote control device, and rtk module |
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| CN112334791B true CN112334791B (en) | 2024-03-08 |
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