CN112690008A

CN112690008A - Unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle

Info

Publication number: CN112690008A
Application number: CN201980034088.XA
Authority: CN
Inventors: 张志鹏; 王焱; 赵丹; 饶雄斌
Original assignee: Shanghai Feilai Information Technology Co ltd
Current assignee: Shanghai Feilai Information Technology Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-20
Anticipated expiration: 2039-09-30
Also published as: CN112690008B; WO2021062670A1

Abstract

An unmanned aerial vehicle positioning method, a terminal device and an unmanned aerial vehicle are provided, the method includes acquiring at least one position point of the terminal device, and acquiring delay information of signal transmission between the terminal device and the unmanned aerial vehicle when the terminal device is at each position point (S110); determining a communication distance between each position point and the unmanned aerial vehicle according to each delay information (S120); position information of the unmanned aerial vehicle is determined based on the at least one location point and the communication distance of each location point (S130).

Description

Unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle positioning method, terminal equipment and an unmanned aerial vehicle.

Background

When the unmanned aerial vehicle flies, the unmanned aerial vehicle can automatically land or explode due to low electric quantity or other unexpected factors. In this case, the unmanned aerial vehicle may push the coordinates of the fryer point or the autonomous landing point to a terminal device such as a mobile terminal or a remote controller carried by the user. And the terminal equipment instructs the user to search for the unmanned aerial vehicle according to the coordinates. In the process of searching for the unmanned aerial vehicle, the user judges the position relation between the terminal equipment and the fryer point by combining the position information of the terminal equipment.

However, when the unmanned aerial vehicle explodes or lands autonomously in a work area with a complex environment, the GPS signal of the unmanned aerial vehicle may be affected by obstructions such as a grass, a forest, or a mountain, as the height of the unmanned aerial vehicle decreases, and the communication between the unmanned aerial vehicle and the terminal device may be disconnected. The coordinates of the unmanned aerial vehicle obtained in this case are the position coordinates when the communication link is broken, and are not the actual coordinates of the unmanned aerial vehicle. After the unmanned aerial vehicle explodes, the accuracy of positioning of the unmanned aerial vehicle is affected due to uncertain factors such as posture and shielding, even GPS (global positioning system) failure is caused, the terminal equipment cannot accurately position the unmanned aerial vehicle, and a user cannot find the unmanned aerial vehicle quickly or even cannot find the unmanned aerial vehicle.

Disclosure of Invention

Based on this, the specification provides an unmanned aerial vehicle positioning method, terminal equipment and an unmanned aerial vehicle, and aims to solve the technical problems that the existing unmanned aerial vehicle positioning method cannot accurately position the unmanned aerial vehicle when the GPS positioning of the unmanned aerial vehicle is inaccurate, and the like.

In a first aspect, the present specification provides an unmanned aerial vehicle positioning method for a terminal device, the method comprising:

acquiring at least one position point of the terminal equipment, and acquiring delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point, wherein the at least one position point is at least one position on a path where a user carries the terminal equipment to move;

determining a communication distance between each position point and the unmanned aerial vehicle according to each delay information;

and determining the position information of the unmanned aerial vehicle according to at least one position point and the communication distance corresponding to each position point.

In a second aspect, the present specification provides an unmanned aerial vehicle positioning method for an unmanned aerial vehicle, the method comprising:

responding to a terminal signal sent by a terminal device, sending a feedback signal to the terminal device, so that the terminal device determines a position point corresponding to the feedback signal and delay information of signal transmission between the terminal device and the unmanned aerial vehicle, and enabling the terminal device to determine a communication distance between the terminal device and the unmanned aerial vehicle according to the delay information and determine position information of the unmanned aerial vehicle according to the position point and the communication distance;

and the position point is the position on the path of the user moving with the terminal equipment.

In a third aspect, the present specification provides an unmanned aerial vehicle positioning method for an unmanned aerial vehicle, the method comprising:

when the aircraft is in a state of explosion or low-power landing, sending a broadcast signal, so that terminal equipment sends a terminal signal to the unmanned aerial vehicle according to the broadcast signal;

responding to a terminal signal sent by the terminal equipment, sending a feedback signal to the terminal equipment, so that the terminal equipment determines a position point corresponding to the feedback signal and delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle, and enabling the terminal equipment to determine a communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information and determine position information of the unmanned aerial vehicle according to the position point and the communication distance;

In a fourth aspect, the present specification provides an unmanned aerial vehicle positioning method for a terminal device, the method comprising:

receiving aircraft positions sent by the unmanned aircraft;

determining a position point of the terminal equipment, and determining a positioning distance corresponding to the position point according to the position point and the aircraft position;

acquiring delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at the position point, and determining a communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information;

judging whether the aircraft position is effective or not according to the communication distance and the positioning distance;

if the position of the aircraft is judged to be invalid, determining the position information of the unmanned aerial vehicle according to at least one position point of the terminal equipment and the communication distance between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point;

In a fifth aspect, the present specification provides a terminal device comprising a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

In a sixth aspect, the present specification provides an unmanned aerial vehicle comprising a memory and a processor;

the memory is used for storing a computer program;

In a seventh aspect, the present specification provides an unmanned aerial vehicle comprising a memory and a processor;

the memory is used for storing a computer program;

In an eighth aspect, the present specification provides a terminal device comprising a memory and a processor;

the memory is used for storing a computer program;

receiving aircraft positions sent by the unmanned aircraft;

In a ninth aspect, the present specification provides a flight system, which comprises the terminal device and the unmanned aerial vehicle.

In a tenth aspect, the present specification provides a computer readable storage medium having stored thereon a computer program which can be processed by a processor to implement the method described above.

The embodiment of the specification provides an unmanned aerial vehicle positioning method, a terminal device, an unmanned aerial vehicle, a flight system and a storage medium, wherein a communication distance between the terminal device and the unmanned aerial vehicle is determined by acquiring delay information of signal transmission between the terminal device and the unmanned aerial vehicle, and then whether the position of the unmanned aerial vehicle positioned by the unmanned aerial vehicle is effective is judged according to the communication distance; and when the position of the unmanned aerial vehicle is inaccurate or the terminal equipment cannot acquire the position of the unmanned aerial vehicle from the unmanned aerial vehicle, the position information of the unmanned aerial vehicle can be determined according to the communication distance. On one hand, the positioning accuracy can be improved, the explosion point or the autonomous landing point of the unmanned aerial vehicle can be estimated when the GPS of the unmanned aerial vehicle fails or drifts too much, and the success rate of finding the unmanned aerial vehicle by a user is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure as claimed.

Drawings

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

Fig. 1 is a schematic flowchart of an unmanned aerial vehicle positioning method for a terminal device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of terminal device and unmanned aerial vehicle communication;

FIG. 3 is a schematic diagram of determining a position of an UAV based on a location point and a communication distance, in one embodiment;

FIG. 4 is a schematic illustration of determining the position of an aircraft based on location points and communication distances in another embodiment;

FIG. 5 is a schematic flow chart diagram of one embodiment of a method for unmanned aerial vehicle positioning for a terminal device;

FIG. 6 is a schematic flow chart diagram of another embodiment of a method for unmanned aerial vehicle positioning for a terminal device;

FIG. 7 is a schematic flow chart diagram of a method for unmanned aerial vehicle positioning for an unmanned aerial vehicle provided by an embodiment of the present description;

FIG. 8 is a schematic flow chart diagram of an embodiment of a method for unmanned aerial vehicle positioning for an unmanned aerial vehicle;

FIG. 9 is a schematic flow chart diagram of a method for UAV positioning in accordance with another embodiment of the present disclosure;

FIG. 10 is a schematic flow chart diagram of a method for locating an UAV for a terminal device according to another embodiment of the present disclosure;

fig. 11 is a schematic block diagram of a terminal device provided in an embodiment of the present specification;

fig. 12 is a schematic block diagram of an unmanned aerial vehicle provided in an embodiment of the present description.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

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

Referring to fig. 1, fig. 1 is a schematic flow chart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present disclosure. The unmanned aerial vehicle positioning method can be applied to terminal equipment and is used for the processes of determining the position of an aerial vehicle and the like by the terminal equipment; the terminal equipment can comprise at least one of a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, wearable equipment, a remote controller and the like; unmanned vehicles can be rotor type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicle, hexa-rotor unmanned aerial vehicle, octa-rotor unmanned aerial vehicle, and also can be fixed wing unmanned aerial vehicles.

Further, as shown in fig. 2, the terminal device and the unmanned aerial vehicle communicate with each other through a wireless channel.

Illustratively, as shown in fig. 2, the terminal device may display the position B of the unmanned aerial vehicle and the position a of the terminal device.

As shown in fig. 1, the method for locating an unmanned aerial vehicle according to the present embodiment includes steps S110 to S130.

S110, at least one position point of the terminal equipment is obtained, and delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point is obtained.

Wherein the at least one location point is at least one location on a path along which the user moves with the terminal device.

Specifically, the terminal device is equipped with a positioning device, and the position of the terminal device can be specified by a navigation system, for example.

For example, if the unmanned aerial vehicle lands due to a fryer or automatically lands due to low power, the landing place can be pushed to the terminal device, and then the user can take the terminal device to land the landing place to find the unmanned aerial vehicle. As shown in fig. 3, the path along which the user can move to the unmanned aerial vehicle with the terminal includes location point 1, location point 2, and location point 3. For example, the user moves from position point 1 to position point 2, and then from position point 2 to position point 3.

Illustratively, as shown in fig. 3, the terminal device determines the delay of signal transmission with the unmanned aerial vehicle at least one position point such as position point 1, position point 2 and/or position point 3. For example, the delay of signal transmission between the terminal device and the unmanned aerial vehicle at position point 1 is T1, and the delay of signal transmission between the terminal device and the unmanned aerial vehicle at position point 2 is T2.

For example, if the unmanned aerial vehicle lands due to a fryer or due to low power, the landing place can be pushed to the terminal device, and then the user can take the terminal device to land the landing place to find the unmanned aerial vehicle. During the process that the user carries the terminal device to move, the terminal device can communicate with the unmanned aerial vehicle, so that the communication delay between the terminal device and the unmanned aerial vehicle can be determined.

Illustratively, the terminal device determines delay information of signal transmission with the unmanned aerial vehicle at a certain frequency. For example, at a certain period, the terminal device determines that the delay is T1 at location point 1; at some period thereafter, the terminal device determines the delay to be T2 at location point 2.

For example, before the unmanned aerial vehicle lands at a fryer or due to low power, the terminal device may acquire a location of the unmanned aerial vehicle from the unmanned aerial vehicle, and then the terminal device directs the user to travel to this location. The user moves with the terminal device from location point 1 to location point 2 and then to location point 3.

In some embodiments, the terminal device determines the delay information based on a time at which a terminal signal is transmitted to the UAV and a time at which the feedback signal is received.

Specifically, the terminal device transmits a terminal signal to the unmanned aerial vehicle when communication delay with the unmanned aerial vehicle needs to be determined. The unmanned aerial vehicle responds to a terminal signal sent by the terminal equipment and sends a feedback signal to the terminal equipment. And the terminal equipment determines delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle according to the time difference between the terminal signal sending and the feedback signal receiving. The delay includes a Time when the signal is transmitted from the terminal device to the unmanned aerial vehicle and a Time when the signal is transmitted from the unmanned aerial vehicle to the terminal device, and therefore the delay information of the signal transmission between the terminal device and the unmanned aerial vehicle includes a Round-Trip Time (RTT) of the signal.

For example, the step S110 of obtaining the location point of the terminal device includes determining the location point corresponding to the feedback signal. For example, the location when the terminal signal is transmitted or the location when the feedback signal is received.

In some embodiments, the unmanned aerial vehicle transmits a broadcast signal while in a fryer or low-battery landing state. If the terminal equipment receives the broadcast signal, the communication connection can be established with the unmanned aerial vehicle.

After establishing communication connection with the unmanned aerial vehicle, the terminal device may send a terminal signal to the unmanned aerial vehicle, so that the unmanned aerial vehicle sends a feedback signal according to the interrupt signal.

When the unmanned aerial vehicle is in a state of explosion or low-power landing, the terminal equipment can conveniently detect the unmanned aerial vehicle in time and establish communication with the unmanned aerial vehicle by sending the broadcast signal with smaller data volume, the low power consumption of the unmanned aerial vehicle can be kept, and the electric quantity of the unmanned aerial vehicle is prevented from being exhausted when the unmanned aerial vehicle is not found.

And S120, determining the communication distance between each position point and the unmanned aerial vehicle according to each delay information.

Illustratively, by detecting the time interval between the transmission of the packet and the reception of the packet, the relative distance between the terminal device and the unmanned aerial vehicle can be calculated more accurately.

For example, for a strictly synchronous communication system, the maximum error of the round-trip distance between the terminal device and the unmanned aerial vehicle, which is determined by the round-trip delay, is a distance corresponding to 0.5 sampling points. For example, when the sampling frequency fs is 30Msps, the estimation error of the round trip distance is maximum: 0.5 xc/fs-5 meters, where c represents the speed of signal transmission, the maximum estimated error in the one-way distance between the terminal equipment and the unmanned aerial vehicle is 5/2-2.5 meters.

In some embodiments, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, the method further includes: and adjusting the sampling frequency according to the communication distance.

In some embodiments, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, the method further includes: and sending the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle adjusts the sampling frequency according to the communication distance.

For example, if the communication distance between the terminal device and the unmanned aerial vehicle at a certain location point is greater than a preset distance threshold, the terminal device and/or the unmanned aerial vehicle may adopt a smaller sampling frequency; if the communication distance between the terminal device and the unmanned aerial vehicle is smaller than the preset distance threshold when the terminal device is at a certain position point as the user approaches the unmanned aerial vehicle, the terminal device and/or the unmanned aerial vehicle can adopt a larger sampling frequency. Therefore, when the user is far away from a fryer point or an autonomous landing point of the unmanned aerial vehicle, a large distance error is allowed, but the terminal device and/or the unmanned aerial vehicle can reduce energy consumption by adopting a small sampling frequency, and the endurance time of the terminal device and/or the unmanned aerial vehicle is prolonged; and when the user is close to the fryer point or the autonomous landing point of the unmanned aerial vehicle, the distance error is reduced by adopting a larger sampling frequency through the terminal equipment and/or the unmanned aerial vehicle, and the precision of distance judgment and position determination is increased.

In some embodiments, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, the method further includes: and adjusting the signal frequency of signal transmission between the unmanned aerial vehicle and the unmanned aerial vehicle according to the communication distance.

In some embodiments, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, the method further includes: and sending the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle adjusts the signal frequency of signal transmission between the unmanned aerial vehicle and the terminal equipment according to the communication distance.

For example, if the communication distance between the terminal device and the unmanned aerial vehicle at a certain location point is greater than a preset distance threshold, the terminal device and/or the unmanned aerial vehicle may adopt a smaller signal frequency; if the communication distance between the terminal device and the unmanned aerial vehicle is smaller than the preset distance threshold when the terminal device is at a certain position point as the user approaches the unmanned aerial vehicle, the terminal device and/or the unmanned aerial vehicle can adopt a larger signal frequency. Therefore, when the user is far away from the explosion point or the autonomous landing point of the unmanned aerial vehicle, the terminal device and/or the unmanned aerial vehicle can reduce energy consumption by adopting a smaller signal frequency, and the endurance time of the terminal device and/or the unmanned aerial vehicle is prolonged.

Illustratively, the communication distance represents a one-way distance to the unmanned aerial vehicle determined based on the delay information when the terminal device is at a location point.

For example, as shown in fig. 3, the communication distance between the position point 1 and the unmanned aerial vehicle is L1, the communication distance between the position point 2 and the unmanned aerial vehicle is L2, and the communication distance between the position point 3 and the unmanned aerial vehicle is L3.

S130, determining the position information of the unmanned aerial vehicle according to at least one position point and the communication distance corresponding to each position point.

Based on the communication distance with higher accuracy, the terminal equipment can determine the position of the unmanned aerial vehicle more accurately. Even if the positioning device carried by the unmanned aerial vehicle fails or is not positioned accurately, the terminal equipment can guide the user to go to the position of the unmanned aerial vehicle to find the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle.

For example, if it is determined that the positioning device mounted on the unmanned aerial vehicle fails, the position information of the unmanned aerial vehicle is determined according to at least one of the position points and the communication distance corresponding to each of the position points. Exemplary, unmanned aerial vehicle-mounted positioning device failures include: the communication between the unmanned aerial vehicle and the terminal equipment is disconnected, and the position determined by the positioning device carried by the unmanned aerial vehicle is obtained by digging, or the position cannot be determined due to damage, shielding and the like of the positioning device carried by the unmanned aerial vehicle.

For example, if the aircraft position is not acquired from the unmanned aerial vehicle at a preset interval, it is determined that a positioning device carried by the unmanned aerial vehicle is failed.

For example, when the unmanned aerial vehicle explodes or lands at a low power level, the height of the unmanned aerial vehicle is reduced, so that the shielding between the unmanned aerial vehicle and the terminal equipment is increased, and the communication is often disconnected. Or the positioning device of the unmanned aerial vehicle is damaged or the position of the unmanned aerial vehicle cannot be determined due to shielding and the like. The aircraft position acquired by the unmanned aerial vehicle positioning device in this case is the position coordinate at the time of communication link breakage and is not the actual coordinate of the unmanned aerial vehicle.

For example, if the aircraft position is determined to be invalid, the position information of the unmanned aerial vehicle is determined according to at least one position point and the communication distance corresponding to each position point.

Exemplary aircraft position failures include: the aircraft position drift determined by the positioning device of the unmanned aircraft is large and not accurate enough.

For example, although the unmanned aerial vehicle can communicate with the terminal device, and the positioning device of the unmanned aerial vehicle can also determine the position of the unmanned aerial vehicle, the accuracy of the unmanned aerial vehicle in obtaining the coordinates of the final landing point is affected due to uncertain factors such as the attitude and the shielding of the unmanned aerial vehicle, and the drift is large.

In the case where the communication is disconnected, the positioning device of the unmanned aerial vehicle fails, or the position of the aircraft is inaccurate, the position information of the unmanned aerial vehicle can be determined through steps S110 to S130 without depending on the determination of the position of the unmanned aerial vehicle by the unmanned aerial vehicle positioning device, and a higher accuracy of the position information can be ensured.

In some embodiments, after determining the communication distance between the location point and the UAV, the terminal device outputs the communication distance to prompt a user for a current distance to the UAV.

For example, when the user carries the terminal device to the location point 2, the determined communication distance is L2, and the terminal device outputs the distance L2 in a manner of displaying and/or playing voice. The position of the unmanned aerial vehicle can be conveniently judged by a user.

In some embodiments, the terminal device obtains at least three location points of the terminal device, and determines the location information of the unmanned aerial vehicle according to the communication distances corresponding to the at least three location points and the respective location points.

Illustratively, as shown in fig. 3, an intersection point is determined from the coordinates of the position point 1, the position point 2, and the position point 3, and the communication distance L1 of the terminal device with the unmanned aerial vehicle at the position point 1, the communication distance L2 with the unmanned aerial vehicle at the position point 2, and the communication distance L3 with the unmanned aerial vehicle at the position point 3, and the coordinates of the intersection point are determined as the position information of the unmanned aerial vehicle.

In other embodiments, the terminal device determines the position information of the unmanned aerial vehicle according to the direction of the unmanned aerial vehicle relative to the terminal device when the terminal device is at least one of the location points and the communication distance corresponding to at least one of the location points and each of the location points.

Illustratively, as shown in fig. 4, the terminal device determines two intersections from the location point 1, the location point 2, and the communication distances L1 and L2. When the terminal device detects that the direction of the unmanned aerial vehicle is indicated by an arrow at the position point 2, the coordinates of the intersection point on the left side in fig. 2 may be determined as the position information of the unmanned aerial vehicle.

For example, the unmanned aerial vehicle is also equipped with a positioning device, and the position of the unmanned aerial vehicle determined by the positioning device can be sent to the terminal equipment. The terminal device receives the aircraft position sent by the unmanned aerial vehicle, and then the direction of the unmanned aerial vehicle relative to the terminal device when the terminal device is at the position point is determined according to the position point when the terminal device receives the aircraft position and the aircraft position.

For example, if the terminal device receives the aircraft position at position point 2, the direction of the unmanned aerial vehicle with respect to position point 2 can be determined.

Exemplary, the unmanned aerial vehicle positioning method further comprises: and when the terminal equipment transmits signals between the terminal equipment and the unmanned aerial vehicle, determining the direction of the unmanned aerial vehicle relative to the terminal equipment according to the transmitted signals.

For example, the terminal device may detect a reception angle at which a signal is received from the unmanned aerial vehicle, so that the direction of the unmanned aerial vehicle with respect to the terminal device may be determined.

For example, when the terminal device detects the signal receiving angle with high accuracy, the terminal device may determine the position information of the unmanned aerial vehicle according to a position point and a communication distance between the terminal device and the unmanned aerial vehicle at the position point.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: and receiving the aircraft position sent by the unmanned aircraft, and determining the positioning distance corresponding to the position point according to the aircraft position and the position point of the terminal equipment.

Specifically, the unmanned aerial vehicle determines the position of the aircraft through a positioning device carried by the unmanned aerial vehicle, and sends the position of the aircraft to the terminal device. The terminal equipment can determine the current position point of the terminal equipment according to the positioning device carried by the terminal equipment, so that the positioning distance between the current terminal equipment and the unmanned aerial vehicle can be determined, namely the distance determined by the positioning device such as a GPS.

Exemplary, the unmanned aerial vehicle positioning method further comprises: and judging whether the aircraft position is effective or not according to the positioning distance and the communication distance corresponding to the position point.

Because the accuracy of the communication distance is higher, whether the positioning device of the unmanned aerial vehicle is invalid or inaccurate can be judged according to the communication distance.

For example, if the difference between the positioning distance and the communication distance is greater than a preset deviation threshold, it is determined that the aircraft position is invalid; and if the difference value between the positioning distance and the communication distance is not greater than a preset deviation threshold value, judging that the aircraft position is not invalid. The deviation threshold value may be determined, for example, based on the flight range of the unmanned aerial vehicle, or the like.

For example, if the aircraft position is determined to be invalid, prompt information indicating that the aircraft position is invalid is output to prompt a user that a positioning device of the unmanned aerial vehicle cannot be accurately positioned.

For example, if it is determined that the position of the unmanned aerial vehicle is invalid, the position information of the unmanned aerial vehicle determined in step S130 is output to inform the user of the current accurate position of the unmanned aerial vehicle, and the user is prompted to find the unmanned aerial vehicle according to the position information.

For example, if it is determined that the aircraft position is not invalid, the aircraft position and the position point of the terminal device are displayed.

If the aircraft location has not failed, then aircraft location B and terminal device location point A may be displayed at the terminal device as shown in FIG. 2. For example, the aircraft location and the location of the terminal device may be refreshed at a higher frequency.

In some embodiments, as shown in fig. 5, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, step S140 is further included.

S140, the communication distance is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle adjusts the frequency of sending the flight terminal information to the terminal device according to the communication distance.

Illustratively, the communication distance is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle increases the frequency of sending the flight-side information to the terminal device when the communication distance decreases.

For example, if the communication distance at a certain time is smaller than a preset threshold value in the process that the user carries the terminal device to approach the unmanned aerial vehicle, the unmanned aerial vehicle increases the frequency of sending the flight terminal information to the terminal device.

Illustratively, in order to ensure that the unmanned aerial vehicle has enough electric quantity to support communication with the terminal device before the user reaches the landing point of the unmanned aerial vehicle, when the user is far away from the unmanned aerial vehicle, the unmanned aerial vehicle can communicate with the terminal device at a lower frequency to save the electric quantity, and when the user is near the unmanned aerial vehicle, the unmanned aerial vehicle communicates with the terminal device at a higher frequency to update the position information of the unmanned aerial vehicle more timely, so that the user can be accurately guided to find the unmanned aerial vehicle.

Illustratively, the unmanned aerial vehicle acquires aircraft electric quantity information, and adjusts the frequency of sending a flight terminal signal to the terminal device according to the aircraft electric quantity information and the communication distance.

The aircraft charge information is used to indicate the remaining charge of the unmanned aircraft and/or the length of time that the remaining charge can be used. For example, if the remaining power is larger, the flight-side signal may be transmitted at a higher frequency.

Illustratively, the flight-end signal includes the aircraft position determined by the unmanned aerial vehicle via the positioning device.

For example, the unmanned aerial vehicle acquires the communication distance from the terminal device, and adjusts the frequency of determining the aircraft position and the frequency of transmitting the aircraft position to the terminal device according to the communication distance.

Illustratively, the flight-end signal comprises a broadcast signal transmitted by the unmanned aerial vehicle, and the unmanned aerial vehicle can adjust the frequency of transmitting the broadcast signal according to the communication distance.

For example, the unmanned aerial vehicle may only remain transmitting the broadcast signal to reduce power consumption after a fryer or low battery descent to initiate a communication connection with the unmanned aerial vehicle after the terminal device detects the broadcast signal.

Illustratively, the unmanned aerial vehicle increases a frequency of transmitting the broadcast signal to the terminal device when the communication distance decreases.

Specifically, the unmanned aerial vehicle adjusts the frequency of sending the broadcast signal according to the aircraft electric quantity information and the communication distance. For example, if the more the remaining power, the broadcast signal may be transmitted at a higher frequency. The smaller the communication distance, that is, the closer the user is to the unmanned aerial vehicle, the frequency at which the broadcast signal is transmitted to the terminal device is increased.

In some embodiments, as shown in fig. 6, after determining the communication distance between each of the location points and the unmanned aerial vehicle according to each of the delay information in step S120, step S150 is further included.

S150, adjusting the frequency of sending a terminal signal to the unmanned aerial vehicle according to the communication distance so that the unmanned aerial vehicle can adjust the frequency of sending a feedback signal to the terminal device according to the terminal signal.

Illustratively, the terminal device sends a terminal signal to the unmanned aerial vehicle, and the unmanned aerial vehicle sends a feedback signal to the terminal device in response to the terminal signal, so that the terminal device determines the delay information of signal transmission with the unmanned aerial vehicle.

Illustratively, the frequency of transmitting the terminal signal to the UAV is increased as the communication distance decreases.

For example, if the communication distance at a certain time is smaller than a preset threshold value in the process that a user carries a terminal device to approach an unmanned aerial vehicle, the terminal device increases the frequency of sending the terminal signal to the unmanned aerial vehicle.

In order to ensure that the unmanned aerial vehicle has enough electric quantity to support communication with the terminal device before a user reaches the landing point of the unmanned aerial vehicle, when the user is far away from the unmanned aerial vehicle, the terminal device can send a terminal signal to the unmanned aerial vehicle at a lower frequency, so that the frequency of sending a feedback signal by the unmanned aerial vehicle is reduced, and the electric quantity is saved. And when the user is closer to the unmanned aerial vehicle, the terminal equipment can send the terminal signal to the unmanned aerial vehicle at a higher frequency, so that the frequency of sending the feedback signal by the unmanned aerial vehicle is improved, the terminal equipment can update the position information of the unmanned aerial vehicle more quickly, and the user is accurately guided to find the unmanned aerial vehicle.

Illustratively, the terminal device further receives aircraft electric quantity information sent by the unmanned aerial vehicle, and adjusts the frequency of sending the terminal signal to the unmanned aerial vehicle according to the aircraft electric quantity information and the communication distance.

Specifically, the unmanned aerial vehicle acquires aircraft electric quantity information and sends the aircraft electric quantity information to the terminal device.

For example, the aircraft charge information may be used to indicate the remaining charge of the unmanned aircraft and/or the length of time that the remaining charge may be used. For example, if the more the remaining power of the unmanned aerial vehicle, the terminal device may send the terminal signal to the unmanned aerial vehicle at a higher frequency, so as to increase the frequency of sending the feedback signal by the unmanned aerial vehicle, so that the terminal device may update the position information of the unmanned aerial vehicle in time.

According to the unmanned aerial vehicle positioning method provided by the embodiment, at least one position point of the terminal equipment is obtained, and delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point is obtained; determining a communication distance between the unmanned aerial vehicle and the unmanned aerial vehicle according to the delay information; and determining the position information of the unmanned aerial vehicle according to the at least one position point and the communication distance corresponding to each position point. The method and the device can determine the position of the unmanned aerial vehicle without depending on the positioning device of the unmanned aerial vehicle, and can ensure higher accuracy of position information.

Referring to fig. 7 in conjunction with the above embodiments, fig. 7 is a schematic flowchart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present disclosure. The unmanned aerial vehicle positioning method can be applied to an unmanned aerial vehicle and used for communicating with the terminal equipment so that the terminal equipment can determine the position of the aircraft and the like.

As shown in fig. 7, the unmanned aerial vehicle positioning method includes step S210.

S210, responding to a terminal signal sent by a terminal device, sending a feedback signal to the terminal device, so that the terminal device determines a position point corresponding to the feedback signal and determines delay information of signal transmission between the terminal device and the unmanned aerial vehicle, and the terminal device determines a communication distance between the terminal device and the unmanned aerial vehicle according to the delay information and determines position information of the unmanned aerial vehicle according to the position point and the communication distance.

Illustratively, the terminal device transmits a terminal signal to the UAV when a communication delay with the UAV needs to be determined. The unmanned aerial vehicle responds to a terminal signal sent by the terminal equipment and sends a feedback signal to the terminal equipment.

And the terminal equipment determines delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle according to the time difference between the terminal signal sending and the feedback signal receiving, and determines the communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information.

For example, the position where the terminal device determines to send the terminal signal is a position point corresponding to the feedback signal of the unmanned aerial vehicle, or the position where the terminal device determines to receive the feedback signal of the unmanned aerial vehicle is a position point corresponding to the feedback signal. For example, as shown in fig. 3, the communication distance between the position point 1 and the unmanned aerial vehicle is L1, the communication distance between the position point 2 and the unmanned aerial vehicle is L2, and the communication distance between the position point 3 and the unmanned aerial vehicle is L3.

Illustratively, the terminal equipment determines the position information of the unmanned aerial vehicle according to at least one position point and the communication distance corresponding to each position point.

Illustratively, as shown in fig. 8, the method for locating the unmanned aerial vehicle further includes step S220.

S220, acquiring aircraft electric quantity information, and sending the aircraft electric quantity information to the terminal equipment so that the terminal equipment adjusts the frequency of sending a terminal signal to the unmanned aerial vehicle according to the aircraft electric quantity information and the communication distance.

In order to ensure that the unmanned aerial vehicle has enough electric quantity to support communication with the terminal device before a user reaches the landing point of the unmanned aerial vehicle, when the user is far away from the unmanned aerial vehicle, the terminal device can send a terminal signal to the unmanned aerial vehicle at a lower frequency, so that the frequency of sending a feedback signal by the unmanned aerial vehicle is reduced, and the electric quantity is saved.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: the unmanned aerial vehicle determines the position of the unmanned aerial vehicle through a positioning device carried by the unmanned aerial vehicle, and sends the position of the unmanned aerial vehicle to the terminal equipment.

For example, the terminal device may determine a current location point of the terminal device according to a positioning device mounted on the terminal device, so that a current positioning distance from the unmanned aerial vehicle, that is, a distance determined by a positioning device, such as a GPS, may be determined.

For example, the terminal device may further determine whether the aircraft position is valid according to the positioning distance and the communication distance corresponding to the location point. Because the accuracy of the communication distance is higher, whether the positioning device of the unmanned aerial vehicle is invalid or inaccurate can be judged according to the communication distance.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: and the unmanned aerial vehicle acquires the communication distance from the terminal equipment, and adjusts and determines the position of the aircraft and the frequency for sending the position of the aircraft according to the communication distance.

For example, the unmanned aerial vehicle adjusts the frequency of determining the aircraft position and transmitting the aircraft position according to the aircraft power information and the communication distance.

Illustratively, the frequency of determining the aircraft position and transmitting the aircraft position is increased when the communication distance decreases.

For example, when the remaining amount of electric power of the unmanned aerial vehicle is small, the frequency of determining the aircraft position is reduced and the frequency of transmitting the aircraft position is reduced; reducing the frequency of determining the aircraft position and reducing the frequency of transmitting the aircraft position when the communication distance is longer to reduce power consumption.

The specific principle and implementation manner for the unmanned aerial vehicle provided in the embodiments of this specification are similar to those of the unmanned aerial vehicle positioning method for the terminal device in the foregoing embodiments, and are not described herein again.

Referring to fig. 9 in conjunction with the above embodiments, fig. 9 is a schematic flowchart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present disclosure. The unmanned aerial vehicle positioning method can be applied to an unmanned aerial vehicle and used for communicating with the terminal equipment so that the terminal equipment can determine the position of the aircraft and the like.

As shown in fig. 9, the unmanned aerial vehicle positioning method includes step S310 and step S320.

S310, when the aircraft is in an explosive or low-power landing state, a broadcast signal is sent, so that terminal equipment sends a terminal signal to the unmanned aerial vehicle according to the broadcast signal.

In some embodiments, the unmanned aerial vehicle transmits a broadcast signal while in a fryer or low-battery landing state. If the terminal equipment receives the broadcast signal, the communication connection can be established with the unmanned aerial vehicle. After establishing communication connection with the unmanned aerial vehicle, the terminal device may send a terminal signal to the unmanned aerial vehicle, so that the unmanned aerial vehicle sends a feedback signal according to the interrupt signal.

And sending a terminal signal to the unmanned aerial vehicle according to the broadcast signal so that the unmanned aerial vehicle sends a feedback signal according to an interrupt signal.

S320, responding to a terminal signal sent by the terminal device, sending a feedback signal to the terminal device, so that the terminal device determines a position point corresponding to the feedback signal and determines delay information of signal transmission between the terminal device and the unmanned aerial vehicle, and the terminal device determines a communication distance between the terminal device and the unmanned aerial vehicle according to the delay information and determines position information of the unmanned aerial vehicle according to the position point and the communication distance.

Illustratively, the terminal device transmits a terminal signal to the UAV when a communication delay with the UAV needs to be determined. The unmanned aerial vehicle responds to a terminal signal sent by the terminal equipment and sends a feedback signal to the terminal equipment. And the terminal equipment determines delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle according to the time difference between the terminal signal sending and the feedback signal receiving, and determines the communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information.

Illustratively, the position where the terminal device determines to send the terminal signal is a position point corresponding to the feedback signal of the unmanned aerial vehicle, and the terminal device determines the position information of the unmanned aerial vehicle according to at least one position point and the communication distance corresponding to each position point.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: and acquiring the communication distance from the terminal equipment, and adjusting the frequency of sending the flight terminal information to the terminal equipment according to the communication distance.

In some embodiments, the flight-side signal comprises a broadcast signal transmitted by the UAV, and the UAV positioning method further comprises: and the unmanned aerial vehicle adjusts the frequency of transmitting the broadcast signal according to the communication distance.

Illustratively, the unmanned aerial vehicle acquires aircraft power information and adjusts the frequency of transmitting the broadcast signal according to the aircraft power information and the communication distance.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: the unmanned aerial vehicle acquires aircraft electric quantity information and sends the aircraft electric quantity information to the terminal equipment, so that the terminal equipment adjusts the frequency of sending terminal signals to the unmanned aerial vehicle according to the aircraft electric quantity information and the communication distance.

For example, if the more the remaining power of the unmanned aerial vehicle, the terminal device may send the terminal signal to the unmanned aerial vehicle at a higher frequency, so as to increase the frequency of sending the feedback signal by the unmanned aerial vehicle, so that the terminal device may update the position information of the unmanned aerial vehicle in time.

For example, the terminal device receives the aircraft position sent by the unmanned aerial vehicle, and then determines the direction of the unmanned aerial vehicle relative to the terminal device when the terminal device is at the position point according to the position point when the terminal device receives the aircraft position and the aircraft position.

Exemplarily, the unmanned aerial vehicle positioning method further comprises: and adjusting the frequency of determining the aircraft position and transmitting the aircraft position according to the communication distance.

Illustratively, the unmanned aerial vehicle increases the frequency of determining the aircraft location and transmitting the aircraft location when the communication distance decreases.

For example, the unmanned aerial vehicle reduces the frequency of determining the aircraft location and reduces the frequency of transmitting the aircraft location when the communication distance is long to reduce power consumption. The frequency of transmitting aircraft positions is increased when the communication distance is close.

Illustratively, the frequency of determining the aircraft location and transmitting the aircraft location is adjusted based on the aircraft power information and the communication distance.

For example, when the remaining amount of electric power of the unmanned aerial vehicle is small, the frequency of determining the aircraft position and the frequency of transmitting the aircraft position are reduced to reduce power consumption.

Referring to fig. 10 in conjunction with the above embodiments, fig. 10 is a schematic flowchart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present disclosure. The unmanned aerial vehicle positioning method can be applied to terminal equipment and used for the processes of determining the position of an aerial vehicle and the like by the terminal equipment.

As shown in fig. 10, the unmanned aerial vehicle positioning method includes steps S410 to S450.

And S410, receiving the aircraft position sent by the unmanned aircraft.

For example, after the unmanned aerial vehicle explodes or falls down, the terminal device may be disconnected from the unmanned aerial vehicle, or the positioning device of the unmanned aerial vehicle cannot perform positioning, but the terminal device may still obtain the position of the unmanned aerial vehicle at a certain moment.

For example, after the unmanned aerial vehicle explodes or falls to a low power level, the terminal device can still be in communication connection with the unmanned aerial vehicle, and the unmanned aerial vehicle can still determine the aircraft position and transmit the aircraft position to the terminal device.

For example, after the unmanned aerial vehicle explodes or the low battery power falls, the terminal device goes to the area near the landing point of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle at a certain moment. If the communication device of the unmanned aerial vehicle can still work normally, the terminal equipment can recover communication with the unmanned aerial vehicle at different distances from dozens of meters to kilometers.

For example, the unmanned aerial vehicle may transmit the latest aircraft position to the terminal device, and the terminal device may acquire the latest aircraft position.

S420, determining a position point of the terminal equipment, and determining a positioning distance corresponding to the position point according to the position point and the aircraft position.

For example, the terminal device is equipped with a positioning device, and the position of the terminal device can be determined in real time through a navigation system, for example.

For example, the terminal device may display the position point determined by the positioning means and the aircraft position acquired from the unmanned aerial vehicle, as shown in fig. 2, to display the relative position between the unmanned aerial vehicle and the user.

Illustratively, the terminal device determines the positioning distance d corresponding to the position point according to the real-time position point and the latest aircraft position received from the unmanned aerial vehicle.

S430, obtaining delay information of signal transmission between the terminal device and the unmanned aerial vehicle when the terminal device is at the position point, and determining a communication distance between the terminal device and the unmanned aerial vehicle according to the delay information.

Illustratively, the terminal device acquires delay information of signal transmission between the current time and the unmanned aerial vehicle, and then determines a communication distance between the terminal device and the unmanned aerial vehicle according to the delay information.

Illustratively, the terminal device determines the delay information according to a time when the terminal signal is transmitted to the unmanned aerial vehicle and a time when the feedback signal is received.

For example, the delay of signal transmission between the terminal device and the unmanned aerial vehicle at position point 1 is T1, and the delay of signal transmission between the terminal device and the unmanned aerial vehicle at position point 2 is T2. The communication distance between the position point 1 and the unmanned aerial vehicle is L1, the communication distance between the position point 2 and the unmanned aerial vehicle is L2, and the communication distance between the position point 3 and the unmanned aerial vehicle is L3.

S440, judging whether the aircraft position is effective or not according to the communication distance and the positioning distance.

For example, if it is determined that the aircraft position is not failed, the aircraft position acquired from the unmanned aerial vehicle and the position point of the terminal device are displayed, as shown in fig. 2.

S450, if the aircraft position is judged to be invalid, determining the position information of the unmanned aerial vehicle according to at least one position point of the terminal equipment and the communication distance between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point.

For example, if it is determined that the aircraft position is invalid, the position information of the unmanned aerial vehicle determined in step S450 is output to inform the user of the current accurate position of the unmanned aerial vehicle, and the user is prompted to find the unmanned aerial vehicle according to the position information.

Illustratively, the terminal device obtains at least three location points of the terminal device, and determines the location information of the unmanned aerial vehicle according to the at least three location points and the communication distances corresponding to the location points.

For example, the terminal device determines the position information of the unmanned aerial vehicle according to the direction of the unmanned aerial vehicle relative to the terminal device when the terminal device is at least one of the position points and the communication distance corresponding to at least one of the position points and each of the position points.

For example, the terminal device determines the direction of the unmanned aerial vehicle relative to the terminal device at the position point according to the position point of the terminal device when the terminal device receives the aircraft position and the aircraft position.

Illustratively, the terminal device determines the direction of the unmanned aerial vehicle relative to the terminal device according to the transmitted signal when the terminal device transmits the signal between the terminal device and the unmanned aerial vehicle.

In some embodiments, the unmanned aerial vehicle positioning method further comprises: and the terminal equipment sends the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle adjusts the frequency of sending the flight terminal information to the terminal equipment according to the communication distance.

Illustratively, the terminal device sends the communication distance to the unmanned aerial vehicle, so that the unmanned aerial vehicle increases the frequency of sending the flight-side information to the terminal device when the communication distance decreases.

Illustratively, the terminal device sends the communication distance to the unmanned aerial vehicle, so that the unmanned aerial vehicle adjusts the frequency of sending the flight terminal information to the terminal device according to the aircraft electric quantity information and the communication distance. In some embodiments, the terminal device adjusts the frequency of sending the terminal signal to the unmanned aerial vehicle according to the communication distance, so that the unmanned aerial vehicle adjusts the frequency of sending the feedback signal to the terminal device according to the terminal signal.

Specifically, the terminal device receives aircraft electric quantity information sent by the unmanned aerial vehicle from the unmanned aerial vehicle, and adjusts the frequency of sending the terminal signal to the unmanned aerial vehicle according to the aircraft electric quantity information and the communication distance.

The specific principle and implementation of the method for positioning an unmanned aerial vehicle for a terminal device provided in the embodiments of the present description are similar to those of the method for positioning an unmanned aerial vehicle in the foregoing embodiments, and are not described herein again.

In the method for positioning an unmanned aerial vehicle for a terminal device provided in the embodiment of the present specification, a communication distance between the terminal device and the unmanned aerial vehicle is determined by obtaining delay information of signal transmission between the terminal device and the unmanned aerial vehicle, and then whether an aircraft position positioned by the unmanned aerial vehicle is valid is determined according to the communication distance; and when the position of the unmanned aerial vehicle is inaccurate or the terminal equipment cannot acquire the position of the unmanned aerial vehicle from the unmanned aerial vehicle, the position information of the unmanned aerial vehicle can be determined according to the communication distance. On one hand, the positioning accuracy can be improved, the explosion point or the autonomous landing point of the unmanned aerial vehicle can be estimated when the GPS of the unmanned aerial vehicle fails or drifts too much, and the success rate of finding the unmanned aerial vehicle by a user is improved.

Referring to fig. 11 in conjunction with the foregoing embodiment, fig. 11 is a schematic block diagram of a terminal device 600 according to an embodiment of the present disclosure. The terminal device 600 comprises a processor 601 and a memory 602.

Illustratively, the processor 601 and the memory 602 are coupled by a bus 603, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 601 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 602 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor 601 is configured to run a computer program stored in the memory 602, and when executing the computer program, implement the aforementioned unmanned aerial vehicle positioning method for a terminal device.

Illustratively, the processor 601 is configured to run a computer program stored in the memory 602 and to implement the following steps when executing the computer program:

receiving aircraft positions sent by the unmanned aircraft;

The specific principle and implementation manner of the terminal device provided in the embodiment of this specification are similar to those of the unmanned aerial vehicle positioning method for the terminal device in the foregoing embodiment, and are not described herein again.

Referring to fig. 12, fig. 12 is a schematic block diagram of an unmanned aerial vehicle 700 provided in an embodiment of the present disclosure. The unmanned aerial vehicle 700 includes a processor 701 and a memory 702.

Illustratively, the processor 701 and the memory 702 are connected by a bus 703, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 701 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 702 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor 701 is configured to run a computer program stored in the memory 702, and when executing the computer program, implement the aforementioned unmanned aerial vehicle positioning method for an unmanned aerial vehicle.

Illustratively, the processor 701 is configured to run a computer program stored in the memory 702 and to implement the following steps when executing the computer program:

responding to a terminal signal sent by terminal equipment, sending a feedback signal to the terminal equipment, so that the terminal equipment determines a position point corresponding to the feedback signal and delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle, and enabling the terminal equipment to determine a communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information and determine position information of the unmanned aerial vehicle according to the position point and the communication distance.

and responding to a terminal signal sent by the terminal equipment, sending a feedback signal to the terminal equipment, so that the terminal equipment determines a position point corresponding to the feedback signal and delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle, and the terminal equipment determines a communication distance between the terminal equipment and the unmanned aerial vehicle according to the delay information and determines position information of the unmanned aerial vehicle according to the position point and the communication distance.

The specific principle and implementation of the unmanned aerial vehicle provided in the embodiments of this specification are similar to those of the unmanned aerial vehicle positioning method for the unmanned aerial vehicle of the foregoing embodiments, and are not described herein again.

An embodiment of the present specification provides a flight system, as shown in fig. 2, where the flight system includes the foregoing terminal device, and the foregoing unmanned aerial vehicle.

Embodiments of the present disclosure also provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the method provided in the foregoing embodiments.

The computer-readable storage medium may be an internal storage unit of the terminal device or the unmanned aerial vehicle described in any of the foregoing embodiments, for example, a hard disk or a memory of the terminal device or the unmanned aerial vehicle. The computer readable storage medium may also be an external storage device of the terminal device or the unmanned aerial vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device or the unmanned aerial vehicle.

It is to be understood that the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present disclosure, and these modifications or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present specification shall be subject to the protection scope of the claims.

Claims

1. An unmanned aerial vehicle positioning method for a terminal device, the method comprising:

2. The method according to claim 1, wherein at least three location points of the terminal device are obtained, and the position information of the unmanned aerial vehicle is determined according to the at least three location points and the communication distance corresponding to each location point.

3. The method of claim 1, wherein determining the position information of the UAV based on the at least one location point and the communication distance corresponding to each location point comprises:

and determining the position information of the unmanned aerial vehicle according to the direction of the unmanned aerial vehicle relative to the terminal equipment when the terminal equipment is at least one position point and the communication distance corresponding to the at least one position point and each position point.

4. The method of claim 3, further comprising:

receiving an aircraft position sent by the unmanned aerial vehicle, wherein the aircraft position is determined by a positioning device carried by the unmanned aerial vehicle;

and determining the direction of the unmanned aerial vehicle relative to the terminal equipment when the terminal equipment is at the position point according to the position point when the terminal equipment receives the aircraft position and the aircraft position.

5. The method of claim 3, further comprising:

and when signal transmission is carried out between the terminal equipment and the unmanned aerial vehicle, determining the direction of the unmanned aerial vehicle relative to the terminal equipment according to the transmitted signal.

6. The method of claim 1, wherein the determining the communication distance between the location point and the UAV comprises:

outputting the communication distance to prompt a user of a current distance between the unmanned aerial vehicle and the user.

7. The method of claim 1 or 6, further comprising:

receiving aircraft positions sent by the unmanned aerial vehicle;

and determining the positioning distance corresponding to the position point according to the aircraft position and the position point of the terminal equipment.

8. The method of claim 7, further comprising:

and judging whether the aircraft position is effective or not according to the positioning distance and the communication distance corresponding to the position point.

9. The method of claim 8, further comprising:

and if the aircraft position is judged to be invalid, outputting prompt information representing the aircraft position is invalid and/or the position information of the unmanned aircraft.

10. The method of claim 8, further comprising:

and if the aircraft position is judged to be not invalid, displaying the aircraft position and the position point of the terminal equipment.

11. The method of claim 8, wherein said determining whether the aircraft location is valid based on the positioning distance and the communication distance corresponding to the location point comprises:

if the difference value between the positioning distance and the communication distance is larger than a preset deviation threshold value, judging that the aircraft position is invalid;

and if the difference value between the positioning distance and the communication distance is not greater than a preset deviation threshold value, judging that the aircraft position is not invalid.

12. The method of claim 1, further comprising:

and sending the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle adjusts the frequency of sending the flight terminal information to the terminal equipment according to the communication distance.

13. The method of claim 12, wherein the sending the communication distance to the UAV to enable the UAV to adjust a frequency of sending the terminal information to the terminal device according to the communication distance comprises:

and sending the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle adjusts the frequency of sending the flight terminal information to the terminal equipment according to the aircraft electric quantity information and the communication distance.

14. The method of claim 12, wherein the sending the communication distance to the UAV to enable the UAV to adjust a frequency of sending the terminal information to the terminal device according to the communication distance comprises:

and sending the communication distance to the unmanned aerial vehicle so that the unmanned aerial vehicle increases the frequency of sending the flight terminal information to the terminal equipment when the communication distance is reduced.

15. The method of claim 1, further comprising:

and adjusting the frequency of sending a terminal signal to the unmanned aerial vehicle according to the communication distance so that the unmanned aerial vehicle adjusts the frequency of sending a feedback signal to the terminal equipment according to the terminal signal.

16. The method of claim 15, further comprising:

receiving aircraft electric quantity information sent by the unmanned aircraft;

the adjusting the frequency of the terminal signal sent to the unmanned aerial vehicle according to the communication distance comprises:

and adjusting the frequency of sending terminal signals to the unmanned aerial vehicle according to the aircraft electric quantity information and the communication distance.

17. The method of claim 15, wherein said adjusting a frequency of transmitting terminal signals to the UAV based on the communication distance comprises:

increasing a frequency of transmitting the terminal signal to the UAV when the communication distance decreases.

18. The method of claim 15, wherein the obtaining the delay information comprises:

and determining the delay information according to the moment of sending the terminal signal to the unmanned aerial vehicle and the moment of receiving the feedback signal.

19. The method according to claim 1, wherein if the aircraft position is determined to be invalid, determining the position information of the unmanned aerial vehicle according to at least one position point and the communication distance corresponding to each position point.

20. The method according to claim 1, wherein if it is determined that the positioning device carried by the unmanned aerial vehicle is failed, the position information of the unmanned aerial vehicle is determined according to at least one of the position points and the communication distance corresponding to each of the position points.

21. The method of claim 20, further comprising:

and if the position of the aircraft is not acquired from the unmanned aerial vehicle at preset time intervals, judging that the positioning device carried by the unmanned aerial vehicle is invalid.

22. An unmanned aerial vehicle positioning method for an unmanned aerial vehicle, the method comprising:

23. The method of claim 22, further comprising:

acquiring aircraft electric quantity information, and sending the aircraft electric quantity information to the terminal equipment so that the terminal equipment adjusts the frequency of sending terminal signals to the unmanned aircraft according to the aircraft electric quantity information and the communication distance.

24. The method of claim 22 or 23, further comprising:

and determining the position of the aircraft through a positioning device carried by the unmanned aerial vehicle, and sending the position of the aircraft to the terminal equipment.

25. The method of claim 24, further comprising:

and acquiring the communication distance from the terminal equipment, and adjusting and determining the position of the aircraft and the frequency for transmitting the position of the aircraft according to the communication distance.

26. The method of claim 25, wherein adjusting the frequency of determining the aircraft location and transmitting the aircraft location based on the communication distance comprises:

and adjusting the frequency of determining the position of the aircraft and transmitting the position of the aircraft according to the aircraft electric quantity information and the communication distance.

27. The method of claim 25, wherein adjusting the frequency of determining the aircraft location and transmitting the aircraft location based on the communication distance comprises:

increasing the frequency of determining aircraft position and transmitting the aircraft position when the communication distance decreases.

28. An unmanned aerial vehicle positioning method for an unmanned aerial vehicle, the method comprising:

29. The method of claim 28, further comprising:

and acquiring the communication distance from the terminal equipment, and adjusting the frequency of the broadcast signal according to the communication distance.

30. The method of claim 29, wherein said adjusting a frequency of transmitting the broadcast signal according to the communication distance comprises:

and adjusting the frequency of sending the broadcast signal according to the aircraft electric quantity information and the communication distance.

31. The method of claim 29, wherein said adjusting a frequency of transmitting the broadcast signal according to the communication distance comprises:

increasing a frequency of transmitting the broadcast signal to the terminal device when the communication distance decreases.

32. The method of any one of claims 28-31, further comprising:

33. The method of any one of claims 28-31, further comprising:

34. The method of claim 33, further comprising:

and adjusting the frequency of determining the aircraft position and transmitting the aircraft position according to the communication distance.

35. The method of claim 34, wherein adjusting the frequency of determining the aircraft location and transmitting the aircraft location based on the communication distance comprises:

36. The method of claim 34, wherein adjusting the frequency of determining the aircraft location and transmitting the aircraft location based on the communication distance comprises:

37. An unmanned aerial vehicle positioning method for a terminal device, the method comprising:

receiving aircraft positions sent by the unmanned aircraft;

38. The method of claim 37, wherein determining the communication distance between the terminal device and the UAV comprises:

39. The method of claim 37, wherein said determining whether the aircraft position is valid based on the communication distance and the positioning distance comprises:

40. The method of claim 37, further comprising:

41. The method of claim 37, further comprising:

42. The method of claim 37, wherein determining the position information of the UAV based on at least one location point of the terminal device and a communication distance between the terminal device and the UAV at each of the location points comprises:

and determining the position information of the unmanned aerial vehicle according to the at least three position points of the terminal equipment and the communication distance corresponding to each position point.

43. The method of claim 37, wherein determining the position information of the UAV based on at least one location point of the terminal device and a communication distance between the terminal device and the UAV at each of the location points comprises:

44. The method of claim 43, further comprising:

45. The method of claim 44, further comprising:

46. The method of claim 37, further comprising:

47. The method of claim 46, wherein the sending the communication distance to the UAV to enable the UAV to adjust a frequency of sending the terminal information to the terminal device according to the communication distance comprises:

48. The method of claim 46, wherein the sending the communication distance to the UAV to enable the UAV to adjust a frequency of sending the terminal information to the terminal device according to the communication distance comprises:

49. The method of claim 37, further comprising:

50. The method of claim 49, further comprising:

receiving aircraft electric quantity information sent by the unmanned aircraft;

51. The method of claim 49, wherein said adjusting a frequency of transmitting terminal signals to the UAV based on the communication distance comprises:

52. The method of claim 49, wherein said obtaining the delay information comprises:

53. A terminal device, characterized in that the terminal device comprises a memory and a processor;

the memory is used for storing a computer program;

acquiring at least one position point of the terminal equipment and acquiring delay information of signal transmission between the terminal equipment and the unmanned aerial vehicle when the terminal equipment is at each position point, wherein the at least one position point is at least one position on a path where a user moves with the terminal equipment

54. An unmanned aerial vehicle comprising a memory and a processor;

the memory is used for storing a computer program;

55. An unmanned aerial vehicle comprising a memory and a processor;

the memory is used for storing a computer program;

56. A terminal device, characterized in that the terminal device comprises a memory and a processor;

the memory is used for storing a computer program;

receiving aircraft positions sent by the unmanned aircraft;

57. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement:

the method of any one of claims 1-52.