CN112711051A - Flight control system positioning method, device, equipment and storage medium - Google Patents
Flight control system positioning method, device, equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004927 fusion Effects 0.000 claims abstract description 55
- 238000004364 calculation method Methods 0.000 claims abstract description 53
- 238000004458 analytical method Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 description 6
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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
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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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
- G01S19/52—Determining velocity
Abstract
The embodiment of the application provides a positioning method, a positioning device, equipment and a storage medium of a flight control system, wherein the method is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system comprises first navigation equipment, second navigation equipment and the flight control system; the method comprises the following steps: performing modal analysis on the first navigation device and the second navigation device respectively; if the models of the first navigation device and the second navigation device are determined to be normal, acquiring first navigation data of the first navigation device and second navigation data of the second navigation device, wherein the first navigation data and the second navigation data both comprise a plurality of positioning data; respectively taking the precision of each positioning data as a weight, and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, wherein the fusion data comprises an average value of each positioning data; and estimating the real-time position of the flight control system according to the fusion data. The scheme can ensure stable and accurate positioning output of the flight control system.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a flight control system positioning method, device, equipment and storage medium.
Background
Unmanned aerial vehicle of single GPS location, when power supply interference, connecting wire become flexible, antenna feeder contact failure scheduling problem appear in GPS equipment, can appear losing the condition such as star, positioning accuracy descends, leads to the fact the position drift to unmanned aerial vehicle's location flight, can't fix a position scheduling problem even. At present, a redundant GPS positioning device is added on an unmanned aerial vehicle to reduce the probability of the occurrence of the problem. Specifically, when an unmanned aerial vehicle adopting a high-precision RTK positioning technology runs two GPS positioning devices simultaneously, because the position estimation algorithm module of the unmanned aerial vehicle flight control system only uses a group of positioning data as input, when the dual-GPS positioning device is used, a certain GPS positioning device is selected as a data source by utilizing a specific index, and one GPS positioning data group contains various data such as longitude and latitude, height and speed. For example, if a GPS positioning device with a high position accuracy index is used, the altitude or speed data accuracy of the device may be lower than that of another GPS positioning device, and then the overall positioning data using the GPS positioning device may be biased.
Disclosure of Invention
The embodiment of the application provides a flight control system positioning method, a flight control system positioning device, flight control system positioning equipment and a storage medium, and can solve the problem that positioning data used by an unmanned aerial vehicle provided with double GPS positioning equipment has deviation.
In a first aspect, an embodiment of the present application provides a method for positioning a flight control system, where the method is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes a first navigation device, a second navigation device, and a flight control system; the method comprises the following steps:
performing modal analysis on the first navigation device and the second navigation device respectively;
if the models of the first navigation device and the second navigation device are determined to be normal, acquiring first navigation data of the first navigation device and second navigation data of the second navigation device, wherein the first navigation data and the second navigation data both comprise a plurality of positioning data;
respectively taking the precision of each positioning data as a weight, and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, wherein the fusion data comprises an average value of each positioning data;
and estimating the real-time position of the flight control system according to the fusion data.
In a second aspect, an embodiment of the present application further provides a positioning device for a flight control system, where the positioning device for a flight control system is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes a first navigation device, a second navigation device, and a flight control system; flight control system positioner includes:
the analysis module is used for respectively carrying out modal analysis on the first navigation equipment and the second navigation equipment;
an obtaining module, configured to obtain first navigation data of the first navigation device and second navigation data of the second navigation device if the analysis module determines that the models of the first navigation device and the second navigation device are both normal, where the first navigation data and the second navigation data both include multiple positioning data;
the processing module is used for respectively taking the precision of each positioning data as a weight and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, and the fusion data comprises an average value of each positioning data; and estimating the real-time position of the flight control system according to the fusion data.
In a third aspect, an embodiment of the present application further provides a processing device, which includes a processor and a memory, where the memory stores a computer program, and the processor executes, when calling the computer program in the memory, any step in the positioning method for the flight control system provided in the embodiment of the present application.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by a processor to perform steps in any one of the methods for positioning an flight control system provided in the embodiments of the present application.
From the above, the present application has the following advantageous effects:
even if a certain navigation equipment in two navigation equipments appears the power problem, the connecting wire is not hard up or antenna feeder contact failure scheduling problem, if two navigation equipments solve all normally, and only appear the problem that the precision is lost, then do the average integration of weighting respectively to the location data of position, height, three kinds of differences of speed, export a set of fusion data after optimizing, just so can utilize two navigation equipments's advantage simultaneously to the fusion data change that uses in the location of estimation flight control system is more level and smooth. If the resolving type is abnormal, the navigation data of the navigation equipment with the abnormal resolving type is abandoned, and the navigation equipment is switched to another navigation equipment. Therefore, the navigation data for positioning the flight control system are acquired in different modes under different situations in a comprehensive consideration of various situations. Thus. The positioning stable output of the flight control system can be ensured to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a positioning method of a flight control system according to the present application;
FIG. 2 is a schematic illustration of the fusion of data in the present application;
FIG. 3 is a schematic structural diagram of a positioning device of a flight control system according to the present application;
FIG. 4 is a schematic diagram of a processing apparatus according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description that follows, specific embodiments of the present application will be described with reference to steps and symbols executed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be referred to, several times, as being performed by a computer, the computer performing operations involving a processing unit of the computer in electronic signals representing data in a structured form. This operation transforms the data or maintains it at locations in the computer's memory system, which may be reconfigured or otherwise altered in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the application have been described in language specific to above, it is not intended to be limited to the specific form set forth herein, and it will be recognized by those of ordinary skill in the art that various of the steps and operations described below may be implemented in hardware.
The principles of the present application may be employed in numerous other general-purpose or special-purpose computing, communication environments or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the application include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe-based computers, and distributed computing environments that include any of the above systems or devices.
The terms "first", "second", and "third", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.
First, before the embodiments of the present application are described, the relevant contents of the present application about the application background will be described.
The main execution body of the flight control system positioning method provided by the application can be the device provided by the application, or a server device, a physical host, a vehicle-mounted terminal or a User Equipment (UE) and other processing devices integrated with the device, wherein the device can be implemented in a hardware or software manner, and the UE can be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer, a desktop computer or a Personal Digital Assistant (PDA).
Next, a positioning method of the flight control system provided by the present application will be described.
Referring to fig. 1, fig. 1 shows a schematic flow chart of a positioning method of a flight control system according to the present application, where the method is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes a first navigation device, a second navigation device, and a flight control system. The method provided by the application specifically comprises the following steps:
101. and performing modal analysis on the first navigation equipment and the second navigation equipment respectively.
102. And if the models of the first navigation equipment and the second navigation equipment are determined to be normal, acquiring first navigation data of the first navigation equipment and second navigation data of the second navigation equipment.
Wherein the first navigation data and the second navigation data each include a plurality of items of positioning data.
103. And respectively taking the precision of each item of positioning data as a weight, and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, wherein the fusion data comprises an average value of each item of positioning data.
104. And estimating the real-time position of the flight control system according to the fusion data.
In some embodiments, the performing modal analysis on the first navigation device and the second navigation device separately; if the models of the first navigation device and the second navigation device are both normal, acquiring first navigation data of the first navigation device and second navigation data of the second navigation device, including:
acquiring a first resolving type of the first navigation equipment and a second resolving type of the second navigation equipment;
respectively comparing the first resolving type and the second resolving type with a multi-dimensional resolving type;
and if it is determined that any one of the first calculation type and the second calculation type is not lower than the multi-dimensional calculation type, acquiring the first navigation data and the second navigation data.
In some embodiments, after the obtaining the first solution type of the first navigation device and the second solution type of the second navigation device, the method further comprises:
if any one of the first calculation type and the second calculation type is lower than the multidimensional calculation type, selecting navigation equipment with the calculation type not lower than the multidimensional calculation type as target navigation equipment;
acquiring navigation data of the target navigation equipment;
and estimating the real-time position of the flight control system according to the navigation data of the target navigation equipment.
In some embodiments, the first navigation data comprises a first position, a first altitude, and a first velocity; the second navigation data comprises a second position, a second height, and a second speed; the weighted calculation is performed on the first navigation data and the second navigation data by taking the precision of each positioning data as a weight to obtain fusion data, and the method comprises the following steps:
taking the position precision as the weight, and carrying out weighted calculation on the first position and the second position to obtain a fusion position;
taking the height precision as a weight, and carrying out weighted calculation on the first height and the second height to obtain a fusion height;
taking the speed precision as the weight, and carrying out weighted calculation on the first speed and the second speed to obtain a fusion speed;
and obtaining the fusion data according to the fusion position, the fusion height and the fusion speed.
For example, as shown in fig. 3, the positioning data of two GPS devices are used simultaneously, and the positioning accuracy of the two GPS devices is used to perform weighted fusion on the three positioning data of position, altitude, and speed, respectively, and output a set of positioning data.
In the embodiment of the application, even if power problem appears in a certain navigation equipment among two navigation equipments, the not hard up or antenna feeder contact failure scheduling problem of connecting wire, if two navigation equipments resolve all normally, and only appear the problem that the precision is lost, then to the position, highly, the three kinds of different positioning data of speed do the average integration of weighting respectively, export the integration data after a set of optimization, just so can utilize two navigation equipments's advantage simultaneously, and the integration data change that uses in the location of estimation flight control system is more level and smooth. If the resolving type is abnormal, the navigation data of the navigation equipment with the abnormal resolving type is abandoned, and the navigation equipment is switched to another navigation equipment. Therefore, the navigation data for positioning the flight control system are acquired in different modes under different situations in a comprehensive consideration of various situations. Thus. The positioning stable output of the flight control system can be ensured to a certain extent.
In order to better implement the method of the present application, the embodiment of the present application further provides a positioning device 20 of a flight control system. The flight control system positioning device 20 is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system comprises a first navigation device, a second navigation device and a flight control system.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a positioning device 20 of a flight control system according to the present application, wherein the positioning device 20 of the flight control system specifically includes the following structure:
an analysis module 201, configured to perform modal analysis on the first navigation device and the second navigation device respectively;
an obtaining module 202, configured to obtain first navigation data of the first navigation device and second navigation data of the second navigation device if the analyzing module 201 determines that the models of the first navigation device and the second navigation device are both normal, where the first navigation data and the second navigation data both include multiple positioning data;
the processing module 203 is configured to perform weighted calculation on the first navigation data and the second navigation data by using the precision of each positioning data as a weight, so as to obtain fusion data, where the fusion data includes an average value of each positioning data; and estimating the real-time position of the flight control system according to the fusion data.
In one embodiment, the obtaining module 202 is further configured to:
acquiring a first resolving type of the first navigation equipment and a second resolving type of the second navigation equipment;
the analysis module 201 is specifically configured to compare the first solution type and the second solution type with a multidimensional solution type respectively;
the obtaining module 202 is specifically configured to obtain the first navigation data and the second navigation data if the analyzing module 201 determines that any one of the first calculation type and the second calculation type is not lower than the multidimensional calculation type.
In one embodiment, after the obtaining module 202 obtains the first solution type of the first navigation device and the second solution type of the second navigation device, the processing module 203 is further configured to:
if any one of the first calculation type and the second calculation type is lower than the multidimensional calculation type, selecting navigation equipment with the calculation type not lower than the multidimensional calculation type as target navigation equipment;
acquiring navigation data of the target navigation device through the acquisition module 202;
and estimating the real-time position of the flight control system according to the navigation data of the target navigation equipment.
In one embodiment, the first navigation data comprises a first position, a first altitude, and a first velocity; the second navigation data comprises a second position, a second height, and a second speed; the processing module 203 is specifically configured to:
taking the position precision as the weight, and carrying out weighted calculation on the first position and the second position to obtain a fusion position;
taking the height precision as a weight, and carrying out weighted calculation on the first height and the second height to obtain a fusion height;
taking the speed precision as the weight, and carrying out weighted calculation on the first speed and the second speed to obtain a fusion speed;
and obtaining the fusion data according to the fusion position, the fusion height and the fusion speed.
The present application further provides a processing device, and referring to fig. 4, fig. 4 shows a schematic structural diagram of the processing device of the present application, specifically, the processing device of the present application includes a processor, and the processor is configured to implement the steps of the positioning method of the flight control system according to any embodiment corresponding to fig. 1 to 3 when executing the computer program stored in the memory; alternatively, the processor is configured to implement the functions of the modules in the corresponding embodiment of fig. 4 when executing the computer program stored in the memory.
Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in a memory and executed by a processor to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of a computer program in a computer device.
The processing device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the illustration is merely an example of a processing device and is not meant to be limiting, and that more or fewer components than those illustrated may be included, or some components may be combined, or different components may be included, for example, the processing device may also include input output devices, network access devices, buses, etc., through which the processor, memory, input output devices, network access devices, etc., are connected.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the processing device and the various interfaces and lines connecting the various parts of the overall processing device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the processing device, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the detailed working processes of the above-described apparatus, processing device and corresponding modules thereof may refer to the description of the positioning method of the flight control system corresponding to any embodiment shown in fig. 1 to 3, and are not described herein again in detail.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
For this reason, the present application provides a computer-readable storage medium, where a plurality of instructions are stored, where the instructions can be loaded by a processor to execute steps in the method for positioning an flight control system according to any embodiment of the present application as shown in fig. 1 to 4, and specific operations may refer to descriptions of the method for positioning an flight control system according to any embodiment as shown in fig. 1 to 4, which are not described herein again.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps in the positioning method of the flight control system according to any embodiment of the present application as shown in fig. 1 to 4, the beneficial effects that can be achieved by the positioning method of the flight control system according to any embodiment of the present application as shown in fig. 1 to 4 can be achieved, which are described in detail in the foregoing description and are not repeated herein.
The positioning method, the positioning device, the processing device and the computer-readable storage medium of the flight control system provided by the present application are introduced in detail, and a specific example is applied in the present application to explain the principle and the implementation of the present application, and the description of the above embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A positioning method of a flight control system is characterized in that the method is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system comprises a first navigation device, a second navigation device and the flight control system; the method comprises the following steps:
performing modal analysis on the first navigation device and the second navigation device respectively;
if the models of the first navigation device and the second navigation device are determined to be normal, acquiring first navigation data of the first navigation device and second navigation data of the second navigation device, wherein the first navigation data and the second navigation data both comprise a plurality of positioning data;
respectively taking the precision of each positioning data as a weight, and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, wherein the fusion data comprises an average value of each positioning data;
and estimating the real-time position of the flight control system according to the fusion data.
2. The method of claim 1, wherein the modal analysis is performed separately for the first navigation device and the second navigation device; if the models of the first navigation device and the second navigation device are both normal, acquiring first navigation data of the first navigation device and second navigation data of the second navigation device, including:
acquiring a first resolving type of the first navigation equipment and a second resolving type of the second navigation equipment;
respectively comparing the first resolving type and the second resolving type with a multi-dimensional resolving type;
and if it is determined that any one of the first calculation type and the second calculation type is not lower than the multi-dimensional calculation type, acquiring the first navigation data and the second navigation data.
3. The method of claim 2, wherein after obtaining the first solution type for the first navigation device and the second solution type for the second navigation device, the method further comprises:
if any one of the first calculation type and the second calculation type is lower than the multidimensional calculation type, selecting navigation equipment with the calculation type not lower than the multidimensional calculation type as target navigation equipment;
acquiring navigation data of the target navigation equipment;
and estimating the real-time position of the flight control system according to the navigation data of the target navigation equipment.
4. A method according to claim 2 or 3, wherein the first navigation data comprises a first position, a first altitude and a first speed; the second navigation data comprises a second position, a second height, and a second speed; the weighted calculation is performed on the first navigation data and the second navigation data by taking the precision of each positioning data as a weight to obtain fusion data, and the method comprises the following steps:
taking the position precision as the weight, and carrying out weighted calculation on the first position and the second position to obtain a fusion position;
taking the height precision as a weight, and carrying out weighted calculation on the first height and the second height to obtain a fusion height;
taking the speed precision as the weight, and carrying out weighted calculation on the first speed and the second speed to obtain a fusion speed;
and obtaining the fusion data according to the fusion position, the fusion height and the fusion speed.
5. A positioning device of a flight control system is characterized in that the positioning device of the flight control system is applied to an unmanned aerial vehicle system, and the unmanned aerial vehicle system comprises a first navigation device, a second navigation device and the flight control system; flight control system positioner includes:
the analysis module is used for respectively carrying out modal analysis on the first navigation equipment and the second navigation equipment;
an obtaining module, configured to obtain first navigation data of the first navigation device and second navigation data of the second navigation device if the analysis module determines that the models of the first navigation device and the second navigation device are both normal, where the first navigation data and the second navigation data both include multiple positioning data;
the processing module is used for respectively taking the precision of each positioning data as a weight and carrying out weighted calculation on the first navigation data and the second navigation data to obtain fusion data, and the fusion data comprises an average value of each positioning data; and estimating the real-time position of the flight control system according to the fusion data.
6. The apparatus of claim 5, wherein the obtaining module is further configured to:
acquiring a first resolving type of the first navigation equipment and a second resolving type of the second navigation equipment;
the analysis module is specifically configured to compare the first solution type and the second solution type with a multidimensional solution type respectively;
the obtaining module is specifically configured to obtain the first navigation data and the second navigation data if the analyzing module determines that any one of the first calculation type and the second calculation type is not lower than the multidimensional calculation type.
7. The apparatus of claim 6, wherein the processing module, after the obtaining module obtains the first solution type for the first navigation device and the second solution type for the second navigation device, is further configured to:
if any one of the first calculation type and the second calculation type is lower than the multidimensional calculation type, selecting navigation equipment with the calculation type not lower than the multidimensional calculation type as target navigation equipment;
acquiring navigation data of the target navigation equipment through the acquisition module;
and estimating the real-time position of the flight control system according to the navigation data of the target navigation equipment.
8. The apparatus of claim 6 or 7, wherein the first navigation data comprises a first position, a first altitude, and a first velocity; the second navigation data comprises a second position, a second height, and a second speed; the processing module is specifically configured to:
taking the position precision as the weight, and carrying out weighted calculation on the first position and the second position to obtain a fusion position;
taking the height precision as a weight, and carrying out weighted calculation on the first height and the second height to obtain a fusion height;
taking the speed precision as the weight, and carrying out weighted calculation on the first speed and the second speed to obtain a fusion speed;
and obtaining the fusion data according to the fusion position, the fusion height and the fusion speed.
9. A processing device comprising a processor and a memory, a computer program being stored in the memory, the processor performing the method according to any of claims 1 to 6 when calling the computer program in the memory.
10. A computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the method of any of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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