CN112753002B

CN112753002B - Navigation point planning method, control terminal, positioning device, system and storage medium

Info

Publication number: CN112753002B
Application number: CN201980059709.XA
Authority: CN
Inventors: 唐明健; 刘清伟
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2023-12-12
Anticipated expiration: 2039-12-31
Also published as: CN112753002A; WO2021134687A1

Abstract

A waypoint planning method, a control terminal (10, 300), a positioning device (20), a system and a storage medium, wherein the method comprises: acquiring waypoint data (S101); the positioning device (20) corrects the current position information of the target waypoint based on the waypoint data to determine the target position information of the target waypoint (S102); target position information of a target waypoint transmitted by the positioning device is acquired (S103). Therefore, the accuracy of waypoint planning is improved.

Description

Navigation point planning method, control terminal, positioning device, system and storage medium

Technical Field

The present application relates to the field of waypoint planning technologies, and in particular, to a waypoint planning method, a control terminal, a positioning device, a system, and a storage medium.

Background

Before the unmanned aerial vehicle actually works, the waypoints need to be planned, after the waypoints are planned, a working area formed by surrounding a plurality of the waypoints can be obtained, and then a working route of the unmanned aerial vehicle can be planned in the working area, so that the unmanned aerial vehicle can automatically work according to the working route. At present, a waypoint planning mode mainly comprises the steps that a user walks on the boundary of a land block by holding a remote controller by hand, and a waypoint is determined through a global positioning system (Global Positioning System, GPS) in the remote controller, or the waypoint is automatically planned by an unmanned aerial vehicle through the GPS, but the positioning accuracy of the GPS is poor, the planned waypoint is inaccurate, so that a working area formed by surrounding a plurality of waypoints has larger deviation from an actual working area, the unmanned aerial vehicle cannot accurately work, and the user experience is poor.

Disclosure of Invention

Based on the above, the application provides a waypoint planning method, a control terminal, a positioning device, a system and a storage medium, which aim to accurately plan the waypoints of the unmanned aerial vehicle, so that the unmanned aerial vehicle can accurately perform operation.

In a first aspect, the present application provides a waypoint planning method applied to a control terminal, where the control terminal is used for communication connection with a positioning device, and the method includes:

acquiring navigation point position data, wherein the navigation point position data are used for determining target position information of a target navigation point, and the target navigation point is a navigation point to be planned;

transmitting the navigation point position data to the positioning device, so that the positioning device corrects the current position information of the target navigation point determined by the positioning device based on the navigation point position data to determine the target position information of the target navigation point;

and acquiring the target position information of the target waypoint sent by the positioning device.

In a second aspect, the present application further provides a waypoint planning method, applied to a positioning device, where the positioning device is used for communication connection with a control terminal, and the method includes:

acquiring the navigation point position data sent by the control terminal, wherein the navigation point position data is used for determining target position information of a target navigation point, and the target navigation point is the navigation point to be planned;

Correcting current position information of the target waypoint according to the waypoint data to determine the target position information of the target waypoint;

and sending the target position information to the control terminal so that the control terminal can display the target waypoint according to the target position information.

In a third aspect, the present application further provides a control terminal, where the control terminal includes a memory and a processor; the memory is used for storing a computer program;

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

transmitting the navigation point position data to a positioning device, so that the positioning device corrects the current position information of the target navigation point determined by the positioning device based on the navigation point position data to determine the target position information of the target navigation point;

In a fourth aspect, the present application also provides a positioning device, the positioning device including a memory and a processor; the memory is used for storing a computer program;

acquiring the navigation point position data sent by a control terminal, wherein the navigation point position data is used for determining target position information of a target navigation point, and the target navigation point is the navigation point to be planned;

correcting the current position information of the target waypoint according to the waypoint data to determine the target position information of the target waypoint;

and sending the target position information to the control terminal so that the control terminal can display the target waypoint according to the target position information of the target waypoint.

In a fifth aspect, the present application further provides a waypoint planning system, the waypoint planning system comprising a control terminal and a positioning device, wherein:

the control terminal is used for acquiring the navigation point position data and sending the navigation point position data to the positioning device, wherein the navigation point position data are used for determining the position information of a target navigation point, and the target navigation point is the navigation point to be planned;

the positioning device is used for receiving the navigation point position data sent by the control terminal, correcting the current position information of the target navigation point according to the navigation point position data so as to determine the target position information of the target navigation point, and sending the target position information to the control terminal;

The control terminal is further configured to receive the target location information sent by the positioning device, and display the target waypoint according to the target location information.

In a sixth aspect, the present application further provides a waypoint planning system, where the waypoint planning system includes a control terminal, a positioning device and a location server, the control terminal is communicatively connected with the location server, and the control terminal is communicatively connected with the positioning device, where:

the control terminal is used for sending an acquisition request of the navigation point position data to the position server, wherein the navigation point position data are used for determining the position information of a target navigation point, and the target navigation point is the navigation point to be planned;

the position server is used for acquiring the navigation point position data of the target navigation point according to the acquisition request and sending the navigation point position data to the control terminal;

the control terminal is further used for receiving the navigation point position data sent by the position server and sending the navigation point position data to the positioning device;

The control terminal is also used for receiving the target position information sent by the positioning device and displaying the target waypoint according to the target position information.

In a seventh aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the waypoint planning method as described above.

The embodiment of the application provides a navigation point planning method, a control terminal, a positioning device, a system and a storage medium, wherein the navigation point position data are sent to the positioning device, so that the positioning device can correct the current position information of a target navigation point based on the navigation point position data to determine the target position information of the target navigation point, thereby accurately and conveniently planning the navigation point of an unmanned aerial vehicle, ensuring that the deviation between a working area formed by surrounding a plurality of navigation points and an actual working area is smaller, facilitating the follow-up unmanned aerial vehicle to accurately perform the operation, and effectively improving the user experience.

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 application as claimed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a scene for implementing a waypoint planning method according to an embodiment of the application;

FIG. 2 is a schematic flow chart of steps of a waypoint planning method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a display device of a control terminal displaying a navigation point planning page according to an embodiment of the present application;

FIG. 4 is another schematic diagram of a display device of a control terminal displaying a waypoint planning page according to an embodiment of the present application;

FIG. 5 is another schematic diagram of a display device of a control terminal displaying a waypoint planning page according to an embodiment of the present application;

FIG. 6 is another schematic diagram of a display device of a control terminal displaying a waypoint planning page according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a display device of a control terminal displaying an airline segmentation page according to an embodiment of the present application;

FIG. 8 is another schematic diagram of a display device of a control terminal displaying an airline segmentation page according to an embodiment of the present application;

FIG. 9 is another schematic diagram of a display device of a control terminal displaying an airline segmentation page according to an embodiment of the present application;

FIG. 10 is another schematic diagram of a display device of a control terminal displaying an airline segmentation page according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a display device of a control terminal displaying a route planning page according to an embodiment of the present application;

FIG. 12 is another schematic diagram of a display device of a control terminal displaying a route planning page according to an embodiment of the present application;

FIG. 13 is another schematic diagram of a display device of a control terminal displaying a route planning page according to an embodiment of the present application;

FIG. 14 is a schematic flow chart of steps of another waypoint planning method according to an embodiment of the present application;

fig. 15 is a schematic block diagram of a control terminal according to an embodiment of the present application;

FIG. 16 is a schematic block diagram of a positioning device according to an embodiment of the present application;

FIG. 17 is a schematic block diagram of a waypoint planning system according to an embodiment of the application;

FIG. 18 is a schematic block diagram of another waypoint planning system provided by an embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

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

The application provides a waypoint planning method which is applied to a control terminal, wherein the control terminal is in communication connection with a positioning device and can be in communication connection in a wired connection mode or a wireless connection mode. Referring to fig. 1, fig. 1 is a schematic view of a scenario in which a waypoint planning method according to an embodiment of the present application is implemented, as shown in fig. 1, a control terminal 100 may be communicatively connected to a positioning device 200 through a universal serial bus (Universal Serial Bus, USB) interface, the control terminal 100 includes a rocker 101 and a display device 102, the control terminal 100 sends, through the USB interface, waypoint location data for determining target location information of a waypoint to the positioning device 200, so that the positioning device 200 may correct current location information of the waypoint based on the waypoint location data, and send the corrected location information to the control terminal 100 through the USB interface, so that the control terminal 100 may obtain the waypoint of the unmanned aerial vehicle with high positioning accuracy.

In an embodiment, the control terminal 100 may also be in communication connection with the positioning device 200 through a wireless or wired connection, for example, the control terminal 100 may be in communication connection with the positioning device 200 through bluetooth, the positioning device 200 includes a real-time dynamic differential RTK device, the control terminal 100 includes a remote controller, a ground control platform, a mobile phone, a tablet computer, a notebook computer, a PC computer, and the like, and the unmanned aerial vehicle includes a rotor unmanned aerial vehicle, for example, a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, or a combination of a rotor type and a fixed-wing unmanned aerial vehicle, which is not limited herein.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating steps of a waypoint planning method according to an embodiment of the application. Specifically, as shown in fig. 2, the waypoint planning method includes steps S101 to S103.

S101, acquiring navigation point position data.

The navigation point position data are used for determining target position information of a target navigation point, and the target navigation point is the navigation point to be planned.

In an embodiment, the control terminal may request the location server for the location data of the target waypoint, where the control terminal may automatically request the location server for the location data of the target waypoint every a preset time period, so as to achieve the effects of automatic updating and time delay reduction, and the preset time period may be preset by the user according to the use requirement. The control terminal is in communication connection with the position server, and the position server can provide centimeter-level positioning service for the control terminal. Or the control terminal can also acquire the navigation point position data of the target navigation point sent by the positioning base station, wherein the control terminal can automatically request the navigation point position data of the target navigation point from the positioning base station every preset time length so as to realize the effect of automatic updating, and the preset time length can be preset by a user. The navigation point position data acquired from the positioning base station can come from a position server, and the positioning base station only plays a role in data forwarding, so that the control terminal only needs to communicate with the positioning base station, and the resource occupation caused by multi-terminal communication is reduced. The positioning base station comprises a Real-time kinematic (RTK) base station, the RTK base station can also provide centimeter-level positioning service for the control terminal, and the RTK base station can measure and obtain the navigation point position data of the target navigation point and send the navigation point position data to the control terminal.

Specifically, acquiring positioning data acquired by a global positioning system (Global Positioning System, GPS) at the current system time; transmitting the positioning data to a position server, so that the position server obtains navigation point position data based on the positioning data and transmits the navigation point position data to the control terminal; and acquiring the navigation point position data sent by the position server. The positioning data of the target waypoint acquired by the built-in global positioning system is sent to the position server, so that the position server can determine the waypoint position data of the target waypoint based on the positioning data, and the current position information of the target waypoint can be corrected conveniently.

Illustratively, the control terminal assembles GGA data based on the positioning data collected at the current system time and sends the GGA data to the location server; the position server receives GGA data sent by the control terminal and acquires the navigation point position data of the target navigation point based on positioning data in the GGA data; and assembling RTCM (Radio Technical Commission for Maritime Services, RTCM) differential data of the navigation radio technical commission based on the navigation point position data, and transmitting the RTCM differential data back to the control terminal.

In an embodiment, a control terminal displays a waypoint planning page, wherein the waypoint planning page comprises a waypoint adding control, and the waypoint adding control is used for adding the waypoint of the unmanned aerial vehicle; and when the triggering operation of the user on the waypoint adding control is obtained, the waypoint data are obtained. By displaying the waypoint planning page comprising the waypoint adding control, the user can plan the waypoints rapidly based on the waypoint adding control, and user experience is greatly improved. As shown in fig. 3, the display device of the control terminal displays a waypoint planning page, and the waypoint planning page includes a waypoint adding control and description information of positioning accuracy of the waypoint.

S102, sending the navigation point position data to the positioning device, so that the positioning device corrects the current position information of the target navigation point determined by the positioning device based on the navigation point position data to determine the target position information of the target navigation point.

The control terminal is in communication connection with the positioning device in a wireless mode, for example, the control terminal is in communication connection with the positioning device through Bluetooth, or the control terminal is in communication connection with the positioning device through WiFi, and the control terminal can be in communication connection with the positioning device in a wired mode. Communication connection between the control terminal and the positioning device is established in a wireless mode, a communication line is not required to be carried, and user experience is greatly improved.

In an embodiment, the control terminal may also be communicatively connected to the positioning device via a universal serial bus (Universal Serial Bus, USB) interface, and the control terminal may be communicatively connected to the positioning device via a USB interface, e.g., the control terminal may include at least one USB interface, the positioning device may include at least one USB connector, and a USB connector on the positioning device may be inserted into a USB interface of the control terminal, thereby establishing a communication connection between the control terminal and the positioning device. Through the USB interface, communication connection between the control terminal and the positioning device can be established rapidly, frequency matching is not needed, a communication line is not needed to be carried, and communication connection between the control terminal and the positioning device can be established only by inserting a USB connector on the positioning device into the USB interface of the control terminal, so that user experience is greatly improved.

The control terminal sends the received navigation point position data to the positioning device, the positioning device receives the navigation point position data sent by the control terminal, corrects the current position information of the target navigation point according to the navigation point position data, thereby determining the target position information of the target navigation point, and sends the target position information of the target navigation point to the control terminal. The positioning device comprises a real-time dynamic differential RTK device, and the current position information is determined according to the RTK device.

In one embodiment, a positioning device obtains position deviation information of a target waypoint in the waypoint data; and correcting the current position information of the target waypoint according to the position deviation information to determine the target position information of the target waypoint. The current position information of the target waypoint can be quickly corrected through the position deviation information in the waypoint position data, and the position correction speed is improved.

The control terminal analyzes RTCM differential data obtained based on the navigation point position data assembly, and sends the analyzed RTCM differential data to the positioning device; the positioning device receives RTCM differential data sent by the control terminal, and corrects the position information of the target waypoint acquired at the current system moment point based on the RTCM differential data to obtain accurate position information; the accurate location information is assembled into NMEA (National Marine Electronics Association, american national marine electronics association) data and the NMEA data is transmitted to the control terminal.

S103, acquiring the target position information of the target waypoint sent by the positioning device.

After the control terminal obtains the target position information of the target waypoint sent by the positioning device, the control terminal can directly display the target position information, so that a user can intuitively know the target position information. The output can be performed through modes such as a display interface, voice broadcasting and the like. Specifically, the control terminal acquires NMEA data sent by the positioning device, analyzes the NMEA data, obtains target position information of a target waypoint, and displays the target waypoint based on the target position information.

In an embodiment, the waypoint planning page includes a map, and after acquiring the target position information of the to-be-target waypoint, the position of the target waypoint on the map is determined based on the target position information of the target waypoint, and the target waypoint is marked at the position. The map is determined according to data collected by a GPS in the control terminal, and can also be determined according to data collected by the positioning device, which is not particularly limited in the application. Through marking the target waypoint on the map, the user is convenient to know that the waypoint is planned, and can continue to plan other waypoints, so that the user experience is greatly improved.

In an embodiment, the control terminal displays a connecting line segment between each of the target waypoints marked on the map, so that the connecting line segment between each of the target waypoints can be encircled to form a working area. Through displaying the operation area, the user can read the operation area formed by surrounding the planned navigation points, the operation area is convenient to edit, and the user experience is greatly improved.

Specifically, a marked moment point of each target waypoint on the map is obtained, and the connection sequence of each target waypoint is determined according to the marked moment point of each target waypoint; sequentially connecting the target waypoints according to the connection sequence of the target waypoints; and displaying the connecting line segments among the target waypoints so that the connecting line segments among the target waypoints can surround to form a working area. The marking time point is a system time point recorded when the navigation point is marked on the map.

As shown in fig. 4, the waypoint planning page displays three waypoints, namely a waypoint a, a waypoint B and a waypoint C, wherein the waypoint a is connected with the waypoint B through a connecting line segment 1, the waypoint B is connected with the waypoint C through a connecting line segment 2, the waypoint a is connected with the waypoint C through a connecting line segment 3, and a triangle operation area P is formed by the connecting line segment 1, the connecting line segment 2 and the connecting line segment 3.

In one embodiment, a flight path of the drone within the work area is planned and the flight path is displayed. Through the flight route in the planning operation area and the display of the flight route, the user can preview the flight route, the user can conveniently adjust the flight route, and the user experience is greatly improved.

Specifically, determining an outer contour shape of the working area, wherein the outer contour shape is a shape of a graph formed by surrounding connecting line segments among the target waypoints; and planning a flight route of the unmanned aerial vehicle in the operation area according to the outline shape and a preset route planning algorithm. Based on the outline shape of the operation area and the route planning algorithm, the flight route of the unmanned aerial vehicle in the operation area can be accurately planned, so that the unmanned aerial vehicle can accurately operate the operation area based on the flight route, and user experience is greatly improved.

If the outline shape of the operation area is triangular, taking any one of the waypoints as a starting waypoint of the flight route, taking one of the opposite sides of the starting waypoint as an ending waypoint of the flight route, and planning the flight route of the unmanned aerial vehicle in the operation area by a preset route distance; if the outline shape of the operation area is quadrilateral, any side of the operation area is taken as a starting route of the flight route, the opposite side of the starting route is taken as an ending route of the flight route, and the flight route of the unmanned aerial vehicle in the operation area is planned according to the preset route distance. The preset route distance is determined according to the area of the operation area. As shown in fig. 5, the waypoint planning page displays four waypoints, namely, a waypoint a, a waypoint B, a waypoint C and a waypoint D, and the operation area formed by surrounding the waypoint a, the waypoint B, the waypoint C and the waypoint D comprises 20 routes.

In an embodiment, the area of the operation area is calculated according to the target position information of each target waypoint, and the area of the operation area is displayed. The navigation point planning page comprises a display popup window, and the area of the operation area can be displayed in the display popup window. Through the area that shows the operation region for the user can know the area of operation region, is convenient for the user to plan the quantity of spraying of water or pesticide etc.. As shown in fig. 6, the left display area of the waypoint planning page includes a display popup that displays the area of the operation area, and the right display area of the waypoint planning page displays the operation area that includes the planned flight route.

In an embodiment, the waypoint planning page further includes a route division control, and when a trigger operation of the route division control by a user is obtained, the route division page is displayed, wherein the route division page displays the operation area, and the operation area displays a flight route; and acquiring a route segmentation operation of a user on the operation area, segmenting the operation area according to the route segmentation operation, obtaining a route segmentation area corresponding to the route segmentation operation, and displaying a flight route in the route segmentation area. As shown in fig. 7, the unmanned aerial vehicle has 20 flight routes in total, and each vertex of the working area is shown as a vertex a, a vertex B, a vertex C and a vertex D. By displaying the route segmentation page, a user can segment the flight route to obtain the flight route wanted by the user, and the user experience is greatly improved.

The route segmentation operation comprises a selection operation of any two flight routes by a user, a moving operation of at least one route segmentation line by the user, a sliding operation of at least one segmentation control by the user and a sliding operation of a working area by the user. In the implementation, after the operation area corresponding to the route segmentation operation is obtained, the flight route in the operation area is marked, so that a user can know the segmented operation area conveniently.

In one embodiment, a first flight route and a second flight route selected by a user in the working area are obtained, and the area percentage of the area between the first flight route and the second flight route and the working area is calculated; determining whether the area percentage is greater than or equal to a preset percentage threshold; and if the area percentage is greater than or equal to a preset percentage threshold value, taking the area between the first flight route and the second flight route as an operation area. The user can realize the division of the operation area by selecting two flight routes, so that the user can conveniently divide the flight routes in the operation area.

As shown in fig. 8, the leftmost flight path of the operation area is flight path 1, the numbers of the flight paths from left to right are sequentially increased by 1, the rightmost flight path of the operation area is flight path 20, and the flight paths selected by the user are flight path 5 and flight path 15, so that the area between the flight path 5 and the flight path 15 is the operation area. The user can determine to divide the flight route in the operation area by selecting two flight routes, so that the user can conveniently plan the route, and the user experience is improved.

In an embodiment, the route division page displays a first route division line and a second route division line, the first route division line and the second route division line are parallel to a flying route in the operation area, the first route division line and the second route division line are used for dividing the flying route in the operation area, specifically, the moving operation of the user on the first route division line and/or the second route division line is obtained, and the first route division line and/or the second route division line is moved according to the moving operation of the user on the first route division line and/or the second route division line; determining the area percentage of the area between the first route parting line and the second route parting line after the movement and the operation area; determining whether the area percentage is greater than or equal to a preset percentage threshold; and if the area percentage is greater than or equal to a preset percentage threshold, taking the area between the moved first route dividing line and the moved second route dividing line as an operation area. Through setting up the route split line, the user only need remove this route split line and can cut apart the flight route in the operation region, and the user of being convenient for plans the route, has improved user experience. Through showing first route split line and second route split line, the user of being convenient for removes first route split line and second route split line to the convenience of greatly improving the convenience of route split is cut apart to the flight route in the convenience of customers to the operation region.

As shown in fig. 9, the leftmost flight path of the operation area is flight path 1, the numbers of the flight paths from left to right are sequentially increased by 1, the rightmost flight path of the operation area is flight path 20, the initial position of the first path dividing line in the path dividing page is the position of the broken line section passing through the vertex a and the vertex D, the initial position of the second path dividing line in the path dividing page is the position of the broken line section passing through the vertex B and the vertex C, after moving, the first path dividing line is positioned on flight path 5, the second path dividing line is positioned on flight path 15, and the area between the flight path 5 and the flight path 15 is the operation area.

In an embodiment, the route segmentation page further displays a route segmentation popup, the route segmentation popup displays a route segmentation bar, the route segmentation bar is used for controlling the control terminal to segment a flight route in the operation area, the route segmentation bar displays a first segmentation control and a second segmentation control, the first segmentation control and the second segmentation control are used for segmenting the flight route in the operation area, specifically, the sliding operation of a user on the first segmentation control and/or the second segmentation control in the route segmentation bar is obtained, and the first segmentation control and/or the second segmentation control are slid in the route segmentation bar according to the sliding operation of the user on the first segmentation control and/or the second segmentation control in the route segmentation bar; and determining the operation area according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding. By setting the segmentation control, a user can segment the flight route in the operation area by only sliding the segmentation control, so that the user can plan the route conveniently, and the user experience is improved. The flight route in the operation area can be segmented through the sliding operation of the segmentation control on the route segmentation bar by the user, the operation of the operation area by the user is not needed, the influence of misoperation of the user on route segmentation can be reduced, and the user can conveniently segment the flight route.

In an embodiment, determining a first route segmentation percentage and a second route segmentation percentage according to the positions of the first segmentation control and the second segmentation control on the route segmentation bar after sliding; acquiring the total number of flight routes in the operation area, and determining a first route number and a second route number according to the total number, the first route segmentation percentage and the second route segmentation percentage; and taking an area formed by surrounding each flight route between the first route number and the second route number in the operation area as the operation area. Wherein the first and second route split percentages are displayed on the route split bar and a region between the first and second route split percentages is marked on the route split bar. By displaying the segmentation percentage, a user can conveniently conduct fine adjustment on the segmentation control, and the obtained operation area is accurate.

The determination mode of the route segmentation percentage specifically comprises the following steps: and calculating the area percentage of the area between the position of the first segmentation control on the route segmentation bar after sliding and the starting point position of the route segmentation bar and the preset total area, taking the area percentage as the first route segmentation percentage, and obtaining the second route segmentation percentage in the same way. For example, the total number of flight routes is 20, the first route split ratio is 15%, the second route split ratio is 80%, the first route number is 20×15% =4, and the second route number is 20×80% =16.

In an embodiment, the route division popup also displays a route deletion control and a division icon control, where the route deletion control is used to control the control terminal to delete the operation area so as to restore the operation area to an initial state, and the division icon control is used to control the control terminal to display or hide the division control.

As shown in fig. 10, the route division popup is located at the lower boundary of the route division page, the route deletion control is disposed at the left side of the route division bar, the division icon control is disposed at the right side of the route division bar, the route division bar is disposed between the route deletion control and the division icon control, and the route division percentages corresponding to the two division controls are 20% and 80%, then the two route numbers are 4 and 16, and then the region between the flight route 4 and the flight route 16 is the operation region.

In an embodiment, the waypoint planning page further displays a homepage icon, and when a trigger operation of the homepage icon by a user is acquired, the homepage planning page is displayed, wherein the homepage planning page further comprises a job mode selection control, and the job mode selection control is used for selecting a job mode; when the triggering operation of the user on the operation mode selection control is obtained, displaying an operation mode selection page, wherein the operation mode selection page comprises a plurality of operation mode options; acquiring the selection operation of a user on the operation mode option, and determining a target operation mode according to the selection operation of the user on the operation mode option; if the target operation mode is a preset operation mode, displaying a route planning page, wherein the route planning page comprises a waypoint setting control; determining a first waypoint of the unmanned aerial vehicle according to the triggering operation of the user on the waypoint setting control, and sending a result of determining the first waypoint of the unmanned aerial vehicle to the unmanned aerial vehicle; and/or displaying the first waypoint on the route planning page; and acquiring a first topographic image of the target land block, and adjusting the course angle of the unmanned aerial vehicle at the first waypoint according to the first topographic image to obtain the target course angle of the first waypoint. The direction extension line of the heading angle of the first waypoint can be displayed in the navigation planning page, so that a user can know the heading of the unmanned aerial vehicle at the first waypoint conveniently. Through the waypoint setting control, a user can conveniently set a first waypoint of the unmanned aerial vehicle and a course angle of the first waypoint by one key, and user experience is improved.

In one embodiment, after determining the first waypoint, displaying a course angle adjustment control for the first waypoint on the route planning page; when the triggering operation of the user on the course angle adjusting control is obtained, the course angle of the unmanned aerial vehicle at the first navigation point is adjusted according to the first topographic image, and the target course angle of the first navigation point is obtained. The triggering operation of the course angle adjustment control comprises at least one of the following steps: click operation, double click operation, slide operation, and long press operation. Through the course angle adjustment control, the course point setting and the course angle setting of the course point can be separated, the course point and the course angle of the course point can be set by a user conveniently, and the user experience is greatly improved.

In an embodiment, after determining the first waypoint and the course angle of the first waypoint, the user controls the unmanned aerial vehicle to fly to the boundary point of the target land through the control terminal, and the user can perform triggering operations such as clicking, double clicking, sliding, long pressing and the like on the waypoint setting control again, so as to set the second waypoint and the course angle of the second waypoint, which is specifically as follows: determining a second waypoint of the unmanned aerial vehicle according to the triggering operation of the user on the waypoint setting control; transmitting a result of determining a second waypoint of the unmanned aerial vehicle to the unmanned aerial vehicle; and/or displaying the second waypoint on the route planning page; and acquiring a second topographic image of the target land block, and adjusting the course angle of the unmanned aerial vehicle at the second waypoint according to the second topographic image to obtain the target course angle of the second waypoint. Through the waypoint setting control, a user can conveniently set a second waypoint of the unmanned aerial vehicle and a course angle of the second waypoint by one key, and user experience is improved.

In one embodiment, after determining the second waypoint, displaying a course angle adjustment control for the second waypoint on the route planning page; when the triggering operation of the user on the course angle adjusting control is obtained, the course angle of the unmanned aerial vehicle at the second navigation point is adjusted according to the second topographic image, and the target course angle of the second navigation point is obtained. The triggering operation of the course angle adjustment control comprises at least one of the following steps: click operation, double click operation, slide operation, and long press operation. Through the course angle adjustment control, the course point setting and the course angle setting of the course point can be separated, the course point and the course angle of the course point can be set by a user conveniently, and the user experience is greatly improved.

In an embodiment, the waypoint setting control includes a first waypoint setting control and a second waypoint setting control, the first waypoint setting control is used for setting a first waypoint of the unmanned aerial vehicle, and the second waypoint setting control is used for setting a second waypoint of the unmanned aerial vehicle, specifically: determining a first waypoint of the unmanned aerial vehicle according to triggering operation of a user on the first waypoint setting control, acquiring a first topographic image of a target land block, and adjusting a course angle of the unmanned aerial vehicle at the first waypoint according to the first topographic image to obtain a target course angle of the first waypoint; after the first waypoint and the course angle of the first waypoint are determined, determining a second waypoint of the unmanned aerial vehicle and acquiring a second topographic image of a target land block according to triggering operation of a user on the second waypoint setting control, and adjusting the course angle of the unmanned aerial vehicle at the second waypoint according to the second topographic image to obtain the target course angle of the second waypoint. Through setting up first waypoint setting control and second waypoint setting control, the user of being convenient for sets up unmanned aerial vehicle's first waypoint and the course angle of first waypoint through first waypoint setting control, also is convenient for the user to set up unmanned aerial vehicle's second waypoint and the course angle of second waypoint through second waypoint setting control.

As shown in fig. 11, the route planning page displays a land parcel, a first waypoint setting control, a second waypoint setting control and an identification of the unmanned aerial vehicle, wherein the identification of the unmanned aerial vehicle is positioned in the land parcel, the first waypoint setting control is "point a", the second waypoint setting control is "point B", and the identification of the unmanned aerial vehicle isAs shown in fig. 12, after the first waypoint is determined, the route planning page displays the determined first waypoint, the first waypoint setting control, the second waypoint setting control, the heading angle adjustment control of the first waypoint and the identification of the unmanned aerial vehicle, wherein the first waypoint is ∈ ->The first waypoint setting control is "A point", the second waypoint setting control is "B point", and the unmanned aerial vehicle is marked as +.>The first waypoint setting control and the second waypoint setting control are displayed in different manners so that the user knows that the waypoint being set is the first waypoint.

In an embodiment, the route planning page further includes a course angle confirmation control of the first waypoint, and if the adjusted aircraft nose reference line overlaps with the boundary line, a preset reminding message is output, where the preset reminding message is used to remind the user that the aircraft nose reference line overlaps with the boundary line; and/or when the triggering operation of the course angle confirmation control by the user is obtained, taking the current course angle of the unmanned aerial vehicle at the first navigation point as the target course angle of the first navigation point. Through the output reminding information, the user can know that the machine head reference line and the boundary line are overlapped, and the user can set the course angle of the waypoint conveniently.

In an embodiment, the route planning page further includes a course angle confirmation control of the second waypoint, and if the adjusted aircraft nose reference line overlaps with the boundary line, a preset reminding message is output, where the preset reminding message is used to remind the user that the aircraft nose reference line overlaps with the boundary line; and/or when the triggering operation of the course angle confirming control by the user is obtained, taking the current course angle of the unmanned aerial vehicle at the second navigation point as the target course angle of the second navigation point. Through the output reminding information, the user can know that the machine head reference line and the boundary line are overlapped, and the user can set the course angle of the waypoint conveniently.

In an embodiment, the route planning page further includes a display window, the display window is a first man-name main viewing angle window of the unmanned aerial vehicle, when the route angle of the unmanned aerial vehicle at a first waypoint is adjusted, the display window displays a nose reference line of the unmanned aerial vehicle and a first topographic image of the target land block, the nose reference line and the first topographic image in the display window change along with the change of the heading angle of the unmanned aerial vehicle at the first waypoint, and when the route angle of the unmanned aerial vehicle at a second waypoint is adjusted, the display window displays a nose reference line of the unmanned aerial vehicle and a second topographic image of the target land block, and the nose reference line and the second topographic image in the display window change along with the change of the heading angle of the unmanned aerial vehicle at the second waypoint. Through the display window, the head reference line of the unmanned aerial vehicle and the topographic image of the land block are displayed, so that a user can conveniently read the position relationship between the head reference line and the boundary line of the land block in real time, and the course angle of the waypoint can be determined when the head reference line and the boundary line of the land block are overlapped.

As shown in fig. 13, the route planning page further includes a display window a, where the display window displays a nose reference line a2 of the unmanned aerial vehicle and a topographic image a1 of the target land block, and the route planning page further displays a direction extension line b of the heading angle of the first waypoint, and at this time, the route planning page does not display the first waypoint setting control and the second waypoint setting control.

According to the waypoint planning method provided by the embodiment, the current position information of the target waypoint can be corrected by the positioning device based on the waypoint position data by sending the waypoint position data to the positioning device, so that the target position information of the target waypoint can be determined, the waypoint of the unmanned aerial vehicle can be accurately and conveniently planned, the deviation between an operation area formed by surrounding a plurality of waypoints and an actual operation area is small, the follow-up unmanned aerial vehicle can accurately operate, and the user experience is effectively improved.

Referring to fig. 14, fig. 14 is a flowchart illustrating steps of another waypoint planning method according to an embodiment of the application. The navigation point planning method is applied to a positioning device.

Specifically, as shown in fig. 14, the waypoint planning method includes steps S201 to S203.

S201, acquiring navigation point position data sent by a control terminal.

The positioning device is in communication connection with the control terminal, the control terminal is in communication connection with the positioning device in a wireless mode, for example, the control terminal is in communication connection with the positioning device through Bluetooth, or the control terminal is in communication connection with the positioning device through WiFi, and the control terminal can be in communication connection with the positioning device in a wired mode. Communication connection between the control terminal and the positioning device is established in a wireless mode, a communication line is not required to be carried, and user experience is greatly improved.

In an embodiment, the control terminal may also be communicatively connected to the positioning device via a universal serial bus (Universal Serial Bus, USB) interface, and the control terminal may be communicatively connected to the positioning device via a USB interface, e.g., the control terminal may include at least one USB interface, the positioning device may include at least one USB connector, and a USB connector on the positioning device may be inserted into a USB interface of the control terminal, thereby establishing a communication connection between the control terminal and the positioning device. Through the USB interface, the communication connection between the control terminal and the positioning device can be established quickly, frequency matching is not needed, a communication line is not needed to be carried, the communication connection between the control terminal and the positioning device can be established only by inserting the positioning device into the USB interface of the control terminal, and user experience is greatly improved.

The control terminal may request the location data of the target waypoint from the location server, or may acquire the location data of the target waypoint sent by the positioning base station, and then send the location data to the positioning device, where the positioning device acquires the location data sent by the control terminal. The control terminal is in communication connection with the position server, the position server can provide centimeter-level positioning service for the control terminal, the positioning base station comprises Real-time kinematic (RTK) base stations, the RTK base stations can also provide centimeter-level positioning service for the control terminal, and the RTK base stations can measure and obtain the navigation point position data of the target navigation point and send the navigation point position data to the control terminal.

Specifically, acquiring positioning data acquired by a global positioning system (Global Positioning System, GPS) at the current system time; transmitting the positioning data to a position server, so that the position server obtains navigation point position data based on the positioning data and transmits the navigation point position data to the control terminal; and acquiring the navigation point position data sent by the position server. The positioning data of the target waypoint acquired by the built-in global positioning system is sent to the position server, so that the position server can return the waypoint position data of the target waypoint based on the positioning data, and the current position information of the target waypoint can be corrected conveniently.

S202, correcting the current position information of the target waypoint according to the waypoint data to determine the target position information of the target waypoint.

The positioning device comprises a real-time dynamic differential RTK device, and the current position information is determined according to the RTK device.

And S203, the target position information is sent to the control terminal, so that the control terminal displays the target waypoint according to the target position information.

The positioning device sends the target position information to the control terminal so that the control can display the target waypoint based on the target position information.

According to the waypoint planning method provided by the embodiment, the current position information of the target waypoint can be corrected by the positioning device based on the waypoint position data by acquiring the waypoint position data sent by the control terminal, so that the target position information of the target waypoint can be determined, the waypoint of the unmanned aerial vehicle can be accurately and conveniently planned, the deviation between an operation area formed by surrounding a plurality of waypoints and an actual operation area is small, the follow-up unmanned aerial vehicle can accurately operate, and the user experience is effectively improved.

Referring to fig. 15, fig. 15 is a schematic block diagram of a control terminal according to an embodiment of the present application. In one embodiment, the control terminal includes, but is not limited to, a remote control, a ground control platform, a cell phone, a tablet computer, a notebook computer, a PC computer, and the like. Further, the control terminal 300 includes a processor 301 and a memory 302, where the processor 301 and the memory 302 are connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 301 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 301 is configured to run a computer program stored in the memory 302 and to implement the following steps when executing the computer program:

Optionally, when the processor implements the acquiring the waypoint data, the processor is configured to implement:

requesting the waypoint location data from a location server; or (b)

And acquiring the navigation point position data sent by the positioning base station.

Optionally, when the processor realizes that the location server requests the navigation point location data, the processor is configured to realize:

Acquiring positioning data acquired by a global positioning system at the current system moment;

transmitting the positioning data to a position server, so that the position server obtains navigation point position data based on the positioning data and transmits the navigation point position data to the control terminal;

and acquiring the navigation point position data sent by the position server.

Optionally, the control terminal further includes a display device, and the processor is further configured to implement:

displaying a waypoint planning page through the display device, wherein the waypoint planning page comprises a waypoint adding control, and the waypoint adding control is used for adding the waypoint of the unmanned aerial vehicle;

the acquiring waypoint data includes:

and when the triggering operation of the user on the waypoint adding control is obtained, the waypoint data are obtained.

Optionally, the control terminal further includes a display device, and the processor is further configured to implement the following steps:

displaying a waypoint planning page through the display device, wherein the waypoint planning page comprises a map;

after the processor achieves the target position information of the target waypoint sent by the positioning device, the processor is further configured to achieve:

And determining the position of the target waypoint on the map according to the target position information of the target waypoint, and marking the target waypoint at the position.

Optionally, the processor is further configured to implement:

and displaying the connecting line segments between the target waypoints marked on the map so that the connecting line segments between the target waypoints can be encircled to form a working area.

Optionally, the processor is configured to, when implementing the displaying of the connecting line segments between the target waypoints marked on the map so that the connecting line segments between the target waypoints can surround to form a working area, implement:

acquiring a marked moment point of each target waypoint on the map, and determining the connection sequence of each target waypoint according to the marked moment point of each target waypoint;

sequentially connecting the target waypoints according to the connection sequence of the target waypoints;

and displaying the connecting line segments among the target waypoints so that the connecting line segments among the target waypoints can surround to form a working area.

Optionally, the processor is further configured to implement:

and planning a flight route of the unmanned aerial vehicle in the operation area, and displaying the flight route on the waypoint planning page.

Optionally, when the processor implements the planned flight path of the unmanned aerial vehicle in the working area, the processor is configured to implement:

determining the outline shape of the working area, wherein the outline shape is the shape of a graph formed by surrounding connecting line segments among all the target waypoints;

and planning a flight route of the unmanned aerial vehicle in the operation area according to the outline shape and a preset route planning algorithm.

Optionally, the processor is further configured to implement:

and calculating the area of the operation area according to the target position information of each target waypoint, and displaying the area of the operation area.

Optionally, the waypoint planning page includes a display popup; when the processor realizes the displaying of the area of the operation area, the processor is configured to realize:

and displaying the area of the working area on the display popup.

Optionally, the control terminal is in communication connection with the positioning device through wireless or wired connection; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

Optionally, the waypoint data comprises real-time kinematic differential RTK data of the target waypoint, the positioning device comprises a real-time kinematic differential RTK device, and the current location information is determined according to the RTK device.

It should be noted that, for convenience and brevity of description, a person skilled in the art may clearly understand that, in the specific working process of the control terminal described above, reference may be made to a corresponding process in the foregoing embodiment of the waypoint planning method, which is not described herein again.

Referring to fig. 16, fig. 16 is a schematic block diagram illustrating a positioning device according to an embodiment of the application. The positioning device 400 comprises a processor 401 and a memory 402, the processor 401 and the memory 402 being connected by a bus 403, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 401 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 402 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 401 is configured to run a computer program stored in the memory 402 and to implement the following steps when executing the computer program:

Optionally, when the processor implements the correcting the current location information of the target waypoint according to the waypoint data to determine the target location information of the target waypoint, the processor is configured to implement:

acquiring position deviation information of the target waypoint in the waypoint data;

and correcting the current position information of the target waypoint according to the position deviation information to determine the target position information of the target waypoint.

Optionally, after the control terminal obtains the target position information of the target waypoint sent by the positioning device, the control terminal displays the target position information.

It should be noted that, for convenience and brevity of description, a person skilled in the art can clearly understand that the specific working process of the positioning device described above may refer to the corresponding process in the foregoing navigation point planning method embodiment, which is not described herein again.

Referring to fig. 17, fig. 17 is a schematic block diagram of a waypoint planning system according to an embodiment of the application.

As shown in fig. 17, the waypoint planning system includes a control terminal 10 and a positioning device 20, wherein:

the control terminal 10 is configured to obtain waypoint location data, and send the waypoint location data to a positioning device, where the waypoint location data is used to determine target location information of a target waypoint, and the target waypoint is a waypoint to be planned;

the positioning device 20 is configured to receive the waypoint data sent by the control terminal 10, correct current location information of the target waypoint according to the waypoint data, determine target location information of the target waypoint, and send the target location information to the control terminal 10;

The control terminal 10 is further configured to receive the target location information sent by the positioning device 20, and display the target waypoint according to the target location information.

Optionally, the control terminal 10 is communicatively connected to the positioning device 20.

Optionally, the control terminal 10 is connected to the positioning device 20 in a wireless or wired communication manner; and/or, the control terminal 10 is communicatively connected to the positioning device 20 through a universal serial bus interface.

Optionally, the positioning device 20 is further configured to:

Optionally, the control terminal 10 is further configured to:

displaying a waypoint planning page, wherein the waypoint planning page comprises a waypoint adding control, and the waypoint adding control is used for adding the waypoint of the unmanned aerial vehicle;

Optionally, the control terminal 10 is further configured to:

displaying a waypoint planning page, wherein the waypoint planning page comprises a map;

After the target location information of the target waypoint sent by the positioning device is obtained, the method further comprises:

Optionally, the control terminal 10 is further configured to:

and planning a flight route of the unmanned aerial vehicle in the operation area, and displaying the flight route.

Optionally, the control terminal 10 is further configured to:

Optionally, the waypoint planning page includes a display popup; the control terminal 10 is further configured to:

and displaying the area of the working area on the display popup.

It should be noted that, for convenience and brevity of description, a person skilled in the art may clearly understand that, for a specific working process of the above-described waypoint planning system, reference may be made to a corresponding process in the foregoing embodiment of the waypoint planning method, which is not described herein again.

Referring to fig. 18, fig. 18 is a schematic block diagram of another waypoint planning system according to an embodiment of the application.

As shown in fig. 18, the waypoint planning system includes a control terminal 10, a positioning device 20 and a location server 30, the control terminal 10 is communicatively connected to the positioning device 20, wherein:

The control terminal 10 is configured to send an acquisition request of waypoint data to the location server 30, where the waypoint data is used to determine target location information of a target waypoint, and the target waypoint is a waypoint to be planned;

the location server 30 is configured to obtain, according to the obtaining request, location data of the target location, and send the location data to a control terminal;

the control terminal 10 is further configured to receive the waypoint location data sent by the location server, and send the waypoint location data to the positioning device 20;

the positioning device 20 is configured to receive the waypoint data sent by the control terminal 10, correct the current location information of the target waypoint according to the waypoint data, determine the target location information of the target waypoint, and send the target location information to the control terminal 10;

Optionally, the positioning device 20 is further configured to:

Optionally, the control terminal 10 is further configured to:

acquiring positioning data acquired by a global positioning system at the current system moment, and transmitting the positioning data to the position server;

the location server 30 is further configured to obtain location data according to the positioning data, and send the location data to the control terminal 10;

the control terminal 10 is further configured to receive the waypoint location data sent by the location server 30.

Optionally, the control terminal 10 is further configured to:

and displaying the area of the working area on the display popup.

An embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the waypoint planning method provided in the foregoing embodiment.

The computer readable storage medium may be an internal storage unit of the control terminal or the positioning device according to any one of the foregoing embodiments, for example, a hard disk or a memory of the control terminal or the positioning device. The computer readable storage medium may also be an external storage device of the control terminal or the positioning device, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the control terminal or the positioning device.

It is to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

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

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A waypoint planning method for use with a control terminal for communication connection with a positioning device, the method comprising:

acquiring navigation point position data, wherein the navigation point position data are used for determining target position information of target navigation points, the target navigation points are navigation points to be planned, and an operation area is formed by surrounding the target navigation points;

transmitting the navigation point position data to the positioning device so that the positioning device corrects the current position information of the target navigation point acquired by the positioning device based on the navigation point position data to determine the target position information of the target navigation point;

acquiring the target position information of the target waypoint sent by the positioning device;

and displaying the operation area formed by surrounding among the target waypoints according to the target position information of the target waypoints.

2. The waypoint planning method of claim 1, wherein the acquiring the waypoint data comprises:

requesting the waypoint location data from a location server; or (b)

3. The waypoint planning method of claim 2, wherein the requesting the waypoint location data by the location server comprises:

and acquiring the navigation point position data sent by the position server.

4. A waypoint planning method according to any of claims 1 to 3, characterized in that the method further comprises:

the acquiring waypoint data includes:

5. The waypoint planning method of claim 1, wherein the method further comprises:

6. The waypoint planning method of claim 5, the method further comprising:

7. The waypoint planning method of claim 6, wherein the displaying the connecting line segments between the target waypoints marked on the map to enable the connecting line segments between the target waypoints to surround to form a working area comprises:

8. The waypoint planning method of claim 6, the method further comprising:

9. The waypoint planning method of claim 8, wherein the planning a flight path of a drone within the work area comprises:

10. The waypoint planning method of claim 6, the method further comprising:

11. The waypoint planning method of claim 10, wherein the waypoint planning page comprises a display pop; the displaying the area of the working area includes:

and displaying the area of the working area on the display popup.

12. The waypoint planning method according to claim 1, characterized in that the control terminal is in communication connection with the positioning device by wireless or wired; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

13. The waypoint planning method according to claim 1, wherein the control terminal displays the target position information after acquiring the target position information of the target waypoint transmitted by the positioning device.

14. The waypoint planning method of claim 1, wherein the waypoint data comprises real-time kinematic differential RTK data for the target waypoint, the positioning device comprises a real-time kinematic differential RTK device, and the current location information is determined from the RTK device.

15. A waypoint planning method, characterized by being applied to a positioning device, comprising:

acquiring the navigation point position data sent by a control terminal, wherein the navigation point position data are used for determining target position information of target navigation points, the target navigation points are navigation points to be planned, and an operation area is formed by surrounding the target navigation points;

and sending the target position information to the control terminal so that the control terminal displays the target waypoints according to the target position information, and displays the operation area formed by surrounding among the target waypoints according to the target position information of each target waypoint.

16. The waypoint planning method of claim 15, wherein the correcting the current location information of the target waypoint based on the waypoint data to determine the target location information of the target waypoint comprises:

17. The waypoint planning method of claim 15, wherein the waypoint data comprises real-time kinematic differential RTK data for the target waypoint, the positioning device comprises a real-time kinematic differential RTK device, and the current location information is determined from the RTK device.

18. The waypoint planning method of claim 15, wherein the control terminal is communicatively connected to the positioning device by wireless or wired connection.

19. The waypoint planning method of claim 15, wherein the control terminal is communicatively coupled to the positioning device via a universal serial bus interface.

20. A control terminal, characterized in that the control terminal comprises a memory and a processor;

the memory is used for storing a computer program;

transmitting the navigation point position data to a positioning device, so that the positioning device corrects the current position information of the target navigation point acquired by the positioning device based on the navigation point position data to determine the target position information of the target navigation point;

21. The control terminal of claim 20, wherein when the processor implements the acquiring waypoint data, the processor is configured to implement:

requesting the waypoint location data from a location server; or (b)

22. The control terminal of claim 21, wherein the processor, when configured to implement the location server to request the waypoint data, is configured to implement:

and acquiring the navigation point position data sent by the position server.

23. The control terminal according to any of the claims 20 to 22, characterized in that the control terminal further comprises display means, the processor further being adapted to implement:

the acquiring waypoint data includes:

24. The control terminal of claim 20, wherein the processor is further configured to implement the steps of:

25. The control terminal of claim 24, wherein the processor is further configured to implement:

26. The control terminal of claim 25, wherein the processor is configured to implement, when the displaying the connecting line segments between the target waypoints marked on the map to enable the connecting line segments between the target waypoints to surround a job area,:

27. The control terminal of claim 25, wherein the processor is further configured to implement:

28. The control terminal of claim 27, wherein the processor is configured to, when implementing the planned flight path of the drone within the work area:

29. The control terminal of claim 25, wherein the processor is further configured to implement:

30. The control terminal of claim 29, wherein the waypoint planning page comprises a display pop; when the processor realizes the displaying of the area of the operation area, the processor is configured to realize:

and displaying the area of the working area on the display popup.

31. The control terminal of claim 20, wherein the control terminal is communicatively connected to the positioning device by wireless or wired; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

32. The control terminal according to claim 20, wherein the control terminal obtains the target location information of the target waypoint transmitted by the positioning device and then displays the target location information.

33. The control terminal of claim 20, wherein the waypoint data comprises real-time kinematic differential RTK data for the target waypoint, the positioning device comprises a real-time kinematic differential RTK device, and the current location information is determined from the RTK device.

34. A positioning device, wherein the positioning device comprises a memory and a processor;

the memory is used for storing a computer program;

35. The positioning device of claim 34 wherein said processor is configured to perform said correcting current location information of said target waypoint based on said waypoint location data to determine said target location information of said target waypoint by:

36. The positioning device of claim 35, wherein the waypoint data comprises real-time kinematic differential RTK data for the target waypoint, the positioning device comprises a real-time kinematic differential RTK device, and the current location information is determined from the RTK device.

37. The positioning device of claim 34, wherein the control terminal is communicatively connected to the positioning device by wireless or wired; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

38. The utility model provides a waypoint planning system which characterized in that, the waypoint planning system includes control terminal and positioner, wherein:

the control terminal is used for acquiring the navigation point position data and sending the navigation point position data to the positioning device, wherein the navigation point position data are used for determining target position information of target navigation points, the target navigation points are navigation points to be planned, and an operation area is formed by surrounding the target navigation points;

the control terminal is further used for receiving the target position information sent by the positioning device and displaying the target waypoint according to the target position information;

the control terminal is further configured to display the operation area formed by surrounding between the target waypoints according to the target position information of each target waypoint.

39. The waypoint planning system of claim 38, wherein the control terminal is communicatively coupled to the positioning device.

40. The waypoint planning system of claim 39, wherein said control terminal is communicatively coupled to said positioning device by wireless or wired connection; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

41. The waypoint planning system of claim 38, wherein the positioning device is further configured to:

42. The waypoint planning system according to any of the claims 38 to 41, characterized in that said control terminal is further adapted to:

43. The waypoint planning system of claim 38, wherein the control terminal is further configured to:

44. The waypoint planning system of claim 43, wherein said control terminal is further configured to:

45. The waypoint planning system of claim 44, wherein said control terminal is further configured to:

46. The waypoint planning system of claim 44, wherein said control terminal is further configured to:

47. The waypoint planning system of claim 46, wherein the control terminal is further configured to:

48. The waypoint planning system of claim 44, wherein said control terminal is further configured to:

49. The waypoint planning system of claim 48, wherein the waypoint planning page comprises a display popup; the control terminal is further configured to:

and displaying the area of the working area on the display popup.

50. The utility model provides a waypoint planning system, its characterized in that, the waypoint planning system includes control terminal, positioner and location server, control terminal with location server communication connection, control terminal with positioner communication connection, wherein:

the control terminal is used for sending an acquisition request of the navigation point position data to the position server, wherein the navigation point position data are used for determining target position information of target navigation points, the target navigation points are navigation points to be planned, and an operation area is formed by surrounding the target navigation points;

the control terminal is further used for receiving target position information sent by the positioning device and displaying the target waypoint according to the target position information;

51. The waypoint planning system of claim 50, wherein said control terminal is communicatively coupled to said positioning device by wireless or wired connection; and/or the control terminal is in communication connection with the positioning device through a universal serial bus interface.

52. The waypoint planning system of claim 50, wherein the positioning device is further configured to:

53. The waypoint planning system of claim 50, wherein the control terminal is further configured to:

the position server is further used for acquiring navigation point position data according to the positioning data and sending the navigation point position data to the control terminal;

the control terminal is also used for receiving the navigation point position data sent by the position server.

54. The waypoint planning system according to any of claims 50-53, characterized in that said control terminal is further adapted to:

55. The waypoint planning system of claim 52, wherein the control terminal is further configured to:

56. The waypoint planning system of claim 55, wherein the control terminal is further configured to:

57. The waypoint planning system of claim 56, wherein said control terminal is further configured to:

58. The waypoint planning system of claim 56, wherein said control terminal is further configured to:

59. The waypoint planning system of claim 58, wherein said control terminal is further configured to:

60. The waypoint planning system of claim 56, wherein said control terminal is further configured to:

61. The waypoint planning system of claim 60, wherein the waypoint planning page comprises a display popup; the control terminal is further configured to:

and displaying the area of the working area on the display popup.

62. 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 waypoint planning method according to any one of claims 1-19.