CN113783603B - Unmanned aerial vehicle positioning method, device and system - Google Patents
Unmanned aerial vehicle positioning method, device and system Download PDFInfo
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- CN113783603B CN113783603B CN202111038281.6A CN202111038281A CN113783603B CN 113783603 B CN113783603 B CN 113783603B CN 202111038281 A CN202111038281 A CN 202111038281A CN 113783603 B CN113783603 B CN 113783603B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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Abstract
The embodiment of the invention discloses a method, a device and a system for positioning an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the mobile data communication signal strength of a target positioning point; and determining a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data. According to the method provided by the embodiment of the invention, different positioning data transmission modes are adopted when the mobile data communication signal strengths are different, so that the stability of unmanned aerial vehicle positioning data transmission is ensured, and the positioning accuracy of the unmanned aerial vehicle is further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle positioning method, device and system.
Background
At present, when the unmanned aerial vehicle realizes high-precision positioning, real-time dynamic measurement (Real Time Kinematic, RTK) is generally used, and the RTK technology needs real-time communication between an RTK ground base station fixed on the ground and an RTK mobile station carried on the unmanned aerial vehicle to realize high-precision positioning.
In the process of implementing the present invention, the inventor finds that at least the following technical problems exist in the prior art: the stability of unmanned aerial vehicle location data transmission can't be guaranteed to the communication mode of RTK ground basic station and the last RTK mobile station of unmanned aerial vehicle, has reduced unmanned aerial vehicle location efficiency.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle positioning method, device and system, which are used for improving the unmanned aerial vehicle positioning efficiency.
In a first aspect, an embodiment of the present invention provides a method for positioning an unmanned aerial vehicle, including:
acquiring the mobile data communication signal strength of a target positioning point;
and determining a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle positioning device, including:
the signal strength acquisition module is used for acquiring the mobile data communication signal strength of the target positioning point;
and the positioning data transmission module is used for determining a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data.
In a third aspect, the embodiment of the invention further provides an unmanned aerial vehicle positioning system, which comprises an unmanned aerial vehicle and a ground positioning base station, wherein:
the ground positioning base station is used for determining a first data transmission mode of the unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode;
the unmanned aerial vehicle is used for determining a second data transmission mode of unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point, receiving the unmanned aerial vehicle positioning data based on the second data transmission mode, and positioning according to the unmanned aerial vehicle positioning data.
The embodiment of the invention obtains the mobile data communication signal strength of the target positioning point; according to the data transmission mode of the unmanned aerial vehicle positioning data is determined according to the intensity of the mobile data communication signal, and the unmanned aerial vehicle positioning data is transmitted based on the data transmission mode, so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data, and the stability of the unmanned aerial vehicle positioning data transmission is guaranteed by adopting different positioning data transmission modes when the intensity of the mobile data communication signal is different, and the positioning precision of the unmanned aerial vehicle is improved.
Drawings
Fig. 1 is a flowchart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2a is a schematic structural diagram of an unmanned aerial vehicle data transmission communication module according to an embodiment of the present invention;
fig. 2b is a schematic structural diagram of a data transmission communication module of a ground positioning base station according to an embodiment of the present invention;
fig. 2c is a schematic diagram of a communication manner of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2d is a schematic diagram of a communication manner of data transmission of a unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2e is a schematic diagram of a communication manner of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle positioning device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a flowchart of a method for positioning an unmanned aerial vehicle according to an embodiment of the present invention. The embodiment can be suitable for the situation when the unmanned aerial vehicle is positioned, and is particularly suitable for the situation when the logistics unmanned aerial vehicle is positioned at a flying spot or a parabolic spot. The method may be performed by a drone positioning device, which may be implemented in software and/or hardware, e.g., which may be configured in a computer device. As shown in fig. 1, the method includes:
s110, acquiring the mobile data communication signal strength of the target positioning point.
In this embodiment, the data transmission mode of the unmanned aerial vehicle positioning data required by positioning the target positioning point is determined according to the mobile data communication signal strength of the target positioning point, so that the transmission stability of the unmanned aerial vehicle positioning data can be guaranteed when the mobile data communication signal strengths of the target positioning point are different, and the positioning accuracy of the target positioning point is improved.
Alternatively, the target positioning point may be any position point that needs to be precisely positioned. Taking the logistics unmanned aerial vehicle as an example, the target positioning point can be a flying spot of the logistics unmanned aerial vehicle or a parabolic spot of the logistics unmanned aerial vehicle.
The signal strength of the mobile data communication of the target anchor point may be understood as the signal strength of the mobile data communication of the target anchor point, such as the signal strength of the third generation mobile communication technology (the 3th Generation mobile communication technology,3G) of the target anchor point, the signal strength of the fourth generation mobile communication technology (the 4th Generation mobile communication technology,4G), the signal strength of the fifth generation mobile communication technology (the 5th Generation mobile communication technology,5G), and the like.
It can be appreciated that the signal strength of the mobile data communication signal of the target positioning point can be measured in advance by the existing signal strength measuring method. For example, before the unmanned aerial vehicle operates, the operation path of the unmanned aerial vehicle can be determined according to the operation purpose of the unmanned aerial vehicle, and the mobile data communication signal strength of the target positioning point on the operation path of the unmanned aerial vehicle is measured in advance before the unmanned aerial vehicle operates. Taking the logistics unmanned aerial vehicle as an example, determining the flying point and the parabolic point of the logistics unmanned aerial vehicle before taking off the logistics unmanned aerial vehicle, and acquiring or measuring the mobile data communication signal intensity of the flying point and the parabolic point.
S120, determining a data transmission mode of unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data.
In this embodiment, a data transmission mode of the unmanned plane positioning data is determined according to the mobile data communication signal strength of the target positioning point. It can be appreciated that when the unmanned aerial vehicle is accurately positioned, the ground positioning base station is required to send unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module, so that the unmanned aerial vehicle positioning module performs positioning according to the received unmanned aerial vehicle positioning data. In the transmission process of unmanned aerial vehicle positioning data from a ground positioning base station to an unmanned aerial vehicle positioning module, the ground positioning base station and the unmanned aerial vehicle are required to operate respectively. Therefore, the data transmission mode of the positioning data of the unmanned aerial vehicle in this embodiment may include a data transmission mode of a ground positioning base station and a data transmission mode of the unmanned aerial vehicle.
In one embodiment of the present invention, the method is performed by a ground positioning base station, determines a data transmission mode of unmanned aerial vehicle positioning data according to a mobile data communication signal strength, and performs unmanned aerial vehicle positioning data transmission based on the data transmission mode, and includes: and determining a ground transit node of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the ground transit node.
In this embodiment, a local area network communication mode is added on the basis of data transmission communication in the ground positioning base station, so that the ground positioning module can transmit unmanned aerial vehicle positioning data in a reasonable communication mode when the mobile data communication signal strengths are different. In the whole, when the mobile data communication signal is strong, unmanned aerial vehicle positioning data can be transmitted through a local area network communication mode, and when the mobile data communication signal is weak, unmanned aerial vehicle positioning data needs to be transmitted through a data transmission communication module. According to the difference of transmission mode, unmanned aerial vehicle positioning data need transmit to different ground transfer nodes, by ground transfer node with unmanned aerial vehicle positioning data send to unmanned aerial vehicle positioning module. The strength of the mobile data communication signal may be determined based on a preset signal strength threshold. The signal strength threshold may be set according to actual transmission requirements, and is not limited herein.
In one embodiment, determining a ground relay node of the unmanned aerial vehicle positioning data according to a relationship between the mobile data communication signal strength and the signal strength threshold, and transmitting the unmanned aerial vehicle positioning data to the ground relay node, includes: when the signal intensity of the mobile data communication is larger than the signal intensity threshold, the server is used as a ground transit node, and the unmanned plane positioning data is sent to the server through the local area network. It can be understood that when the intensity of the mobile data communication signal is greater than the signal intensity threshold, the mobile data communication signal is determined to be strong, and the unmanned aerial vehicle positioning data can be transmitted in a local area network mode, so that the stability of unmanned aerial vehicle positioning data transmission is ensured. At this time, the server is used as a ground transfer node, and the ground positioning base station transmits the unmanned aerial vehicle positioning data to the server through the local area network, so that the server transmits the received unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module. The local area network may be a wired network, a mobile hotspot (WIFI), or the like.
Specifically, the ground positioning base station may send the positioning data of the unmanned aerial vehicle to the server through the local area network: when the ground positioning base station is simultaneously connected to a wired network and WIFI, unmanned plane positioning data are sent to a server through the wired network; or measuring the signal intensity of the wired network and the WIFI, and sending the unmanned aerial vehicle positioning data to the server through the network with strong signal intensity. When the ground positioning base station is only connected to the wired network, the unmanned plane positioning data is sent to the server through the wired network. When the ground positioning base station is only connected to the WIFI, unmanned aerial vehicle positioning data are sent to the server through the WIFI.
Taking the positioning of the logistics unmanned aerial vehicle through the RTK technology as an example, when the target positioning point is the flying spot of the logistics unmanned aerial vehicle and the 4G signal of the flying spot is larger than the signal intensity threshold, the ground RTK module transmits the positioning data of the unmanned aerial vehicle to the network server through a network port or WIFI. When the target positioning point is a parabolic point of the logistics unmanned aerial vehicle and the 4G signal of the parabolic point is larger than the signal intensity threshold, the ground RTK module transmits the unmanned aerial vehicle positioning data to the network server through the network port or the WIFI.
In one embodiment, determining a ground relay node of the unmanned aerial vehicle positioning data according to a relationship between the mobile data communication signal strength and the signal strength threshold, and transmitting the unmanned aerial vehicle positioning data to the ground relay node, includes: when the signal intensity of the mobile data communication is larger than the signal intensity threshold, the server is used as a ground transit node, and the unmanned plane positioning data is sent to the server through the local area network. It can be understood that when the intensity of the mobile data communication signal is not greater than the signal intensity threshold, the mobile data communication signal is determined to be weak, and the unmanned aerial vehicle positioning data can be transmitted through the data transmission communication module, so that the stability of unmanned aerial vehicle positioning data transmission is ensured. At this time, the data transmission communication module is used as a ground transfer node, and the ground positioning base station transmits the unmanned aerial vehicle positioning data to the data transmission communication module, so that the data transmission communication module transmits the received unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module. The data transmission mode of the data transmission communication module can refer to the data transmission mode of the data transmission communication module in the prior art, and will not be described herein.
Taking the positioning of the logistics unmanned aerial vehicle by the RTK technology as an example, when the target positioning point is the flying spot of the logistics unmanned aerial vehicle and the 4G signal of the flying spot is not more than the signal intensity threshold, the ground RTK module directly sends data to the data transmission communication module. When the target positioning point is a parabolic point of the logistics unmanned aerial vehicle and the 4G signal of the parabolic point is not more than the signal intensity threshold, the ground RTK module transmits unmanned aerial vehicle positioning data to the server through the local area network, and then the server transmits the unmanned aerial vehicle positioning data to the network data transmission communication module of the parabolic side.
In another embodiment of the present invention, the method is performed by an unmanned aerial vehicle, determines a data transmission mode of unmanned aerial vehicle positioning data according to a mobile data communication signal strength, and performs transmission of the unmanned aerial vehicle positioning data based on the data transmission mode, including: and determining a data transmission module of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module.
In the whole, when the mobile data communication signal is strong, unmanned aerial vehicle positioning data can be transmitted through the mobile data communication mode, and when the mobile data communication signal is weak, unmanned aerial vehicle positioning data needs to be transmitted through the data transmission communication module. According to different transmission modes, the data transmission modules in the unmanned aerial vehicle are different. The strength of the mobile data communication signal may be determined based on a preset signal strength threshold. The signal strength threshold may be set according to actual transmission requirements, and is not limited herein.
In one embodiment, the data transmission module for determining the positioning data of the unmanned aerial vehicle according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the positioning data of the unmanned aerial vehicle to the positioning module of the unmanned aerial vehicle through the data transmission module, includes: when the mobile data communication signal strength is greater than the signal strength threshold, the mobile communication module is used as a data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the mobile communication module.
It can be understood that when the intensity of the mobile data communication signal is greater than the signal intensity threshold, the mobile data communication signal is determined to be strong, and the unmanned aerial vehicle positioning data can be transmitted in a mobile data communication mode, so that the stability of unmanned aerial vehicle positioning data transmission is ensured. At this time, the server transmits the unmanned aerial vehicle positioning data to the unmanned aerial vehicle's mobile communication module through mobile data communication, and the unmanned aerial vehicle's mobile communication module transmits the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module.
Taking logistics unmanned aerial vehicle as an example through RTK technique location, when the target setpoint is the flying spot or the parabolic point of logistics unmanned aerial vehicle, and when the 4G signal of target setpoint is greater than signal strength threshold value, ground RTK module passes into network server with unmanned aerial vehicle positioning data through net gape or WIFI, and the server sends unmanned aerial vehicle positioning data to 4G basic station, is with unmanned aerial vehicle positioning data transmission to unmanned aerial vehicle's mobile communication module by 4G basic station, sends unmanned aerial vehicle positioning data to unmanned aerial vehicle positioning module through unmanned aerial vehicle's mobile communication module.
In one embodiment, the data transmission module for determining the positioning data of the unmanned aerial vehicle according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the positioning data of the unmanned aerial vehicle to the positioning module of the unmanned aerial vehicle through the data transmission module, includes: when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission module is used as the data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the data transmission module.
It can be understood that when the intensity of the mobile data communication signal is not greater than the signal intensity threshold, the mobile data communication signal is determined to be weak, and unmanned aerial vehicle positioning data transmission is required to be performed in a communication mode of the data transmission module, so that the stability of unmanned aerial vehicle positioning data transmission is ensured. At this time, the ground positioning base station transmits unmanned aerial vehicle positioning data to the unmanned aerial vehicle's data transmission communication module through the data transmission communication module, and unmanned aerial vehicle's data transmission communication module transmits unmanned aerial vehicle positioning data to unmanned aerial vehicle positioning module.
In one embodiment of the present invention, the unmanned aerial vehicle further includes a communication switching module, the data transmission module for determining unmanned aerial vehicle positioning data according to the relationship between the mobile data communication signal strength and the signal strength threshold value, and the data transmission module is configured to send the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module, including: the communication switching module acquires the intensity of the mobile data communication signal, takes the mobile data communication module or the data transmission communication module as the data transmission module according to the relation between the intensity of the mobile data communication signal and the threshold value of the intensity of the signal, and sends the unmanned aerial vehicle positioning data transmitted by the data transmission module to the unmanned aerial vehicle positioning module. Optionally, a communication switching module may be disposed in the unmanned aerial vehicle, and the data transmission module or the mobile data communication module is switched through the communication switching module to serve as a data transmission module to transmit the positioning data of the unmanned aerial vehicle. The mobile data communication signal intensity of the unmanned aerial vehicle positioning data transmitted by the mobile data communication module can be received through the communication switching module, and the mobile data communication signal intensity is compared with a preset signal intensity threshold value, so that the communication module with high signal intensity is selected as the data transmission module. Specifically, when the intensity of the mobile data communication signal is greater than a signal intensity threshold, the mobile data communication signal is stable, the mobile data communication module is used as a data transmission module, and unmanned plane positioning data transmitted by the mobile data communication module are sent to the unmanned plane positioning module; when the intensity of the mobile data communication signal is not greater than the threshold value of the intensity of the signal, the mobile data communication signal is unstable, the data transmission module is used as a data transmission module, and the unmanned aerial vehicle positioning data transmitted by the data transmission module are sent to the unmanned aerial vehicle positioning module. The data transmission module is determined by judging the stability of the mobile data communication signal strength, so that the data processing amount is reduced on the basis of ensuring the transmission stability of the positioning data of the unmanned aerial vehicle, and the data processing speed is accelerated.
In another embodiment, the communication switching module may further receive the unmanned aerial vehicle positioning data transmitted by the data transmission communication module and the unmanned aerial vehicle positioning data transmitted by the mobile data communication module, determine the data transmission signal strength of the unmanned aerial vehicle positioning data transmitted by the data transmission communication module, and compare the magnitude relation between the data transmission signal strength and the mobile data communication signal strength of the unmanned aerial vehicle positioning data transmitted by the mobile data communication module, and use the communication module with stronger signal strength as the data transmission module. Specifically, when the intensity of the mobile data communication signal is higher than the intensity of the data transmission communication signal, the mobile data communication signal is stable, the mobile data communication module is used as a data transmission module, and the unmanned plane positioning data transmitted by the mobile data communication module are sent to the unmanned plane positioning module; when the intensity of the mobile data communication signal is not higher than the intensity of the data communication signal, the data communication signal is stable, the data communication module is used as a data transmission module, and the unmanned aerial vehicle positioning data transmitted by the data communication module are sent to the unmanned aerial vehicle positioning module. The data transmission module is determined by judging the intensity of the mobile data communication signal intensity and the intensity of the data transmission communication signal intensity, so that unmanned aerial vehicle positioning can be performed by acquiring unmanned aerial vehicle positioning data transmitted by the communication module with stable data transmission, and the transmission stability of the unmanned aerial vehicle positioning data is ensured.
Taking logistics unmanned aerial vehicle as an example through RTK technique location, when the target locating point is the departure point of logistics unmanned aerial vehicle, and when the 4G signal of departure point is not greater than signal intensity threshold value, ground RTK module is direct to send unmanned aerial vehicle positioning data to data transmission communication module, and data transmission communication module sends unmanned aerial vehicle positioning data to the data transmission communication module on the unmanned aerial vehicle, by the data transmission communication module on the unmanned aerial vehicle with unmanned aerial vehicle positioning data transmission to unmanned aerial vehicle positioning module. When the target locating point is a parabolic object of the logistics unmanned aerial vehicle, and the 4G signal of the parabolic object is not more than the signal intensity threshold value, the ground RTK module transmits unmanned aerial vehicle locating data to the network server through a network port or WIFI, the server transmits the unmanned aerial vehicle locating data to the network revolution number transmission communication module of the cargo throwing point, the data transmission communication module in the network revolution number transmission communication module transmits the unmanned aerial vehicle locating data to the data transmission communication module on the unmanned aerial vehicle, and the data transmission communication module on the unmanned aerial vehicle transmits the unmanned aerial vehicle locating data to the unmanned aerial vehicle locating module.
The embodiment of the invention obtains the mobile data communication signal strength of the target positioning point; according to the data transmission mode of the unmanned aerial vehicle positioning data is determined according to the intensity of the mobile data communication signal, and the unmanned aerial vehicle positioning data is transmitted based on the data transmission mode, so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data, and the stability of the unmanned aerial vehicle positioning data transmission is guaranteed by adopting different positioning data transmission modes when the intensity of the mobile data communication signal is different, and the positioning precision of the unmanned aerial vehicle is improved.
On the basis of the above scheme, a preferred embodiment is provided. Considering that the logistics unmanned plane needs to be positioned by using an RTK technology because goods are precisely put in, particularly the flying spot and the parabolic spot must be positioned with high precision. However, in the actual delivery operation of the logistics unmanned aerial vehicle, the communication environment of the flight route is complex. In this embodiment, the positioning of the unmanned aerial vehicle is described by taking the positioning of the unmanned aerial vehicle at the flying spot and the parabolic spot as an example.
Fig. 2a is a schematic structural diagram of an unmanned aerial vehicle data transmission communication module according to an embodiment of the present invention. Fig. 2a illustrates an exemplary structure of a data transmission communication module at a carrier end of an unmanned aerial vehicle, and as shown in fig. 2a, two communication modes of data transmission and mobile data are simultaneously carried in the carrier end of the unmanned aerial vehicle, and a communication switching module is used for selecting which communication mode is used by a real-time dynamic measurement mobile station to receive real-time dynamic measurement data. Fig. 2b is a schematic structural diagram of a data transmission communication module of a ground positioning base station according to a second embodiment of the present invention. Fig. 2b illustrates an exemplary structure of a data transmission communication module of a ground positioning base station, and as shown in fig. 2b, on the basis of the existing real-time dynamic measurement of data transmission communication of the ground base station, two modes of wired network (network port) and mobile hotspot WIFI communication are added to access the internet. Considering that the mobile data is finally accessed to the Internet, the real-time dynamic measurement ground base station does not need to use the mobile data communication module any more.
The following describes the transmission modes of unmanned aerial vehicle data transmission in different scenarios.
The movement data signal of the first scene, the departure point and the throwing point is good
Fig. 2c is a schematic diagram of a communication manner of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 2c, when both the departure point movement data signal and the shipment point movement data signal are greater than the set signal threshold, it is determined that both the departure point and the shipment point movement data signals are good. At this time, the transmission mode of the unmanned aerial vehicle positioning data at the departure point and the throwing point can be as follows: firstly, transmitting the data of a ground real-time dynamic measurement module (namely a ground positioning base station) into a network server through a wired network and a mobile hotspot, then, transmitting the data to a mobile data base station near a throwing point by the server, transmitting the data to a mobile data communication module on an unmanned aerial vehicle by the mobile data base station, and selectively switching the data into the data of the mobile data communication module by a communication switching module on the unmanned aerial vehicle to transmit the data to the real-time dynamic measurement mobile station (namely the unmanned aerial vehicle positioning module).
Good data signal of movement of second scene and flying spot and bad data signal of movement of throwing spot
And when the flying-spot moving data signal is larger than the set signal threshold value, judging that the flying-spot moving data signal is good. The transmission of unmanned aerial vehicle positioning data at the departure point can be performed with reference to the communication mode in scene one.
And when the cargo throwing point movement data signal is not larger than the set signal threshold value, judging that the cargo throwing point movement data signal is not good. Fig. 2d is a schematic diagram of a communication manner of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 2d, when the data signal of the mobile data of the throwing point is bad, the data of the ground real-time dynamic measurement module is firstly transmitted to the network server through the wired network or the action hot spot, then the server transmits the data to the network revolution number transmission communication module of the throwing point through the wired network or the action hot spot, the data is transmitted to the data transmission communication module on the unmanned aerial vehicle by the data transmission communication module in the network revolution number transmission communication module, and the communication switching module on the unmanned aerial vehicle selectively switches the data of the data transmission communication module to the real-time dynamic measurement mobile station.
Scene three, good flying spot movement data signal and good throwing spot movement data signal
When the flying-spot moving data signal is not greater than the set signal threshold, it is determined that the flying-spot moving data signal is not good. Fig. 2e is a schematic diagram of a communication manner of data transmission of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 2e, when the flying spot moving data signal is bad, the real-time dynamic measurement module directly sends the data to the data transmission communication module, the data transmission communication module sends the data to the data transmission communication module on the unmanned aerial vehicle, and the communication switching module on the unmanned aerial vehicle selectively switches the data of the data transmission communication module to the real-time dynamic measurement mobile station.
And when the cargo throwing point movement data signal is larger than the set signal threshold value, judging that the cargo throwing point movement data signal is good. The transmission of unmanned positioning data to the point of shipment may be entered with reference to the communication means in scenario one.
The moving data signal of the fourth scene, the flying spot and the throwing spot is poor
When the flying-spot moving data signal is not greater than the set signal threshold, it is determined that the flying-spot moving data signal is not good. The unmanned plane positioning data can be transmitted by referring to a communication mode that the flying spot moving data signal is not good in the scene I.
And when the cargo throwing point movement data signal is not larger than the set signal threshold value, judging that the cargo throwing point movement data signal is not good. The unmanned aerial vehicle positioning data can be transmitted by referring to a communication mode that the movement data signal of the cargo throwing point in the second scene is bad.
According to the embodiment of the invention, the real-time dynamic measurement communication stability of the logistics unmanned aerial vehicle at the departure point and the throwing point is ensured by arranging the novel module and the novel communication mechanism, and the positioning accuracy of the unmanned aerial vehicle is ensured.
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle positioning device according to an embodiment of the present invention. The unmanned aerial vehicle positioning device can be implemented in software and/or hardware, for example, the unmanned aerial vehicle positioning device can be configured in a computer device. As shown in fig. 3, the apparatus includes a signal strength acquisition module 310 and a positioning data transmission module 320, wherein:
A signal strength obtaining module 310, configured to obtain a mobile data communication signal strength of a target positioning point;
the positioning data transmission module 320 is configured to determine a data transmission mode of the positioning data of the unmanned aerial vehicle according to the intensity of the mobile data communication signal, and perform transmission of the positioning data of the unmanned aerial vehicle based on the data transmission mode, so that the unmanned aerial vehicle performs positioning according to the received positioning data of the unmanned aerial vehicle.
According to the embodiment of the invention, the signal strength of the mobile data communication of the target positioning point is acquired through the signal strength acquisition module; the positioning data transmission module determines a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmits the unmanned aerial vehicle positioning data based on the data transmission mode, so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data, different positioning data transmission modes are adopted when the intensity of the mobile data communication signal is different, the stability of the unmanned aerial vehicle positioning data transmission is guaranteed, and the positioning precision of the unmanned aerial vehicle is improved.
Optionally, on the basis of the above scheme, the unmanned aerial vehicle positioning device is configured at a ground positioning base station, and the positioning data transmission module 320 is specifically configured to:
and determining a ground transit node of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the ground transit node.
Optionally, based on the above scheme, the positioning data transmission module 320 is specifically configured to:
when the signal intensity of the mobile data communication is larger than the signal intensity threshold, the server is used as a ground transit node, and the unmanned plane positioning data is sent to the server through the local area network.
Optionally, based on the above scheme, the positioning data transmission module 320 is specifically configured to:
when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission communication module is used as a ground transfer node, and the unmanned aerial vehicle positioning data is sent to the data transmission communication module.
Optionally, on the basis of the above scheme, the unmanned aerial vehicle positioning device is configured on the unmanned aerial vehicle, and the positioning data transmission module 320 is specifically configured to:
and determining a data transmission module of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module.
Optionally, based on the above scheme, the positioning data transmission module 320 is specifically configured to:
when the mobile data communication signal strength is greater than the signal strength threshold, the mobile communication module is used as a data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the mobile communication module.
Optionally, based on the above scheme, the positioning data transmission module 320 is specifically configured to:
when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission module is used as the data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the data transmission module.
Optionally, on the basis of the above scheme, the unmanned aerial vehicle positioning device is configured on an unmanned aerial vehicle, and further includes a communication switching module, and the positioning data transmission module 320 is specifically configured to:
the communication switching module acquires the intensity of the mobile data communication signal, takes the mobile data communication module or the data transmission communication module as the data transmission module according to the relation between the intensity of the mobile data communication signal and the threshold value of the intensity of the signal, and sends the unmanned aerial vehicle positioning data transmitted by the data transmission module to the unmanned aerial vehicle positioning module.
The unmanned aerial vehicle positioning device provided by the embodiment of the invention can execute the unmanned aerial vehicle positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiment of the invention also provides an unmanned aerial vehicle positioning system, which comprises an unmanned aerial vehicle and a ground positioning base station, wherein: the ground positioning base station is used for determining a first data transmission mode of the unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode; the unmanned aerial vehicle is used for determining a second data transmission mode of unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point, receiving the unmanned aerial vehicle positioning data based on the second data transmission mode, and positioning according to the unmanned aerial vehicle positioning data.
According to the embodiment of the invention, the ground positioning base station determines the first data transmission mode of the unmanned aerial vehicle positioning data according to the mobile data communication signal intensity of the target positioning point, the unmanned aerial vehicle determines the second data transmission mode of the unmanned aerial vehicle positioning data according to the mobile data communication signal intensity of the target positioning point, and the unmanned aerial vehicle positioning data is transmitted through the determined first data mode and the second data transmission mode, so that the stability of unmanned aerial vehicle positioning data transmission is ensured, and the positioning precision of the unmanned aerial vehicle is further improved.
Optionally, the ground positioning base station determines a first data transmission mode of the unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point, and sending the unmanned aerial vehicle positioning data based on the data transmission mode specifically includes: and determining a ground transit node of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the ground transit node.
On the basis of the scheme, the ground transit node of the unmanned aerial vehicle positioning data is determined according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and the unmanned aerial vehicle positioning data is sent to the ground transit node, and the method comprises the following steps: when the signal intensity of the mobile data communication is larger than the signal intensity threshold, the server is used as a ground transit node, and the unmanned plane positioning data is sent to the server through the local area network.
On the basis of the scheme, the ground transit node of the unmanned aerial vehicle positioning data is determined according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and the unmanned aerial vehicle positioning data is sent to the ground transit node, and the method comprises the following steps:
when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission communication module is used as a ground transfer node, and the unmanned aerial vehicle positioning data is sent to the data transmission communication module.
Optionally, the unmanned aerial vehicle determines a second data transmission mode of unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point, receives the unmanned aerial vehicle positioning data based on the second data transmission mode, and performs positioning according to the unmanned aerial vehicle positioning data, which specifically includes:
and determining a data transmission module of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module so that the unmanned aerial vehicle positioning module performs positioning according to the unmanned aerial vehicle positioning data.
On the basis of the scheme, the data transmission module for determining the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module comprises the following steps: when the mobile data communication signal strength is greater than the signal strength threshold, the mobile communication module is used as a data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the mobile communication module.
On the basis of the scheme, the data transmission module for determining the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module comprises the following steps: when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission module is used as the data transmission module, and the unmanned aerial vehicle positioning data is sent to the unmanned aerial vehicle positioning module through the data transmission module.
On the basis of the above scheme, unmanned aerial vehicle still includes communication switching module, confirms unmanned aerial vehicle positioning data's data transmission module according to the relation of mobile data communication signal strength and signal strength threshold to send unmanned aerial vehicle positioning data to unmanned aerial vehicle positioning module through data transmission module, include: the communication switching module acquires the intensity of a mobile data communication signal, takes the mobile data communication module or the data transmission communication module as a data transmission module according to the relation between the intensity of the mobile data communication signal and a signal intensity threshold value, and sends unmanned plane positioning data transmitted by the data transmission module to the unmanned plane positioning module.
Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present invention. Fig. 4 illustrates a block diagram of an exemplary computer device 412 suitable for use in implementing embodiments of the invention. The computer device 412 shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the invention.
As shown in fig. 4, the computer device 412 is in the form of a general purpose computing device, such as may be in the form of a drone or a ground base station. Components of computer device 412 may include, but are not limited to: one or more processors 414, a system memory 428, a bus 418 that connects the various system components (including the system memory 428 and the processors 414).
Bus 418 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor 414, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 412 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 412 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 428 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 430 and/or cache memory 432. The computer device 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage 434 may be used to read from or write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 418 via one or more data medium interfaces. Memory 428 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored in, for example, memory 428, such program modules 442 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 442 generally perform the functions and/or methodologies in the described embodiments of the invention.
The computer device 412 may also communicate with one or more external devices 414 (e.g., keyboard, pointing device, display 424, etc.), one or more devices that enable a user to interact with the computer device 412, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 412 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 422. Moreover, computer device 412 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 420. As shown, network adapter 420 communicates with other modules of computer device 412 over bus 418. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 412, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processor 414 executes various functional applications and data processing by running programs stored in the system memory 428, for example, to implement the unmanned aerial vehicle positioning method provided by the embodiment of the present invention, and the method includes:
acquiring the mobile data communication signal strength of a target positioning point;
and determining a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data.
Of course, those skilled in the art will understand that the processor may also implement the technical solution of the unmanned aerial vehicle positioning method provided by any embodiment of the present invention.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the unmanned aerial vehicle positioning method provided by the embodiment of the invention, and the method comprises the following steps:
acquiring the mobile data communication signal strength of a target positioning point;
and determining a data transmission mode of the unmanned aerial vehicle positioning data according to the intensity of the mobile data communication signal, and transmitting the unmanned aerial vehicle positioning data based on the data transmission mode so that the unmanned aerial vehicle is positioned according to the received unmanned aerial vehicle positioning data.
Of course, the computer readable storage medium provided by the embodiments of the present invention, on which the computer program stored is not limited to the above method operations, but may also perform the related operations of the unmanned aerial vehicle positioning method provided by any embodiment of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method of unmanned aerial vehicle positioning, performed by a ground positioning base station, comprising:
acquiring the mobile data communication signal strength of a target positioning point, wherein the mobile data communication signal strength of the target positioning point is obtained through pre-measurement;
and determining a ground transit node of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the ground transit node so that the unmanned aerial vehicle positioning module performs positioning according to the received unmanned aerial vehicle positioning data.
2. The method of claim 1, wherein the determining a ground relay node of the drone positioning data from the relationship of the mobile data communication signal strength and the signal strength threshold and transmitting the drone positioning data to the ground relay node comprises:
when the mobile data communication signal intensity is larger than the signal intensity threshold, a server is used as the ground transit node, and the unmanned aerial vehicle positioning data is sent to the server through a local area network.
3. The method of claim 1, wherein the determining a ground relay node of the drone positioning data from the relationship of the mobile data communication signal strength and the signal strength threshold and transmitting the drone positioning data to the ground relay node comprises:
when the mobile data communication signal strength is not greater than the signal strength threshold, the data transmission communication module is used as the ground transit node, and the unmanned aerial vehicle positioning data is sent to the data transmission communication module.
4. The method as recited in claim 1, further comprising:
and the unmanned aerial vehicle determines a data transmission module of unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sends the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module.
5. The method of claim 4, wherein the drone determines a data transmission module for the drone positioning data based on the relationship of the mobile data communication signal strength and the signal strength threshold, and wherein transmitting the drone positioning data to the drone positioning module via the data transmission module comprises:
when the mobile data communication signal intensity is larger than the signal intensity threshold, the mobile communication module is used as the data transmission module, and the unmanned aerial vehicle positioning data are sent to the unmanned aerial vehicle positioning module through the mobile communication module.
6. The method of claim 4, wherein the drone determines a data transmission module for the drone positioning data based on the relationship of the mobile data communication signal strength and the signal strength threshold, and wherein transmitting the drone positioning data to the drone positioning module via the data transmission module comprises:
when the mobile data communication signal strength is not greater than the signal strength threshold, taking the data transmission module as the data transmission module, and sending the unmanned aerial vehicle positioning data to the unmanned aerial vehicle positioning module through the data transmission module.
7. The method of claim 4, wherein the drone further comprises a communication switching module, wherein the drone determines a data transmission module for the drone positioning data from the relationship of the mobile data communication signal strength and the signal strength threshold, and wherein transmitting the drone positioning data to the drone positioning module through the data transmission module comprises:
the communication switching module acquires the intensity of the mobile data communication signal, takes the mobile data communication module or the data transmission communication module as the data transmission module according to the relation between the intensity of the mobile data communication signal and the threshold value of the intensity of the signal, and sends the unmanned aerial vehicle positioning data transmitted by the data transmission module to the unmanned aerial vehicle positioning module.
8. An unmanned aerial vehicle positioner, characterized in that disposes in ground location basic station, includes:
the signal strength acquisition module is used for acquiring the mobile data communication signal strength of a target positioning point, wherein the mobile data communication signal strength of the target positioning point is obtained through pre-measurement;
and the positioning data transmission module is used for determining a ground transfer node of the unmanned aerial vehicle positioning data according to the relation between the mobile data communication signal intensity and the signal intensity threshold value, and sending the unmanned aerial vehicle positioning data to the ground transfer node so that the unmanned aerial vehicle positioning module performs positioning according to the received unmanned aerial vehicle positioning data.
9. The utility model provides an unmanned aerial vehicle positioning system which characterized in that, including unmanned aerial vehicle and ground location basic station, wherein:
the ground positioning base station is used for determining a ground transit node of unmanned aerial vehicle positioning data according to the mobile data communication signal intensity of a target positioning point and sending the unmanned aerial vehicle positioning data to the ground transit node;
the unmanned aerial vehicle is used for determining a second data transmission mode of unmanned aerial vehicle positioning data according to the mobile data communication signal strength of the target positioning point, receiving the unmanned aerial vehicle positioning data based on the second data transmission mode, and positioning according to the unmanned aerial vehicle positioning data.
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