CN115343726A - Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server - Google Patents

Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server Download PDF

Info

Publication number
CN115343726A
CN115343726A CN202210975443.7A CN202210975443A CN115343726A CN 115343726 A CN115343726 A CN 115343726A CN 202210975443 A CN202210975443 A CN 202210975443A CN 115343726 A CN115343726 A CN 115343726A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
signaling
positioning
auxiliary positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210975443.7A
Other languages
Chinese (zh)
Inventor
党之音
刘牧洲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China United Network Communications Group Co Ltd
Original Assignee
China United Network Communications Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China United Network Communications Group Co Ltd filed Critical China United Network Communications Group Co Ltd
Priority to CN202210975443.7A priority Critical patent/CN115343726A/en
Publication of CN115343726A publication Critical patent/CN115343726A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides an unmanned aerial vehicle positioning method, an unmanned aerial vehicle airborne terminal, a positioning server, computer equipment and a storage medium, and relates to the technical field of unmanned aerial vehicles, wherein the method comprises the following steps: an unmanned aerial vehicle airborne terminal receives a signaling sent by a positioning server, wherein the validity period of the signaling is a preset time length; sending an auxiliary positioning information acquisition request carrying the signaling to a positioning server so that the positioning server verifies the signaling carried by the auxiliary positioning information acquisition request, and sending auxiliary positioning information to an unmanned aerial vehicle airborne terminal in response to the verification result that the verification is successful within the validity period of the signaling; and receiving auxiliary positioning information sent by the positioning server, and completing positioning based on the auxiliary positioning information. According to the technical scheme provided by the invention, by introducing a safety signaling mechanism, the safety interaction of the position related information of the unmanned aerial vehicle can be ensured on the premise of having the smallest influence on time loss, and the rapid positioning of the unmanned aerial vehicle is realized.

Description

Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning method, an unmanned aerial vehicle airborne terminal, a positioning server, computer equipment and a computer readable storage medium.
Background
Currently, the Positioning technology of the unmanned aerial vehicle is mainly based on GNSS (Global Navigation Satellite System), which refers to all Satellite Navigation systems in general, including Global, regional and enhanced, such as GPS (Global Positioning System) in the united states, glonass (Glonass Satellite Navigation System) in russia, galileo (Galileo Satellite Navigation System) in europe, beidou Satellite Navigation System in china, and related enhanced systems.
However, in order to ensure the safe interaction of the relevant information of the position of the unmanned aerial vehicle in practical application, the positioning technology of the unmanned aerial vehicle based on the GNSS adopts various data encryption and decryption means, which correspondingly results in longer time loss, thereby affecting the positioning speed of the unmanned aerial vehicle.
Disclosure of Invention
The invention is completed in order to at least partially solve the technical problems that the existing GNSS-based unmanned aerial vehicle positioning technology has long time loss and influences the positioning speed of the unmanned aerial vehicle.
According to an aspect of the invention, a positioning method for an unmanned aerial vehicle is provided, and is applied to an airborne terminal of the unmanned aerial vehicle, and the method comprises the following steps:
receiving a signaling sent by a positioning server, wherein the validity period of the signaling is a preset time length;
sending an auxiliary positioning information acquisition request to a positioning server, wherein the auxiliary positioning information acquisition request carries the signaling, so that the positioning server verifies the signaling carried by the auxiliary positioning information acquisition request, and sending auxiliary positioning information to an airborne terminal of the unmanned aerial vehicle in response to a verification result that the verification is successful within the validity period of the signaling; and (c) a second step of,
and receiving auxiliary positioning information sent by a positioning server, and completing positioning based on the auxiliary positioning information.
Optionally, before receiving the signaling sent by the positioning server, the method further includes:
sending a first access application to a positioning server, wherein the first access application carries basic information of the unmanned aerial vehicle, so that the positioning server verifies the basic information of the unmanned aerial vehicle, responds to the verification result and verifies for the basic information of the unmanned aerial vehicle, and sends a signaling with the validity period as preset duration to an airborne terminal of the unmanned aerial vehicle.
Optionally, before receiving the auxiliary positioning information sent by the positioning server, the method further includes:
acquiring the approximate position of the self; and the number of the first and second groups,
and sending the approximate position of the positioning server to the positioning server so that the positioning server can acquire the auxiliary positioning information of the navigation satellite corresponding to the position according to the approximate position of the airborne terminal of the unmanned aerial vehicle, and sending the auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle.
Optionally, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time, and approximate position of the navigation satellites.
According to another aspect of the present invention, there is provided a positioning method for a drone, applied to a positioning server, the method including:
sending a signaling to an airborne terminal of the unmanned aerial vehicle, wherein the validity period of the signaling is a preset time length;
receiving an auxiliary positioning information acquisition request sent by an airborne terminal of the unmanned aerial vehicle, wherein the auxiliary positioning information acquisition request carries the signaling;
verifying the signaling carried by the auxiliary positioning information acquisition request;
and responding to the verification result that the verification is successful within the validity period of the signaling, and sending auxiliary positioning information to the unmanned aerial vehicle airborne terminal so that the unmanned aerial vehicle airborne terminal completes positioning based on the auxiliary positioning information.
Optionally, before sending the signaling to the terminal onboard the drone, the method further includes:
receiving a first access application sent by an airborne terminal of an unmanned aerial vehicle, wherein the first access application carries basic information of the unmanned aerial vehicle; and the number of the first and second groups,
verifying the basic information of the unmanned aerial vehicle;
sending signaling to the unmanned aerial vehicle airborne terminal specifically comprises:
and responding to the verification result that the basic information of the unmanned aerial vehicle passes verification, and sending a signaling to the airborne terminal of the unmanned aerial vehicle.
Optionally, before sending the auxiliary positioning information to the terminal onboard the drone, the method further includes:
receiving the self approximate position acquired and sent by the airborne terminal of the unmanned aerial vehicle; and the number of the first and second groups,
and acquiring the auxiliary positioning information of the navigation satellite corresponding to the position according to the approximate position of the airborne terminal of the unmanned aerial vehicle.
Optionally, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time, and approximate position of the navigation satellites.
According to a further aspect of the invention, there is provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor, when executing the computer program stored by the memory, performing the aforementioned drone positioning method.
According to a further aspect of the invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the aforementioned drone positioning method.
The technical scheme provided by the invention can have the following beneficial effects:
according to the unmanned aerial vehicle positioning method, the signaling with the effective period of preset time is added in the auxiliary positioning information acquisition request sent by the unmanned aerial vehicle airborne terminal to the positioning server, so that the positioning server firstly verifies the signaling carried by the request, and sends the auxiliary positioning information to the unmanned aerial vehicle airborne terminal after the verification succeeds within the effective period of the signaling, the safe interaction of the position-related information of the unmanned aerial vehicle can be ensured on the premise of having as little influence on time loss as possible, and the rapid positioning of the unmanned aerial vehicle is realized on the premise of ensuring the data safety of the unmanned aerial vehicle.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another positioning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an airborne terminal of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning server according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle positioning system provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order; furthermore, the embodiments and features of the embodiments of the present invention may be arbitrarily combined with each other without conflict.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Fig. 1 is a schematic flow chart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention. The method is applied to the unmanned aerial vehicle onboard terminal, and as shown in fig. 1, the method comprises the following steps S101 to S103.
S101, receiving a signaling sent by a positioning server, wherein the validity period of the signaling is a preset time length.
In this step, the signaling refers to Token, which is a meaning of Token (temporary) in computer authentication, and may also be referred to as certificate passing and signaling.
The preset time period can be set and adjusted by those skilled in the art according to actual requirements, and for example, can be set to 1 minute, that is, the validity period of the signaling is 1 minute. Of course, the validity period of the signaling can also be adjusted according to actual requirements, and the specific range can be 1-5 minutes.
S102, sending an auxiliary positioning information acquisition request to a positioning server, wherein the auxiliary positioning information acquisition request carries the signaling, so that the positioning server verifies the signaling carried by the auxiliary positioning information acquisition request, and sending auxiliary positioning information to an unmanned aerial vehicle airborne terminal in response to the verification result that the verification is successful within the validity period of the signaling.
In this step, in the flight process, the auxiliary positioning information acquisition request sent by the unmanned aerial vehicle airborne terminal to the positioning server carries a signaling with a preset duration, and the positioning server must complete verification within the validity period of the signaling to send the auxiliary positioning information to the unmanned aerial vehicle airborne terminal.
If the positioning server fails to complete verification within the validity period of the signaling, for example, the verification fails within the validity period of the signaling, or the verification is completed after the signaling is overtime, the unmanned aerial vehicle airborne terminal applies for failure in accessing the positioning server, and the positioning server does not send the auxiliary positioning information to the unmanned aerial vehicle airborne terminal, that is, the unmanned aerial vehicle airborne terminal fails to acquire the auxiliary positioning information; at the moment, the unmanned aerial vehicle airborne terminal needs to send the auxiliary positioning information acquisition request to the positioning server again, the positioning server verifies the signaling carried by the current request, and the auxiliary positioning information is sent to the unmanned aerial vehicle airborne terminal until the server completes verification in the validity period of the signaling carried by the current request.
And S103, receiving auxiliary positioning information sent by the positioning server, and completing positioning based on the auxiliary positioning information.
In this step, after the unmanned aerial vehicle airborne terminal receives the auxiliary positioning information which is sent after the positioning server completes verification in the signaling validity period, the positioning server can perform real-time positioning according to the auxiliary positioning information, and rapid positioning of the unmanned aerial vehicle can be realized on the premise of ensuring data safety of the unmanned aerial vehicle.
In a specific embodiment, before step S101, the following step S104 is further included.
S104, sending a first access application to a positioning server, wherein the first access application carries basic information of the unmanned aerial vehicle, so that the positioning server verifies the basic information of the unmanned aerial vehicle, responding to a verification result that the basic information of the unmanned aerial vehicle passes verification, and sending a signaling with a validity period of preset duration to an airborne terminal of the unmanned aerial vehicle.
In this embodiment, when the airborne terminal of unmanned aerial vehicle applies for accessing the positioning server for the first time, the positioning server needs to carry out authentication on the airborne terminal, and the positioning server can generate Token and return the Token to the airborne terminal after the authentication is passed, and sets up the validity period (e.g. 1 minute) of Token simultaneously.
In a specific embodiment, the following steps S105 and S106 are further included before step S103.
S105, obtaining the approximate position of the user;
and S106, sending the approximate position of the positioning server to the positioning server, so that the positioning server obtains the auxiliary positioning information of the navigation satellite corresponding to the approximate position according to the approximate position of the airborne terminal of the unmanned aerial vehicle, and sends the auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle.
In this embodiment, the approximate location (also referred to as coarse location) of the terminal onboard the drone may be generally obtained from a location database of the cell base station. After receiving the approximate position sent by the airborne terminal of the unmanned aerial vehicle, the positioning server can acquire the auxiliary positioning information of the navigation satellite corresponding to the position.
In one embodiment, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time, and approximate position of the navigation satellites.
In this embodiment, the assisted positioning information refers to assisted positioning information of a navigation satellite corresponding to an approximate position of the airborne terminal of the unmanned aerial vehicle, and therefore may also be referred to as a-GNSS assistance information.
"A" in A-GNSS means aiding. The positioning server can send a query request to the GNSS reference station network, query a-GNSS assistance information of available navigation satellites by the GNSS reference station network, and then send the a-GNSS assistance information to the drone onboard terminal through a cellular mobile communication network, most commonly through a data channel of a cellular cell, to assist the drone onboard terminal in searching, capturing and tracking satellite signals, thereby realizing rapid positioning.
By providing the auxiliary positioning information of the navigation satellite to the unmanned aerial vehicle onboard terminal, the unmanned aerial vehicle onboard terminal knows the frequency range of the navigation satellite which is to be captured before capturing the signal of the navigation satellite, and then the auxiliary positioning information provides the approximate position of the navigation satellite used for calculating the position of the unmanned aerial vehicle. Once capturing the signal of navigation satellite, remaining work is the measurement of pseudo-range (only need several milliseconds, rather than several minutes), then the A-GNSS receiver begins to calculate unmanned aerial vehicle's real-time position, can promote precision and the speed of obtaining unmanned aerial vehicle positional information by a wide margin, and meet under the condition that peripheral object sheltered from when unmanned aerial vehicle actual operation, also can guarantee the high reliability of locate function, solved the problem that current unmanned aerial vehicle positioning technology based on GNSS exists easily receive the location failure that factors such as shelter from in practical application and lead to, the location timeliness is poor, the response is slow, unmanned aerial vehicle operation quality and stability can be guaranteed, and then promote the orderly rapid development of unmanned aerial vehicle industry.
In addition, because the A-GNSS receiver is designed to know which frequency needs to be searched in advance, the signal searching and tracking process of the A-GNSS receiver becomes simpler, the searching frequency band of the A-GNSS receiver can be compressed in a targeted manner, the noise bandwidth is reduced, the accumulated time of signal energy is increased, the sensitivity of the A-GNSS receiver is increased, and the A-GNSS receiver is allowed to capture weaker signals.
In a specific implementation mode, the positioning server packs the navigation satellite almanac, the ephemeris, the frequency range, the standard time, the approximate position and other auxiliary positioning information into an auxiliary positioning data packet and then sends the auxiliary positioning data packet to the unmanned aerial vehicle airborne terminal, and then the unmanned aerial vehicle airborne terminal receives the auxiliary positioning data packet sent by the positioning server in step S103, and after the auxiliary positioning data packet is analyzed, the auxiliary positioning information is obtained, and then the rapid positioning is realized.
Since the aiding location information may be referred to as A-GNSS aiding information, the aiding location data packet may be referred to herein as an A-GNSS aiding data packet.
In one embodiment, the drone onboard terminal sends a message to the location server through a 5G (5 th Generation Mobile Communication Technology, fifth Generation Mobile Communication Technology) Mobile network, and receives the message sent by the location server through the 5G Mobile network. Accordingly, the on-board terminal may be referred to as a 5G on-board terminal.
The 5G mobile network has the technical characteristics of large bandwidth, low time delay, interference resistance, multi-beam pointing and the like, has the accurate positioning capability required by energized unmanned aerial vehicles, and can effectively solve the problem of restricting the development of the existing unmanned aerial vehicles.
In this embodiment, the 5G airborne terminal may be adapted to the primary system of the unmanned aerial vehicle, so that the unmanned aerial vehicle has the a-GNSS capability under the 5G mobile communication network, that is, the 5G airborne terminal receives the auxiliary positioning information of the navigation satellite sent by the positioning server through the 5G mobile network, and realizes efficient and safe positioning based on the a-GNSS and Token technologies. The 5G airborne terminal is used as an important support for networking of the unmanned aerial vehicle, so that the unmanned aerial vehicle has more autonomous and intelligent application capability, and plays a key role in widening the application field of the unmanned aerial vehicle.
It should be noted that, the sequence of the above steps is only a specific example provided for illustrating the embodiment of the present invention, the present invention does not limit the sequence of the above steps, and those skilled in the art can adjust the sequence as required in practical application; and the sequence number of the steps does not limit the execution sequence.
Fig. 2 is a schematic flow chart of another positioning method for an unmanned aerial vehicle according to an embodiment of the present invention. The method is applied to a positioning server, and as shown in fig. 2, the method includes the following steps S201 to S204.
S201, signaling is sent to an airborne terminal of the unmanned aerial vehicle, and the validity period of the signaling is preset duration.
In this step, the signaling refers to Token, which is a meaning of Token (temporary) in computer authentication, and may also be referred to as certificate passing and signaling.
The preset time period can be set and adjusted by those skilled in the art according to actual requirements, and for example, can be set to 1 minute, that is, the validity period of the signaling is 1 minute. Of course, the validity period of the signaling may also be adjusted according to actual requirements, and the specific range may be 1 to 5 minutes.
S202, receiving an auxiliary positioning information acquisition request sent by an airborne terminal of the unmanned aerial vehicle, wherein the auxiliary positioning information acquisition request carries the signaling.
In this step, the auxiliary positioning information acquisition request sent to the positioning server by the unmanned aerial vehicle airborne terminal carries a signaling with a validity period of a preset duration in the flight process.
And S203, verifying the signaling carried by the auxiliary positioning information acquisition request.
And S204, responding to the verification result that the verification is successful within the validity period of the signaling, and sending auxiliary positioning information to the unmanned aerial vehicle airborne terminal so that the unmanned aerial vehicle airborne terminal completes positioning based on the auxiliary positioning information.
In the step, the positioning server needs to complete verification within the validity period of the signaling, and then sends the auxiliary positioning information to the unmanned aerial vehicle airborne terminal; after the unmanned aerial vehicle airborne terminal receives the auxiliary positioning information which is sent after the positioning server completes verification in the signaling validity period, the positioning server can perform real-time positioning according to the auxiliary positioning information, and rapid positioning of the unmanned aerial vehicle can be realized on the premise of ensuring data safety of the unmanned aerial vehicle.
If the positioning server fails to complete verification within the validity period of the signaling, for example, the verification fails within the validity period of the signaling, or the verification is completed after the signaling is overtime, the unmanned aerial vehicle airborne terminal fails to apply for accessing the positioning server, and the positioning server does not send the auxiliary positioning information to the unmanned aerial vehicle airborne terminal, that is, the unmanned aerial vehicle airborne terminal fails to acquire the auxiliary positioning information; at the moment, the unmanned aerial vehicle airborne terminal needs to send the auxiliary positioning information acquisition request to the positioning server again, the positioning server verifies the signaling carried by the current request, and the auxiliary positioning information is sent to the unmanned aerial vehicle airborne terminal until the server completes verification in the validity period of the signaling carried by the current request.
In a specific embodiment, before step S201, the following steps S205 and S206 are further included.
S205, receiving a first access application sent by an airborne terminal of the unmanned aerial vehicle, wherein the first access application carries basic information of the unmanned aerial vehicle;
s206, verifying the basic information of the unmanned aerial vehicle.
Correspondingly, step S201 specifically includes:
and in response to the verification result of the step S206 that the basic information of the unmanned aerial vehicle passes verification, sending a signaling to the onboard terminal of the unmanned aerial vehicle, wherein the validity period of the signaling is a preset time length.
In this embodiment, when the airborne terminal of unmanned aerial vehicle applies for accessing the positioning server for the first time, the positioning server needs to carry out authentication on the airborne terminal, and the positioning server can generate Token and return the Token to the airborne terminal after the authentication is passed, and sets up the validity period (e.g. 1 minute) of Token simultaneously.
In a specific embodiment, before step S204, the following steps S207 and S208 are further included.
S207, receiving the self approximate position acquired and sent by the airborne terminal of the unmanned aerial vehicle;
and S208, acquiring the auxiliary positioning information of the navigation satellite corresponding to the position according to the approximate position of the airborne terminal of the unmanned aerial vehicle.
In this embodiment, the approximate location (also referred to as coarse location) of the drone onboard terminal may be generally obtained from a location database of the cell base station. After receiving the approximate position sent by the airborne terminal of the unmanned aerial vehicle, the positioning server can acquire the auxiliary positioning information of the navigation satellite corresponding to the position.
In one embodiment, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time and approximate position of the navigation satellites.
In a specific implementation manner, in step S204, the positioning server packages auxiliary positioning information such as almanac, ephemeris, frequency range, standard time, approximate position, and the like of the navigation satellite into an auxiliary positioning data packet and then sends the auxiliary positioning data packet to the unmanned aerial vehicle onboard terminal, so that the unmanned aerial vehicle onboard terminal receives the auxiliary positioning data packet sent by the positioning server, and after the auxiliary positioning data packet is analyzed, the auxiliary positioning information is obtained, and then fast positioning is realized.
In a specific embodiment, the positioning server receives a message sent by the airborne terminal of the unmanned aerial vehicle through the 5G mobile network, and sends the message to the airborne terminal of the unmanned aerial vehicle through the 5G mobile network. Accordingly, the on-board terminal may be referred to as a 5G on-board terminal.
The 5G mobile network has the technical characteristics of large bandwidth, low time delay, interference resistance, multi-beam pointing and the like, has the accurate positioning capability required by energized unmanned aerial vehicles, and can effectively solve the problem of restricting the development of the existing unmanned aerial vehicles.
It should be noted that, the sequence of the above steps is only a specific example provided for illustrating the embodiment of the present invention, the present invention does not limit the sequence of the above steps, and those skilled in the art can adjust the sequence as required in practical application; and the sequence number of the steps does not limit the execution sequence.
According to the unmanned aerial vehicle positioning method provided by the embodiment of the invention, the signaling with the expiry date of preset duration is added in the auxiliary positioning information acquisition request sent by the unmanned aerial vehicle airborne terminal to the positioning server, so that the positioning server firstly verifies the signaling carried by the request, and sends the auxiliary positioning information to the unmanned aerial vehicle airborne terminal after the signaling is successfully verified within the expiry date of the signaling, and the safe interaction of the position-related information of the unmanned aerial vehicle can be ensured on the premise of having as little influence on time loss as possible, so that the unmanned aerial vehicle can be quickly positioned on the premise of ensuring the data safety of the unmanned aerial vehicle; moreover, the assistance-localization real-time information is the assistance-localization real-time information of the navigation satellite that the approximate position of the unmanned aerial vehicle airborne terminal corresponds, can promote the precision and the speed of obtaining unmanned aerial vehicle positional information by a wide margin, can also meet under the condition that peripheral object sheltered from when unmanned aerial vehicle actually operates, guarantee unmanned aerial vehicle operation quality, stability and locate function's high reliability.
Fig. 3 is a schematic structural diagram of an airborne terminal of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 3, the unmanned aerial vehicle airborne terminal includes: a first receiving module 301 and a first transmitting module 302.
The first receiving module 301 is configured to receive a signaling sent by a positioning server, where a validity period of the signaling is a preset duration; the first sending module 302 is configured to send an auxiliary positioning information obtaining request to a positioning server, where the auxiliary positioning information obtaining request carries the signaling, so that the positioning server verifies the signaling carried by the auxiliary positioning information obtaining request, and sends auxiliary positioning information to an airborne terminal of the unmanned aerial vehicle in response to a verification result that the verification is successful within a validity period of the signaling; the first receiving module 301 is further configured to receive auxiliary positioning information sent by the positioning server, and complete positioning based on the auxiliary positioning information.
In a specific embodiment, the first sending module 302 is further configured to send a first access application to the positioning server before the first receiving module 301 receives the signaling sent by the positioning server, where the first access application carries basic information of the unmanned aerial vehicle, so that the positioning server verifies the basic information of the unmanned aerial vehicle, and sends the signaling with a validity period as a preset duration to the airborne terminal of the unmanned aerial vehicle in response to the verification result that the basic information of the unmanned aerial vehicle passes verification.
In a specific embodiment, the terminal on board the drone further comprises: a first obtaining module.
The first obtaining module is configured to obtain the approximate position of the airborne terminal of the unmanned aerial vehicle before the first receiving module 301 receives the auxiliary positioning information sent by the positioning server.
Correspondingly, the first sending module 302 is further configured to send the approximate position of the airborne terminal of the unmanned aerial vehicle to the positioning server, so that the positioning server obtains the auxiliary positioning information of the navigation satellite corresponding to the approximate position of the airborne terminal of the unmanned aerial vehicle according to the approximate position of the airborne terminal of the unmanned aerial vehicle, and sends the auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle.
In one embodiment, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time and approximate position of the navigation satellites.
According to the unmanned aerial vehicle airborne terminal provided by the embodiment of the invention, the signaling with the effective period of preset time is added in the auxiliary positioning information acquisition request sent to the positioning server, so that the positioning server firstly verifies the signaling carried by the request, and sends the auxiliary positioning information to the unmanned aerial vehicle airborne terminal after the signaling is successfully verified within the effective period of the signaling, the safe interaction of the position related information of the unmanned aerial vehicle can be ensured on the premise of having as little influence on the time loss as possible, and the rapid positioning of the unmanned aerial vehicle is realized on the premise of ensuring the data safety of the unmanned aerial vehicle; and, the assistance-localization real-time information is the assistance-localization real-time information of the navigation satellite that the approximate position of unmanned aerial vehicle machine-mounted terminal corresponds, can promote precision and the speed of acquireing unmanned aerial vehicle positional information by a wide margin, can also meet under the circumstances that peripheral object sheltered from when unmanned aerial vehicle actual operation, guarantees unmanned aerial vehicle operation quality, stability and locate function's high reliability.
Fig. 4 is a schematic structural diagram of a positioning server according to an embodiment of the present invention. As shown in fig. 4, the positioning server includes: a second sending module 401, a second receiving module 402 and a signaling verification module 403.
The second sending module 401 is configured to send a signaling to the airborne terminal of the unmanned aerial vehicle, wherein the validity period of the signaling is a preset duration; the second receiving module 402 is configured to receive an auxiliary positioning information acquisition request sent by an airborne terminal of the unmanned aerial vehicle, where the auxiliary positioning information acquisition request carries the signaling; the signaling verification module 403 is configured to verify the signaling carried by the auxiliary positioning information acquisition request; the second sending module 401 is further configured to send auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle when the verification result of the signaling verification module 403 is that the verification is successful within the validity period of the signaling, so that the airborne terminal of the unmanned aerial vehicle completes the positioning based on the auxiliary positioning information.
In one embodiment, the positioning server further comprises: and an identity authentication module.
The second receiving module 402 is further configured to receive a first access application sent by the airborne terminal of the unmanned aerial vehicle before the second sending module 401 sends a signaling to the airborne terminal of the unmanned aerial vehicle, wherein the first access application carries basic information of the unmanned aerial vehicle; the identity authentication module is set to authenticate the basic information of the unmanned aerial vehicle.
Correspondingly, the second sending module 401 is specifically configured to send a signaling to the onboard terminal of the unmanned aerial vehicle when the verification result of the identity verification module is that the basic information of the unmanned aerial vehicle is verified.
In one embodiment, the positioning server further comprises: and a second obtaining module.
The second receiving module 402 is further configured to receive the self approximate position acquired and sent by the airborne terminal of the unmanned aerial vehicle before the second sending module 401 sends the auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle; the second acquisition module is set to acquire the auxiliary positioning information of the navigation satellite corresponding to the position according to the approximate position of the airborne terminal of the unmanned aerial vehicle.
In one embodiment, the auxiliary positioning information includes: almanac, ephemeris, frequency range, standard time, and approximate position of the navigation satellites.
According to the positioning server provided by the embodiment of the invention, after an auxiliary positioning information acquisition request which is sent by an unmanned aerial vehicle airborne terminal and carries a signaling with a preset period of validity is received, the signaling carried by the request is firstly verified, and after the verification succeeds within the period of validity of the signaling, the auxiliary positioning information is sent to the unmanned aerial vehicle airborne terminal, so that the safe interaction of the position-related information of the unmanned aerial vehicle can be ensured on the premise of having as little influence on time loss as possible, and the rapid positioning of the unmanned aerial vehicle is realized on the premise of ensuring the data safety of the unmanned aerial vehicle; and, the assistance-localization real-time information is the assistance-localization real-time information of the navigation satellite that the approximate position of unmanned aerial vehicle machine-mounted terminal corresponds, can promote precision and the speed of acquireing unmanned aerial vehicle positional information by a wide margin, can also meet under the circumstances that peripheral object sheltered from when unmanned aerial vehicle actual operation, guarantees unmanned aerial vehicle operation quality, stability and locate function's high reliability.
Fig. 5 is a schematic structural diagram of the positioning system of the unmanned aerial vehicle according to the embodiment of the present invention. The system comprises: an unmanned aerial vehicle onboard terminal 51 and a positioning server 52.
Wherein, unmanned aerial vehicle machine carries terminal 51 can adopt the unmanned aerial vehicle machine carries terminal in the foregoing embodiment, and positioning server 52 can adopt the positioning server in the foregoing embodiment, and the description is omitted here.
Based on the same technical concept, the embodiment of the present invention correspondingly provides a computer device, as shown in fig. 6, the computer device includes a memory 61 and a processor 62, the memory 61 stores a computer program, and when the processor 62 runs the computer program stored in the memory 61, the processor 62 executes the foregoing positioning method for the drone.
Based on the same technical concept, the embodiment of the present invention correspondingly provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the processor executes the foregoing positioning method for the unmanned aerial vehicle.
In summary, in the positioning method and system for the unmanned aerial vehicle, the airborne terminal of the unmanned aerial vehicle, the positioning server, the computer device and the storage medium provided by the embodiment of the invention, by adding a safety signaling mechanism in the existing a-GNSS positioning technology, the safety interaction of the relevant information of the position of the unmanned aerial vehicle can be ensured on the premise of having as little influence on time loss as possible, and the search tracking performance and speed of satellite navigation signals are enhanced/accelerated by combining the network-enhanced satellite positioning technology, so that the positioning time of the unmanned aerial vehicle can be obviously shortened; simultaneously, compare in current unmanned aerial vehicle location technique, can effectively prevent the barrier interference, possess advantages such as the response is fast, low time delay, high safety, high accurate location, have the significance in actually falling to the ground.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as is well known to those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (12)

1. An unmanned aerial vehicle positioning method is characterized by being applied to an unmanned aerial vehicle airborne terminal, and the method comprises the following steps:
receiving a signaling sent by a positioning server, wherein the validity period of the signaling is a preset time length;
sending an auxiliary positioning information acquisition request to a positioning server, wherein the auxiliary positioning information acquisition request carries the signaling, so that the positioning server verifies the signaling carried by the auxiliary positioning information acquisition request, and sending auxiliary positioning information to an unmanned aerial vehicle airborne terminal in response to the verification result that the verification is successful within the validity period of the signaling; and (c) a second step of,
and receiving auxiliary positioning information sent by a positioning server, and finishing positioning based on the auxiliary positioning information.
2. The method of claim 1, prior to receiving the signaling sent by the positioning server, further comprising:
sending a first access application to a positioning server, wherein the first access application carries basic information of the unmanned aerial vehicle, so that the positioning server verifies the basic information of the unmanned aerial vehicle, responds to a verification result, verifies for the basic information of the unmanned aerial vehicle, and sends a signaling with a validity period as preset duration to an airborne terminal of the unmanned aerial vehicle.
3. The method of claim 1, further comprising, before receiving the assisted positioning information sent by the positioning server:
acquiring the approximate position of the self; and the number of the first and second groups,
and sending the approximate position of the positioning server to the positioning server so that the positioning server acquires the auxiliary positioning information of the navigation satellite corresponding to the approximate position according to the approximate position of the airborne terminal of the unmanned aerial vehicle, and sends the auxiliary positioning information to the airborne terminal of the unmanned aerial vehicle.
4. The method according to any of claims 1-3, wherein the auxiliary positioning information comprises: almanac, ephemeris, frequency range, standard time and approximate position of the navigation satellites.
5. An unmanned aerial vehicle positioning method is applied to a positioning server, and comprises the following steps:
sending a signaling to an airborne terminal of the unmanned aerial vehicle, wherein the validity period of the signaling is a preset time length;
receiving an auxiliary positioning information acquisition request sent by an airborne terminal of an unmanned aerial vehicle, wherein the auxiliary positioning information acquisition request carries the signaling;
verifying the signaling carried by the auxiliary positioning information acquisition request;
and responding to the verification result that the verification is successful within the validity period of the signaling, and sending auxiliary positioning information to the unmanned aerial vehicle airborne terminal so that the unmanned aerial vehicle airborne terminal completes positioning based on the auxiliary positioning information.
6. The method of claim 5, wherein before sending the signaling to the terminal onboard the drone, further comprising:
receiving a first access application sent by an airborne terminal of an unmanned aerial vehicle, wherein the first access application carries basic information of the unmanned aerial vehicle; and the number of the first and second groups,
verifying the basic information of the unmanned aerial vehicle;
send the signaling to unmanned aerial vehicle machine carries the terminal, specifically do:
and responding to the verification result that the basic information of the unmanned aerial vehicle passes verification, and sending a signaling to the airborne terminal of the unmanned aerial vehicle.
7. The method of claim 5, further comprising, prior to sending the auxiliary positioning information to the drone onboard terminal:
receiving the self approximate position acquired and sent by the airborne terminal of the unmanned aerial vehicle; and the number of the first and second groups,
and acquiring the auxiliary positioning information of the navigation satellite corresponding to the position according to the approximate position of the airborne terminal of the unmanned aerial vehicle.
8. The method according to any of claims 5-7, wherein the auxiliary positioning information comprises: almanac, ephemeris, frequency range, standard time and approximate position of the navigation satellites.
9. An unmanned aerial vehicle machine carries terminal which characterized in that includes:
the first receiving module is used for receiving a signaling sent by a positioning server, and the validity period of the signaling is preset duration; and the number of the first and second groups,
the first sending module is configured to send an auxiliary positioning information obtaining request to a positioning server, wherein the auxiliary positioning information obtaining request carries the signaling, so that the positioning server verifies the signaling carried by the auxiliary positioning information obtaining request, and sends auxiliary positioning information to an airborne terminal of the unmanned aerial vehicle in response to a verification result that the verification is successful within the validity period of the signaling;
the first receiving module is further configured to receive auxiliary positioning information sent by a positioning server, and complete positioning based on the auxiliary positioning information.
10. A positioning server, comprising:
the second sending module is used for sending a signaling to the airborne terminal of the unmanned aerial vehicle, and the validity period of the signaling is preset duration;
the second receiving module is configured to receive an auxiliary positioning information acquisition request sent by an airborne terminal of the unmanned aerial vehicle, wherein the auxiliary positioning information acquisition request carries the signaling; and the number of the first and second groups,
a signaling verification module configured to verify a signaling carried by the assisted positioning information acquisition request;
the second sending module is further set to send auxiliary positioning information to the unmanned aerial vehicle airborne terminal when the verification result of the signaling verification module is that the verification is successful in the validity period of the signaling, so that the unmanned aerial vehicle airborne terminal completes positioning based on the auxiliary positioning information.
11. A computer arrangement comprising a memory and a processor, the memory having a computer program stored therein, the processor when executing the computer program stored by the memory performing the drone positioning method of any one of claims 1 to 4 or the drone positioning method of any one of claims 5 to 8.
12. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, causes the processor to perform the drone positioning method of any one of claims 1 to 4, or the drone positioning method of any one of claims 5 to 8.
CN202210975443.7A 2022-08-15 2022-08-15 Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server Pending CN115343726A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210975443.7A CN115343726A (en) 2022-08-15 2022-08-15 Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210975443.7A CN115343726A (en) 2022-08-15 2022-08-15 Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server

Publications (1)

Publication Number Publication Date
CN115343726A true CN115343726A (en) 2022-11-15

Family

ID=83952755

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210975443.7A Pending CN115343726A (en) 2022-08-15 2022-08-15 Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server

Country Status (1)

Country Link
CN (1) CN115343726A (en)

Similar Documents

Publication Publication Date Title
JP6385651B2 (en) On-vehicle device and spoofing detection method
US20160370469A1 (en) On-board unit and spoofing detecting method
WO2022100388A1 (en) Assisted positioning method, apparatus and device based on reference point location
JP6496472B2 (en) On-vehicle device and spoofing detection method
CN101715163B (en) Method and device for acquiring auxiliary positioning data
CN107678045B (en) Global positioning system starting method, user terminal and related medium product
US20140002304A1 (en) Method and apparatus for locating terminal device
US9357344B2 (en) Time calibration method and device
US11061143B2 (en) Global navigation satellite system, navigation terminal, navigation method and program
US20140062780A1 (en) Method and Apparatus for Synchronizing Navigation Data
US20140062768A1 (en) Method and Apparatus for Synchronizing Navigation Data
US20140062766A1 (en) Method and Apparatus for Synchronizing Navigation Data
CN114779284A (en) Satellite navigation receiver military code signal capturing function test method
CN113115254B (en) Unmanned aerial vehicle positioning method and server
CN115343726A (en) Unmanned aerial vehicle positioning method, unmanned aerial vehicle airborne terminal and positioning server
EP3195012B1 (en) Providing and using assistance data including ionosphere models
CN109556614B (en) Positioning method and device for unmanned vehicle
CN109743710B (en) Method for improving GPS time service precision
US20120112960A1 (en) Access point, mobile terminal, global navigation satellite system using the access point, and method of providing position information using the access point
US20140062767A1 (en) Method and Apparatus for Synchronizing Navigation Data
US11080509B2 (en) Systems and methods for onboard fraud detection in a transportation service
CN105142114A (en) Method for increasing locating speed of vehicular terminal based on OBD (On-Board Diagnostic) interface
EP2703842A1 (en) Method and apparatus for synchronizing navigation data
CN111352141A (en) Vehicle-mounted satellite precise single-point real-time positioning method based on high-precision map
CN112512111A (en) Time determination method and device, and signal sending method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination