CN116996826A - Positioning method and system based on unmanned aerial vehicle - Google Patents

Positioning method and system based on unmanned aerial vehicle Download PDF

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Publication number
CN116996826A
CN116996826A CN202310749642.0A CN202310749642A CN116996826A CN 116996826 A CN116996826 A CN 116996826A CN 202310749642 A CN202310749642 A CN 202310749642A CN 116996826 A CN116996826 A CN 116996826A
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CN
China
Prior art keywords
antenna
signal
positioning
unmanned aerial
aerial vehicle
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Chinese (zh)
Inventor
袁勇超
宋亮
陈嘉鑫
刘嘉新
李小波
王强胜
李佳朋
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Zhejiang Sunwave Communications Technology Co Ltd
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Zhejiang Sunwave Communications Technology Co Ltd
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Priority to CN202310749642.0A priority Critical patent/CN116996826A/en
Publication of CN116996826A publication Critical patent/CN116996826A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application relates to a positioning method and a positioning system based on an unmanned aerial vehicle, wherein a plurality of groups of positioning antennas comprising a first antenna and a second antenna are mounted, the signal radiation directions of the first antenna and the second antenna are opposite, the first signal is transmitted through the plurality of groups of positioning antennas, the second signal generated by a terminal in response to the first signal is acquired, the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal are determined according to the signal intensity of the second signal acquired by the first antenna and the second antenna, and the technical effect that the terminal can be positioned through a single unmanned aerial vehicle system is realized according to the characteristic that the signal intensities received by the directional antennas in different directions are different, so that the positioning is performed without the cooperation of a plurality of unmanned aerial vehicle systems, the problem of high cost of the unmanned aerial vehicle positioning method is solved, and the unmanned aerial vehicle positioning efficiency is improved.

Description

Positioning method and system based on unmanned aerial vehicle
Technical Field
The application relates to the technical field of unmanned aerial vehicle positioning, in particular to a positioning method and system based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicles are unmanned aerial vehicles which are operated by using radio remote control equipment and a self-contained program control device, and with the development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely applied to various fields, including post-disaster searching and rescuing fields.
In the prior art, when an unmanned aerial vehicle system is utilized for searching and rescuing, a triangular positioning principle is generally adopted to position the terminal of a person to be searched and rescuing. However, the positioning method needs a plurality of unmanned aerial vehicle systems to carry the positioning base station, the cost is high, the unmanned aerial vehicle systems are matched with each other, the operation difficulty is high, and the search and rescue efficiency is low.
At present, aiming at the problem of higher cost of an unmanned aerial vehicle positioning method in the related art, no effective solution is proposed yet.
Disclosure of Invention
Accordingly, it is necessary to provide a positioning method and system based on an unmanned aerial vehicle, which can reduce the positioning cost of the unmanned aerial vehicle.
In a first aspect, the application provides a positioning method based on an unmanned aerial vehicle. The unmanned aerial vehicle includes multiunit location antenna, every group location antenna includes first antenna and second antenna, first antenna with the signal radiation direction of second antenna is opposite, the method includes:
transmitting a first signal through the plurality of groups of positioning antennas, and collecting a second signal generated by a terminal in response to the first signal;
and determining the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal according to the signal strength of the second signals acquired by the first antenna and the second antenna.
In one embodiment, determining the direction of the terminal relative to the unmanned aerial vehicle according to the signal strengths of the second signals acquired by the first antenna and the second antenna includes:
comparing the magnitude relation of the signal intensities of the second signals acquired by the first antenna and the second antenna at the same moment;
when the signal intensity of the second signal acquired by the first antenna is greater than that of the second signal acquired by the second antenna, the terminal is positioned in the direction corresponding to the signal radiation direction of the first antenna;
when the signal intensity of the second signal collected by the first antenna is smaller than that of the second signal collected by the second antenna, the terminal is located in the direction corresponding to the signal radiation direction of the second antenna.
In one embodiment, determining the position of the terminal according to the signal strength of the second signal acquired by the first antenna and the second antenna includes:
determining extreme points of the signal intensity of the second signal in a preset time period according to the signal intensity of the second signal acquired by the positioning antenna at different moments;
and determining the position of the terminal according to the extreme point.
In one embodiment, determining the location of the terminal according to the extreme point includes:
matching the time information of the extreme point with the time information of the unmanned aerial vehicle;
searching the position acquired by the unmanned aerial vehicle according to the matching result, and selecting the position corresponding to the matching result as the position of the terminal.
In one embodiment, determining the extreme point of the signal intensity of the second signal in the preset time period includes:
collecting equipment identification codes of a plurality of second signals in a preset time period through a plurality of groups of positioning antennas;
performing curve fitting on the acquired data of a plurality of groups of positioning antennas according to the passing time of each equipment identification code and the signal receiving power corresponding to the equipment identification code to obtain a signal intensity curve of the second signal;
and determining an extreme point of the signal intensity of the second signal according to the signal intensity curve.
In one embodiment, transmitting the first signal through the plurality of sets of positioning antennas comprises:
and simultaneously transmitting the first signals of different frequency bands through a plurality of groups of positioning antennas, wherein the first signals transmitted by each group of positioning antennas comprise a plurality of public network frequency bands.
In one embodiment, the radiation surfaces of the first antenna and the second antenna are 15-degree radiation surfaces.
In a second aspect, the present application also provides a positioning system based on an unmanned aerial vehicle, the system comprising: unmanned aerial vehicle, location base station and treater; wherein, the liquid crystal display device comprises a liquid crystal display device,
the unmanned aerial vehicle is used for carrying the positioning base station to fly and collecting the position and time data of the positioning base station;
the positioning base station is used for collecting signal data sent by the terminal;
the processor is used for processing the position and the time data acquired by the unmanned aerial vehicle and the signal data acquired by the positioning base station.
In one embodiment, the positioning base station transmits a first signal through a plurality of groups of positioning antennas, and acquires a second signal generated by a terminal in response to the first signal, wherein each group of positioning antennas comprises a first antenna and a second antenna, and the signal radiation directions of the first antenna and the second antenna are opposite.
In one embodiment, the processor determines the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal according to the signal strengths of the second signals acquired by the first antenna and the second antenna.
According to the unmanned aerial vehicle-based positioning method and system, the plurality of groups of positioning antennas comprising the first antenna and the second antenna are mounted, the signal radiation directions of the first antenna and the second antenna are opposite, the plurality of groups of positioning antennas are used for transmitting the first signals, the second signals generated by the terminal in response to the first signals are collected, the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal are determined according to the signal intensity of the second signals collected by the first antenna and the second antenna, and the technical effect that the terminal can be positioned through a single unmanned aerial vehicle system is achieved according to the characteristic that the signal intensities received by the directional antennas in different directions are different, so that the unmanned aerial vehicle positioning method does not need to be matched with a plurality of unmanned aerial vehicle systems for positioning, the problem that the cost of the unmanned aerial vehicle positioning method is high is solved, and the unmanned aerial vehicle positioning efficiency is improved.
Drawings
FIG. 1 is a flow chart of a method of unmanned aerial vehicle-based positioning in one embodiment;
FIG. 2 is a schematic diagram of a set of positioning antennas based on a positioning method of a drone in one embodiment;
FIG. 3 is a graph showing signal strength of a second signal collected by a first antenna and a second antenna according to another embodiment;
FIG. 4 is a graph of a fit of a drone-based positioning method in one embodiment;
fig. 5 is a block diagram of the architecture of an unmanned-based positioning system in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in fig. 1, there is provided a positioning method based on an unmanned aerial vehicle, where the unmanned aerial vehicle includes a plurality of groups of positioning antennas, each group of positioning antennas includes a first antenna and a second antenna, and signal radiation directions of the first antenna and the second antenna are opposite, and the method includes the following steps:
step S102, a first signal is transmitted through a plurality of groups of positioning antennas, and a second signal generated by the terminal in response to the first signal is acquired.
Fig. 2 is a schematic diagram of a set of positioning antennas based on a positioning method of an embodiment of the present application, where each set of positioning antennas includes a first antenna and a second antenna, and the first antenna and the second antenna are directional antennas, and the signal radiation directions of the two antennas are opposite, so that when the same signal is received, the collected signal intensities are different. Preferably, the first antenna and the second antenna are perpendicular to each other. And when the transmitted first signals cover the terminal to be positioned, receiving a plurality of groups of second signals generated by the terminal in response to the first signals. And selecting one or more accurate groups of second signals from the groups of second signals for subsequent processing.
Step S104, determining the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal according to the signal intensity of the second signals acquired by the first antenna and the second antenna.
The signal radiation directions of the first antenna and the second antenna are opposite, so that the signal intensities of the second signals collected by the first antenna and the second antenna are different for the second signals at the same moment. In the moving process of the unmanned aerial vehicle positioning system, the distance between the unmanned aerial vehicle positioning system and the terminal is changed along with the movement, so that the signal intensity of the second signal acquired by the positioning antenna is also changed along with the movement. And determining the position of the terminal according to the change of the signal intensity of the acquired second signal.
Step S102 to S104, through carrying the location antenna that the multiunit includes first antenna and second antenna, the signal radiation direction of first antenna is opposite with the second antenna, transmit first signal through multiunit location antenna, and gather the second signal that the terminal response first signal and generate, according to the signal strength of the second signal that first antenna and second antenna gathered, confirm the terminal relative to unmanned aerial vehicle ' S direction and the position of terminal, according to the different nature of directional antenna received signal strength under different directions, the technical effect that can fix a position the terminal through single unmanned aerial vehicle system has been realized, thereby need not a plurality of unmanned aerial vehicle system cooperation and fix a position, the higher problem of unmanned aerial vehicle positioning method ' S cost has been solved, unmanned aerial vehicle positioning ' S efficiency has been improved.
In one embodiment, determining the direction of the terminal relative to the drone according to the signal strengths of the second signals acquired by the first antenna and the second antenna includes: comparing the magnitude relation of the signal intensities of the second signals acquired by the first antenna and the second antenna at the same moment; when the signal intensity of the second signal acquired by the first antenna is greater than that of the second signal acquired by the second antenna, the terminal is positioned in the direction corresponding to the signal radiation direction of the first antenna; when the signal intensity of the second signal acquired by the first antenna is smaller than that of the second signal acquired by the second antenna, the terminal is positioned in the direction corresponding to the signal radiation direction of the second antenna.
In the process of traveling of the unmanned aerial vehicle carrying positioning base station, the first antenna and the second antenna are directional antennas, the signal radiation directions are opposite, and the signal intensities received by the directional antennas in different directions are different, so that the signal intensities of the second signals received by the first antenna and the second antenna are different even for the same second signal at the same moment. That is, when the terminal is located in the signal radiation direction of the first antenna of a certain group of positioning antennas, the signal intensity of the second signal received by the first antenna is greater than the signal intensity received by the second antenna of the same group corresponding to the first antenna. Preferably, the application adopts a directional antenna with a signal radiation range of 15 degrees, namely, a signal radiation range which can be received by one group of positioning antennas is 30 degrees, so that 12 groups of positioning antennas can be arranged in the embodiment of the application, and the receiving of the second signal full radiation range is realized.
In this embodiment, need not a plurality of unmanned aerial vehicle systems and carry out the triangle location, only need an unmanned aerial vehicle system, can judge the advancing direction of waiting to position the terminal, reduced the cost of unmanned aerial vehicle location to need not to match and cooperate between a plurality of unmanned aerial vehicle systems, improved the efficiency of unmanned aerial vehicle location.
In one embodiment, determining the location of the terminal based on the signal strengths of the second signals acquired by the first antenna and the second antenna includes: determining extreme points of the signal intensity of the second signal in a preset time period according to the signal intensity of the second signal acquired by the positioning antenna at different moments; and determining the position of the terminal according to the extreme points.
In the process of traveling of the unmanned aerial vehicle carrying the positioning base station, the distance between the unmanned aerial vehicle carrying the positioning base station and the terminal is continuously changed, so that the signal intensity of the second signal received by the positioning antenna is also changed. Assuming that the unmanned aerial vehicle flies along the left side, and the terminal to be positioned is positioned on the left side of the unmanned aerial vehicle, when the terminal is far away from a base station carried by the unmanned aerial vehicle, the signal intensity of a second signal received by the positioning antenna is lower. Along with the base station that unmanned aerial vehicle carried is close to the terminal gradually, the signal strength of the second signal that positioning antenna received is increased gradually, and when the terminal is located the base station that unmanned aerial vehicle carried just under, the signal strength of the second signal that positioning antenna received reaches the peak value. At this time, the unmanned aerial vehicle moves to any direction, and the signal intensity of the second signal received by the positioning antenna is reduced. In summary, the terminal is located directly under the unmanned aerial vehicle at the time corresponding to the extreme point of the signal intensity of the second signal received by the positioning antenna, and according to this characteristic, the position of the terminal can be determined.
Specifically, fig. 3 is a graph of signal intensities of second signals collected by the first antenna and the second antenna according to an embodiment of the present application, as shown in fig. 3, in an initial stage, the signal intensity of the second signal collected by the first antenna is greater than the signal intensity of the second signal collected by the second antenna at the same time, so that the direction of the terminal is located in a range corresponding to the radiation direction of the first antenna. Along with unmanned aerial vehicle's traveling, the signal strength of the second signal that the locating antenna gathered reaches extreme point-40, and unmanned aerial vehicle is located directly over the terminal this moment, if unmanned aerial vehicle continues traveling this moment, will pass through the terminal, and the terminal is opposite with before for unmanned aerial vehicle's direction this moment, and consequently the signal strength of the second signal that the second antenna gathered is greater than the signal strength of the second signal that the first signal gathered, and because after passing this position, unmanned aerial vehicle keeps away from the terminal gradually, consequently, the signal strength of the second signal that first antenna and second antenna gathered is all reducing.
In this embodiment, need not to use a plurality of unmanned aerial vehicle systems to carry out the triangle location to the terminal, reduced unmanned aerial vehicle location cost, and the acquisition of extreme point compares in traditional triangle location algorithm, calculates simpler, and the more easily acquisition, and the efficiency of location is higher.
In one embodiment, determining the location of the terminal based on the extreme points comprises: matching the time information of the extreme point with the time information of the unmanned plane; and searching the position acquired by the unmanned aerial vehicle according to the matching result, and selecting the position corresponding to the matching result as the position of the terminal.
The unmanned aerial vehicle can record GPS tracks, time information and height information of each track point in real time in the advancing process, so that after the extreme point of the signal intensity of the second signal acquired by the positioning antenna is selected, the time information corresponding to the extreme point is matched with the time information of the unmanned aerial vehicle, and GPS position information corresponding to the time information of the extreme point is selected according to a matching result, wherein the position information is the terminal position.
In this embodiment, the position information of the terminal can be obtained only by acquiring the extreme point of the second signal, and the terminal is not required to be triangulated by using a plurality of unmanned aerial vehicle systems, so that the cost is reduced, the time information of the extreme point is matched with the GPS track of the unmanned aerial vehicle, and the real-time performance of the system is enhanced.
In one embodiment, determining the extreme point of the signal strength of the second signal within the preset time period includes: collecting equipment identification codes of a plurality of second signals in a preset time period through a plurality of groups of positioning antennas; performing curve fitting on the acquired data of a plurality of groups of positioning antennas according to the passing time of each equipment identification code and the signal receiving power corresponding to the equipment identification code to obtain a signal intensity curve of a second signal; and determining an extreme point of the signal intensity of the second signal according to the signal intensity curve.
When the first signal transmitted by the positioning antenna covers the terminal to be positioned in the advancing process of the unmanned aerial vehicle, the RSRP value (reference signal receiving power) of the terminal is obtained through signaling interaction, and the RSRP value and the acquisition time of the IMSI (international mobile equipment identification code) acquired by the first antenna and the second antenna are recorded and drawn into a curve through the positioning base station aiming at the uplink MIMO receiving technology (multi-receiving multi-transmitting technology). In an actual application scenario, the acquired RSRP value is easily affected by the environment to generate mutation, such as shielding of people or objects, change of a holding mode of a terminal, and the like. Therefore, the RSRP values of the second signals acquired by the plurality of groups of positioning antennas can be reported, and curve fitting is carried out on the RSRP values, so that errors are reduced. The finally obtained fitting curve can be used for judging extreme points so as to further determine the position of the terminal.
Specifically, taking two sets of RSRP values of the second signal reported each time as an example, fig. 4 is a fitting graph of the positioning method based on the unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 4, a solid line represents a signal intensity curve of the second signal actually collected by the first antenna and the second antenna, and a dotted line represents a signal intensity curve of the second signal collected by the first antenna and the second antenna obtained after the fitting processing, and as can be seen from fig. 4, the fitted curve is more ideal, and the signal intensity of the first antenna and the second antenna and an extremum point of the signal intensity of the second signal can be more intuitively determined.
In this embodiment, due to shielding of people or objects, changing of a holding mode of a mobile phone, etc., the RSRP value is easily suddenly changed due to environmental influence, and error caused by the sudden change of the RSRP can be eliminated by adopting curve fitting, so that positioning accuracy is improved.
In one embodiment, transmitting the first signal through the plurality of sets of positioning antennas includes: and simultaneously transmitting first signals of different frequency bands through a plurality of groups of positioning antennas, wherein the first signals transmitted by each group of positioning antennas comprise a plurality of public network frequency bands.
The positioning antenna in the positioning base station system transmits signals in all public network frequency bands such as Band1/3/5/8/34/39/40/41, and ensures that the terminals of the searched and rescuing personnel can be captured by the positioning base station at the first time no matter in a connected state or an idle state.
In this embodiment, by transmitting the first signals with different frequency bands, it is ensured that the terminal to be positioned can be captured by the positioning base station at the first time no matter what state the terminal is in, and positioning efficiency is improved.
In one embodiment, the radiating surfaces of the first antenna and the second antenna are 15 degrees radiating surfaces.
The first antenna and the second antenna both adopt 15-degree antennas, compared with the prior art, the angle is reduced, the radiation coverage area is more concentrated, and therefore the positioning of the terminal is more accurate.
In this embodiment, by adopting the 15 ° directional antenna, signals are transmitted and received, so that the radiation coverage of the antenna is more concentrated, and the positioning accuracy is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides an unmanned aerial vehicle-based positioning system for realizing the unmanned aerial vehicle-based positioning method. The implementation of the solution provided by the system is similar to the implementation described in the above method, so the specific limitation of the positioning system based on the unmanned aerial vehicle in one or more embodiments provided below may be referred to the limitation of the positioning method based on the unmanned aerial vehicle hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 5, there is provided an unmanned aerial vehicle-based positioning system comprising: unmanned aerial vehicle 51, location base station 52 and processor 53, wherein:
the unmanned aerial vehicle 51 is configured to carry the positioning base station 52 for flying, and collect position information and time data of the positioning base station 52.
And the positioning base station 52 is used for collecting signal data sent by the terminal.
The processor 53 is configured to process the position information and time data collected by the unmanned aerial vehicle 51, and the signal data collected by the positioning base station 52.
The unmanned aerial vehicle 51 is connected with the positioning base station 52 through a visual nacelle and is responsible for carrying the positioning base station 52 to fly and collecting GPS track and time data. The positioning base station 52 searches for and positions the terminal by collecting signal data from the terminal. The processor 53 processes the data collected by the unmanned aerial vehicle 51 and the positioning base station 52, marks the terminal position on the GPS track, and indicates the search and rescue personnel to go to rescue.
In one embodiment, the positioning base station 52 transmits a first signal via a plurality of sets of positioning antennas and collects a second signal generated by the terminal in response to the first signal, wherein each set of positioning antennas includes a first antenna and a second antenna, and the first antenna and the second antenna are opposite in signal radiation direction.
The positioning base station 52 is equipped with a plurality of groups of positioning antennas, each group of positioning antennas includes a first antenna and a second antenna, the first antenna and the second antenna are directional antennas, and the signal radiation directions of the first antenna and the second antenna are opposite, so that when the same signal is received, the collected signal intensities are different. Preferably, the first antenna and the second antenna are perpendicular to each other. And when the transmitted first signals cover the terminal to be positioned, receiving a plurality of groups of second signals generated by the terminal in response to the first signals. And selecting one or more accurate groups of second signals from the groups of second signals for subsequent processing.
In one embodiment, the processor 53 determines the direction of the terminal relative to the drone 51 and the location of the terminal based on the signal strengths of the second signals acquired by the first and second antennas.
The processor 53 finds out time information when the RSRP value in the travelling curve is maximum according to a large amount of data (including signal strength and time data) obtained by the positioning base station 52 through signaling interaction of the terminal, matches with the time information of the unmanned aerial vehicle 51, finds out GPS position information corresponding to the time information (the GPS position is the position of the terminal) according to the time information, and performs visual display.
The various modules in the unmanned aerial vehicle-based positioning system described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims (10)

1. Positioning method based on unmanned aerial vehicle, characterized in that unmanned aerial vehicle includes multiunit positioning antenna, every group positioning antenna includes first antenna and second antenna, first antenna with the signal radiation direction of second antenna is opposite, the method includes:
transmitting a first signal through the plurality of groups of positioning antennas, and collecting a second signal generated by a terminal in response to the first signal;
and determining the direction of the terminal relative to the unmanned aerial vehicle and the position of the terminal according to the signal strength of the second signals acquired by the first antenna and the second antenna.
2. The unmanned aerial vehicle-based positioning method of claim 1, wherein determining the direction of the terminal relative to the unmanned aerial vehicle based on the signal strengths of the second signals acquired by the first antenna and the second antenna comprises:
comparing the magnitude relation of the signal intensities of the second signals acquired by the first antenna and the second antenna at the same moment;
when the signal intensity of the second signal acquired by the first antenna is greater than that of the second signal acquired by the second antenna, the terminal is positioned in the direction corresponding to the signal radiation direction of the first antenna;
when the signal intensity of the second signal collected by the first antenna is smaller than that of the second signal collected by the second antenna, the terminal is located in the direction corresponding to the signal radiation direction of the second antenna.
3. The unmanned aerial vehicle-based positioning method of claim 1, wherein determining the position of the terminal based on the signal strengths of the second signals acquired by the first antenna and the second antenna comprises:
determining extreme points of the signal intensity of the second signal in a preset time period according to the signal intensity of the second signal acquired by the positioning antenna at different moments;
and determining the position of the terminal according to the extreme point.
4. A positioning method based on unmanned aerial vehicle according to claim 3, wherein determining the position of the terminal from the extreme point comprises:
matching the time information of the extreme point with the time information of the unmanned aerial vehicle;
searching the position acquired by the unmanned aerial vehicle according to the matching result, and selecting the position corresponding to the matching result as the position of the terminal.
5. A positioning method based on a drone according to claim 3, wherein determining an extreme point of the signal strength of the second signal within a preset time period comprises:
collecting equipment identification codes of a plurality of second signals in a preset time period through a plurality of groups of positioning antennas;
performing curve fitting on the acquired data of a plurality of groups of positioning antennas according to the passing time of each equipment identification code and the signal receiving power corresponding to the equipment identification code to obtain a signal intensity curve of the second signal;
and determining an extreme point of the signal intensity of the second signal according to the signal intensity curve.
6. The drone-based positioning method of claim 1, wherein transmitting the first signal through the plurality of sets of positioning antennas comprises:
and simultaneously transmitting the first signals of different frequency bands through a plurality of groups of positioning antennas, wherein the first signals transmitted by each group of positioning antennas comprise a plurality of public network frequency bands.
7. The unmanned aerial vehicle-based positioning method of claim 1, wherein the radiating surfaces of the first antenna and the second antenna are 15 degrees radiating surfaces.
8. An unmanned aerial vehicle-based positioning system, comprising: unmanned aerial vehicle, location base station and treater; wherein, the liquid crystal display device comprises a liquid crystal display device,
the unmanned aerial vehicle is used for carrying the positioning base station to fly and collecting the position and time data of the positioning base station;
the positioning base station is used for collecting signal data sent by the terminal;
the processor is used for processing the position and the time data acquired by the unmanned aerial vehicle and the signal data acquired by the positioning base station.
9. The unmanned aerial vehicle-based positioning system of claim 8, wherein the positioning base station transmits a first signal via a plurality of sets of positioning antennas and collects a second signal generated by a terminal in response to the first signal, wherein each set of positioning antennas comprises a first antenna and a second antenna, and wherein the first antenna and the second antenna radiate in opposite directions.
10. The drone-based positioning system of claim 9, wherein the processor determines the direction of the terminal relative to the drone and the location of the terminal based on signal strengths of the second signals acquired by the first antenna and the second antenna.
CN202310749642.0A 2023-06-25 2023-06-25 Positioning method and system based on unmanned aerial vehicle Pending CN116996826A (en)

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CN202310749642.0A CN116996826A (en) 2023-06-25 2023-06-25 Positioning method and system based on unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310749642.0A CN116996826A (en) 2023-06-25 2023-06-25 Positioning method and system based on unmanned aerial vehicle

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