CN117570980A - UWB and GPS fusion positioning algorithm-based method and system - Google Patents
UWB and GPS fusion positioning algorithm-based method and system Download PDFInfo
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- 230000004927 fusion Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000005457 optimization Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000012549 training Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/04—Large scale networks; Deep hierarchical networks
- H04W84/06—Airborne or Satellite Networks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention belongs to the technical field of unmanned aerial vehicle positioning, and particularly relates to a method and a system based on a UWB and GPS fusion positioning algorithm. The method comprises the following steps: collecting raw data from UWB and GPS devices; processing the original data of the UWB and GPS equipment respectively to obtain positioning data processed by the UWB and GPS, wherein the processing of the original data of the UWB equipment comprises the following steps: calculating the position of the aircraft relative to the UWB base station by doppler effect and range measurement, wherein processing raw data of the GPS device includes: acquiring GPS signals and calculating geographic position coordinates of the aircraft; fusing the positioning data processed by the UWB and the GPS; according to the fused positioning data, performing real-time optimization and calibration; and predicting possible moving paths of the aircraft according to the optimized and calibrated positioning data, and carrying out path planning and track tracking. By fusing UWB and GPS positioning technology, the scheme can realize high-precision positioning, and meets the requirement of the aircraft application field on accurate positioning.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle positioning, and particularly relates to a method and a system based on a UWB and GPS fusion positioning algorithm.
Background
Along with the continuous expansion of the application field of the aircraft, such as aerial photography, agricultural plant protection, logistics distribution and the like, the requirements on the positioning precision and the stability of the aircraft are also higher and higher. However, in complex environments, such as urban tall buildings, mountain canyons, etc., aircraft often suffer from problems such as unstable GPS signals, multipath effects, etc., resulting in inaccurate or even failure of positioning. Conventional GPS positioning techniques cannot meet the need for high-precision positioning under these circumstances.
Disclosure of Invention
First, the technical problem to be solved
The invention mainly aims at the problems and provides a method and a system based on a UWB and GPS fusion positioning algorithm, which aim to solve the problem of high-precision positioning of an aircraft in a complex environment.
(II) technical scheme
In order to achieve the above object, in one aspect, the present invention provides a method based on a UWB and GPS fusion positioning algorithm, the method comprising the steps of:
collecting raw data from UWB and GPS devices;
processing the original data of the UWB and GPS equipment respectively to obtain positioning data processed by the UWB and GPS, wherein the processing of the original data of the UWB equipment comprises the following steps: calculating the position of the aircraft relative to the UWB base station by doppler effect and range measurement, wherein processing raw data of the GPS device includes: acquiring GPS signals and calculating geographic position coordinates of the aircraft;
fusing the positioning data processed by the UWB and the GPS;
according to the fused positioning data, performing real-time optimization and calibration;
and predicting possible moving paths of the aircraft according to the optimized and calibrated positioning data, and carrying out path planning and track tracking.
Further, in the step of collecting the raw data, collecting the I MU data is further included.
Further, in the fusion step, weighted fusion is performed according to UWB and GPS signal strength factors and error factors.
Further, the specific steps of calculating the position of the aircraft relative to the UWB base station are as follows:
receiving a signal from a UWB base station using a UWB device;
calculating time delay between the aircraft and different UWB base stations according to the arrival time difference or round trip time of the UWB signals;
calculating the speed of the aircraft relative to the UWB base station by analyzing the frequency change of the received UWB signal and utilizing the Doppler effect principle;
calculating a distance estimated value between the aircraft and each UWB base station by combining the time delay and the speed information;
and calculating the position of the aircraft relative to the UWB base stations by using the position information and the distance estimation values of the plurality of UWB base stations and adopting a triangulation method.
Further, the specific steps of fusing the positioning data processed by UWB and GPS are as follows:
acquiring a positioning data source processed by UWB and GPS;
for each positioning data source, performing error estimation according to the characteristics of the positioning data source;
according to the signal intensity or quality index of each positioning data source, giving corresponding weight to each data source;
according to the error estimation and the weight of each data source, carrying out weighted fusion on the positioning data sources processed by UWB and GPS;
and obtaining comprehensive positioning data according to the weighted fusion result.
Further, the specific steps of predicting a likely path of travel of the aircraft based on the optimized and calibrated positioning data include:
collecting and sorting historical positioning data, including position coordinates, speed information and environment information of the aircraft;
processing and analyzing the historical positioning data to extract useful features, wherein the useful features at least comprise: calculating displacement, speed change and acceleration between adjacent positioning points, and considering time sequence information;
selecting a track prediction algorithm according to specific requirements and scenes;
establishing a prediction model based on the historical positioning data and the characteristics;
dividing a data set into a training set and a verification set by utilizing historical positioning data, training and parameter optimization on a prediction model by using the training set, and then evaluating and adjusting model performance by utilizing the verification set to obtain a trained model;
and predicting the possible moving path of the aircraft according to the current positioning data and the environment information by using the trained model.
In order to achieve the above purpose, the invention also provides a system based on the UWB and GPS fusion positioning algorithm, which realizes the method.
Further, the system comprises:
the data acquisition module is used for collecting raw data from UWB and GPS equipment and other sensor data;
the UWB positioning module is used for processing UWB signals;
the GPS positioning module is used for processing GPS signals;
the signal fusion module is used for fusing the positioning data of the UWB and the GPS;
the optimizing module is used for optimizing and calibrating the fused positioning data in real time;
and the path planning and tracking module is used for predicting a possible moving path of the aircraft according to the optimized positioning data and carrying out path planning and track tracking.
Further, the system further comprises: and the user interface module is used for providing a user-friendly interface.
(III) beneficial effects
According to the invention, by introducing a fusion positioning algorithm based on Ultra Wideband (UWB) and Global Positioning System (GPS), the original data of UWB and GPS are intelligently selected and processed, and then high-precision fusion calculation is carried out, so that real-time optimization and calibration are further realized. And finally, predicting possible moving paths of the aircraft according to the optimized and calibrated data, and carrying out accurate path planning and track tracking. Compared with the prior art, the method improves positioning accuracy in a complex environment, enhances robustness and anti-interference capability, meets the requirements of various flight environments and real-time performance of the aircraft, and effectively promotes wide application of the aircraft in the fields of aerial photography, agricultural plant protection, logistics distribution and the like.
Drawings
FIG. 1 is a flow chart of a method based on UWB and GPS fusion positioning algorithm disclosed in the present application.
FIG. 2 is a block diagram of a system based on the UWB and GPS fusion positioning algorithm disclosed in the present application.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
GPS is a satellite navigation system that provides location information worldwide. By receiving signals from multiple satellites, the GPS receiver can calculate longitude, latitude, altitude, and other information of the position of the receiver. However, since GPS signals are susceptible to buildings, weather and other disturbances, their positioning accuracy may be limited.
Therefore, the invention proposes to use the UWB and GPS positioning technologies in a fused manner. By utilizing both UWB and GPS positioning data, the limitations of a single technology can be overcome and more accurate and stable aircraft position information obtained. The optimization and calibration steps further improve the accuracy of positioning, making the position tracking of the aircraft more reliable.
As shown in fig. 1, the present invention provides a method for accurately tracking the position of an aircraft based on a fusion positioning algorithm of Ultra Wideband (UWB) and Global Positioning System (GPS), comprising the steps of:
step 1, collecting original data from UWB and GPS equipment;
step 2, respectively processing the original data of the UWB and GPS equipment to obtain positioning data processed by the UWB and GPS, wherein the processing of the original data of the UWB equipment comprises the following steps: calculating the position of the aircraft relative to the UWB base station by doppler effect and range measurement, wherein processing raw data of the GPS device includes: acquiring GPS signals and calculating geographic position coordinates of the aircraft;
by "collecting raw data from UWB and GPS devices" is meant acquiring raw data obtained from UWB devices and GPS devices. These devices are commonly used for positioning and navigation purposes. The UWB device calculates the position of the aircraft relative to the UWB base station by measuring the distance from the base station and the doppler effect. UWB technology can provide higher positioning accuracy and timing resolution using high bandwidth pulse signal transmission.
The GPS device then acquires the geographic location coordinates of the aircraft by receiving GPS signals transmitted by the satellites. The GPS system consists of a set of satellites, and the position is determined by calculating the signal propagation time differences between the receiver and the satellites.
Thus, in this method, raw data first needs to be collected from the UWB device and the GPS device for subsequent processing. The raw data are used as the input of an algorithm, and the functions of positioning, optimizing, calibrating, path predicting, planning, track tracking and the like of the aircraft are finally realized through corresponding processing and fusion.
Step 3, fusing the positioning data processed by the UWB and the GPS;
in particular, UWB positioning techniques generally provide high accuracy space-time positioning capabilities, but may be affected by multipath effects, signal blockage, or interference in some cases. In contrast, GPS positioning technology can provide global positioning coverage, but may suffer from reduced accuracy or failure to function properly in indoor or occluded environments;
the defects of the respective positioning technologies can be effectively overcome by fusing the positioning data processed by the UWB and the GPS. The fusion algorithm can comprehensively consider the information of two data sources, and combine the two data sources into a group of more accurate and reliable positioning results by means of weighting, filtering, coordination or other mathematical models;
the fused positioning data can provide higher positioning accuracy, robustness and usability. For example, when UWB data is disturbed or occluded, compensation may be performed with GPS data, providing a continuous positioning output. In addition, by taking advantage of the complementary nature between UWB and GPS data, errors and uncertainties can be reduced and the estimation of aircraft position can be improved.
Step 4, performing real-time optimization and calibration according to the fused positioning data;
it should be noted that real-time optimization refers to dynamically adjusting and improving the fused positioning data to adapt to changing environmental conditions and aircraft conditions. By analyzing and processing the positioning data in real time, the system can perform parameter optimization for the current situation, such as adjusting weight, filter setting or model parameters, so as to improve positioning accuracy and robustness to the greatest extent. Real-time calibration criteria refers to correcting errors and drift that may exist in the system.
And 5, predicting a possible moving path of the aircraft according to the optimized and calibrated positioning data, and carrying out path planning and track tracking.
By doing path prediction based on the optimized and calibrated positioning data, the system can analyze the current state and environmental information of the aircraft and use models or algorithms to estimate its future position and attitude changes. Such predictions are typically based on physical models, machine learning methods, or statistical models to provide inferences about the likely path of movement of the aircraft; the path planning algorithm considers various constraint conditions and optimization targets, such as obstacle avoidance, energy conservation, time minimization and the like, and generates a reasonable path to be followed by the aircraft; among them, the trajectory tracking algorithm generally uses a feedback control technique such as a PID controller or model predictive control to achieve accurate trajectory tracking performance.
In a specific embodiment, step 1 further includes collecting other sensor data, such as I MU, and fusing sensor data of an inertial measurement unit (I MU), so as to increase robustness of the positioning system to adverse environments and interference, improve flight safety, and enable the multi-sensor information fusion method to cope with positioning challenges in complex environments.
In a specific embodiment, the step 3 signal fusion module comprehensively considers the positioning data of UWB and GPS, and performs weighted fusion according to factors such as signal strength, error and the like, so that a more accurate positioning result can be obtained.
In a specific embodiment, the specific step of calculating the position of the aircraft relative to the UWB base station of step 2 further comprises:
step 2.1, receiving signals from a UWB base station by using UWB equipment;
step 2.2, calculating time delay between the aircraft and different UWB base stations according to the arrival time difference or round trip time of the UWB signals;
step 2.3, calculating the speed of the aircraft relative to the UWB base station by analyzing the frequency change of the received UWB signal and utilizing the Doppler effect principle;
step 2.4, calculating a distance estimated value between the aircraft and each UWB base station by combining the time delay and the speed information;
and 2.5, calculating the position of the aircraft relative to the UWB base stations by using the position information and the distance estimation values of the plurality of UWB base stations and adopting a triangulation method.
Specifically, if there are one aircraft and three UWB base stations (A, B, C), the aircraft is equipped with UWB devices that can receive signals from UWB base stations A, B, C, the UWB devices record the time stamps of the signals received from each base station, and calculate the arrival time differences or round trip times relative to a reference time. Through these time differences, the time delay between the aircraft and each UWB base station can be estimated; the UWB device may also analyze the frequency variation of the received signal and calculate the velocity of the aircraft relative to each UWB base station using doppler principles. The doppler effect is the change in frequency of a signal as an object moves relative to a receiver. And (3) combining the time delay and the speed information obtained in the step 2.2 and the step 2.3, and calculating the distance estimated value between the aircraft and each UWB base station. By measuring the propagation time and velocity of the signal, the distance between the object and the base station can be deduced. The position of the aircraft relative to the UWB base stations is calculated using triangulation based on the known positions of the plurality of UWB base stations and the distance estimates obtained in step 2.4. Triangulation uses polygonal trigonometry to determine the position of objects, from the distances between the base stations and their known positions, the position of the aircraft can be deduced.
In one embodiment, the specific steps of step 3 fusing the UWB and GPS processed positioning data are as follows:
step 3.1, acquiring a positioning data source processed by UWB and GPS;
step 3.2, for each positioning data source, performing error estimation according to the characteristics of the positioning data source;
step 3.3, according to the signal intensity or quality index of each positioning data source, giving corresponding weight to each data source;
step 3.4, weighting and fusing the positioning data sources processed by the UWB and the GPS according to the error estimation and the weight of each data source;
and 3.5, obtaining comprehensive positioning data according to the weighted fusion result.
First, a positioning data source is acquired from the UWB device and the GPS receiver after respective processing. The UWB processed data provides position information of the aircraft relative to the UWB base station, while the GPS processed data provides geographic position information provided by the global positioning system; for each positioning data source (UWB and GPS), an error estimate is made based on its characteristics and a known error model. For example, UWB positioning may be affected by factors such as signal propagation delays, multipath effects, etc., while GPS positioning may be affected by factors such as satellite shadowing, atmospheric interference, etc. By estimating the error of each data source, the reliability of its positioning results can be quantified.
In view of the reliability differences of different data sources, each data source can be given a corresponding weight according to the signal strength or quality index of the data source. Data sources with higher signal strength or better quality will get higher weights, while data sources with lower signal strength or worse quality will get lower weights. And carrying out weighted fusion on the positioning data sources processed by the UWB and the GPS according to the error estimation and the weight. The manner of weighted fusion may be a simple weighted average, where the weight of each data source reflects its reliability. The fusion process considers the error characteristics and contribution degree of each data source to obtain a more accurate and reliable comprehensive positioning result; of course, besides the weighted average method, the signal fusion may be performed by a kalman filtering method.
And (3) obtaining comprehensive positioning data through weighted fusion in the step 3.4. These data integrate the UWB and GPS processed positioning results and are reasonably combined according to their relative weights. The integrated data provides more accurate and reliable aircraft position information, which is advantageous over the use of UWB or GPS positioning data alone.
In one embodiment, step 5 comprises the specific steps of predicting the possible movement path of the aircraft from the optimized and calibrated positioning data, comprising:
step 5.1, collecting and arranging historical positioning data, including position coordinates, speed information and environment information of the aircraft;
and 5.2, processing and analyzing the historical positioning data to extract useful features, wherein the useful features at least comprise: calculating displacement, speed change and acceleration between adjacent positioning points, and considering time sequence information;
step 5.3, selecting a track prediction algorithm according to specific requirements and scenes;
step 5.4, establishing a prediction model based on the historical positioning data and the characteristics;
step 5.5, dividing the data set into a training set and a verification set by utilizing the historical positioning data, training and parameter optimization are carried out on the prediction model by utilizing the training set, and then model performance evaluation and adjustment are carried out by utilizing the verification set, so that a trained model is obtained;
and 5.6, predicting the possible moving path of the aircraft according to the current positioning data and the environment information by using the trained model.
By means of path prediction and planning based on historical positioning data and environmental information, the scheme can predict possible moving paths of the aircraft and achieve more accurate track tracking. This provides a powerful support for accurate flight and navigation of the aircraft.
In fig. 2, the second aspect of the present invention further provides a system based on a UWB and GPS fusion positioning algorithm, where the system implements the method.
Further, the system comprises:
the data acquisition module is used for collecting raw data from UWB and GPS equipment and other sensor data, such as I MU;
the UWB positioning module is used for processing UWB signals and calculating the position of the aircraft relative to the UWB base station through Doppler effect and distance measurement;
the GPS positioning module is used for processing GPS signals, acquiring Global Positioning System (GPS) signals and calculating geographic position coordinates of the aircraft;
the signal fusion module is used for fusing the positioning data of the UWB and the GPS, and the signal fusion can be carried out through methods such as weighted average, kalman filtering and the like;
the optimizing module is used for optimizing and calibrating the fused positioning data in real time so as to improve the positioning accuracy and stability;
and the path planning and tracking module is used for predicting a possible moving path of the aircraft according to the optimized positioning data and carrying out path planning and track tracking.
And the user interface module is used for providing a user-friendly interface, displaying the positioning process and the result, and allowing a user to monitor the flight state and make necessary adjustment.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (9)
1. The method based on the UWB and GPS fusion positioning algorithm is characterized by comprising the following steps:
collecting raw data from UWB and GPS devices;
processing the original data of the UWB and GPS equipment respectively to obtain positioning data processed by the UWB and GPS, wherein the processing of the original data of the UWB equipment comprises the following steps: calculating the position of the aircraft relative to the UWB base station by doppler effect and range measurement, wherein processing raw data of the GPS device includes: acquiring GPS signals and calculating geographic position coordinates of the aircraft;
fusing the positioning data processed by the UWB and the GPS;
according to the fused positioning data, performing real-time optimization and calibration;
and predicting possible moving paths of the aircraft according to the optimized and calibrated positioning data, and carrying out path planning and track tracking.
2. A method based on a UWB and GPS fusion positioning algorithm according to claim 1, further comprising collecting IMU data during the step of collecting raw data.
3. A method based on a UWB and GPS fusion positioning algorithm according to claim 1, wherein in the step of fusing, weighted fusion is performed based on UWB and GPS signal strength factors and error factors.
4. A method based on a UWB and GPS fusion positioning algorithm according to claim 1, characterized by the specific steps of calculating the position of the aircraft with respect to the UWB base station as follows:
receiving a signal from a UWB base station using a UWB device;
calculating time delay between the aircraft and different UWB base stations according to the arrival time difference or round trip time of the UWB signals;
calculating the speed of the aircraft relative to the UWB base station by analyzing the frequency change of the received UWB signal and utilizing the Doppler effect principle;
calculating a distance estimated value between the aircraft and each UWB base station by combining the time delay and the speed information;
and calculating the position of the aircraft relative to the UWB base stations by using the position information and the distance estimation values of the plurality of UWB base stations and adopting a triangulation method.
5. The method based on a UWB and GPS fusion positioning algorithm according to claim 1, wherein the specific steps of fusing the UWB and GPS processed positioning data are as follows:
acquiring a positioning data source processed by UWB and GPS;
for each positioning data source, performing error estimation according to the characteristics of the positioning data source;
according to the signal intensity or quality index of each positioning data source, giving corresponding weight to each data source;
according to the error estimation and the weight of each data source, carrying out weighted fusion on the positioning data sources processed by UWB and GPS;
and obtaining comprehensive positioning data according to the weighted fusion result.
6. A method based on a UWB and GPS fusion positioning algorithm according to claim 2, wherein the specific step of predicting the possible movement path of the aircraft from the optimized and calibrated positioning data comprises:
collecting and sorting historical positioning data, including position coordinates, speed information and environment information of the aircraft;
processing and analyzing the historical positioning data to extract useful features, wherein the useful features at least comprise: calculating displacement, speed change and acceleration between adjacent positioning points, and considering time sequence information;
selecting a track prediction algorithm according to specific requirements and scenes;
establishing a prediction model based on the historical positioning data and the characteristics;
dividing a data set into a training set and a verification set by utilizing historical positioning data, training and parameter optimization on a prediction model by using the training set, and then evaluating and adjusting model performance by utilizing the verification set to obtain a trained model;
and predicting the possible moving path of the aircraft according to the current positioning data and the environment information by using the trained model.
7. A system based on a UWB and GPS fusion positioning algorithm, characterized in that it implements the method of any of claims 1 to 6.
8. The system based on a UWB and GPS fusion positioning algorithm according to claim 7, wherein the system comprises:
the data acquisition module is used for collecting raw data from UWB and GPS equipment and other sensor data;
the UWB positioning module is used for processing UWB signals;
the GPS positioning module is used for processing GPS signals;
the signal fusion module is used for fusing the positioning data of the UWB and the GPS;
the optimizing module is used for optimizing and calibrating the fused positioning data in real time;
and the path planning and tracking module is used for predicting a possible moving path of the aircraft according to the optimized positioning data and carrying out path planning and track tracking.
9. The UWB and GPS fusion positioning algorithm based system of claim 8 further comprising: and the user interface module is used for providing a user-friendly interface.
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