TWI591365B - Localization method for rotary aerial vehicle - Google Patents

Description

Rotorcraft positioning method

The invention relates to rotorcraft, and in particular to a method of positioning a rotorcraft.

Global Positioning System (GPS) positioning technology is currently the most popular and mature positioning technology. The user only needs to install a GPS positioning device on the rotorcraft to obtain the current position of the rotorcraft (ie, latitude and longitude coordinates) and to implement positioning related applications (such as track recording, navigation or automatic driving).

Although the GPS technology has the aforementioned advantages of ease of use, however, since the GPS positioning technology uses satellite signals for positioning, the transmission path between the GPS positioning device and the positioning satellite is not only distant but also has a large amount of shielding (such as clouds or structures) in the transmission path. This makes the GPS positioning technology often drift when positioning, and greatly reduces the positioning stability.

Please refer to FIG. 1 , which is a schematic diagram of position drift caused by using GPS positioning technology to illustrate the aforementioned lack of GPS positioning technology.

When the rotorcraft using GPS positioning technology is in the fixed position state (taking the rotorcraft suspended at position 1 as an example), the current position of the rotorcraft continuously obtained via GPS positioning technology is not fixed at the correct position due to the aforementioned drift phenomenon. 1, but drifting between the correct position 1 and the wrong position 10-18, which makes the user unable to know the correct position of the rotorcraft in the fixed position.

The main object of the present invention is to provide a positioning method of a rotorcraft that can avoid the phenomenon of positioning drift under a fixed point state.

To achieve the foregoing objective, the present invention provides a method for positioning a rotorcraft for a rotorcraft having a satellite positioning device and an inertial sensing unit, comprising: a) receiving a positioning data via the satellite positioning device; b) Obtaining a self-acceleration and an attitude angle data by the inertial sensing unit, wherein the self-acceleration is based on an auto-three-dimensional coordinate system of the inertial sensing unit and a current triaxial acceleration of the rotorcraft, the attitude The angular data is the current one-three-axis tilt angle of the rotorcraft; c) the self-acceleration is converted into a world acceleration using the attitude angle data, wherein the world acceleration corresponds to a world three-dimensional coordinate system; d) the world The acceleration performs a removal of gravity effect processing; e) determining whether the rotorcraft is moving based on the processed world acceleration; and, f) updating a current position of the rotorcraft with the positioning data when determining that the rotorcraft is moving.

The invention updates the position only when the rotorcraft moves, which can effectively avoid the positioning error caused by the drift of the positioning signal in the fixed point state, and can effectively improve the positioning accuracy and stability.

1, 10-18‧‧‧ position

2‧‧‧Rotorcraft

200‧‧‧Microcontroller

202‧‧‧Satellite positioning device

204‧‧‧Inertial Sensing Unit

206‧‧‧Accelerometer

208‧‧‧Gyro

210‧‧‧ memory

212‧‧‧ drive

214‧‧‧Timer

216‧‧‧Wireless transceiver

218‧‧‧Electronic compass

3‧‧‧External electronic devices

X, Y, X, X', Y', Z'‧‧‧ axes

W‧‧‧World Coordinate System

B‧‧‧Self coordinate system

a _g ‧‧‧gravity acceleration

a _x ', a _y ', a _z '‧‧‧ component

P _K ‧‧‧World Displacement

V _K ‧‧‧World speed

O _K ‧‧‧ attitude angle

S100-S112‧‧‧First positioning step

S20-S22‧‧‧First detection step

S30-S32‧‧‧Second detection step

S400-S420‧‧‧Second positioning steps

S500-S520‧‧‧ third positioning step

Figure 1 is a schematic diagram of the positional drift of the GPS technology.

2 is a structural view of a rotorcraft according to a first embodiment of the present invention.

3 is a flow chart of a positioning method of a rotorcraft according to a first embodiment of the present invention.

4 is a schematic view of a three-dimensional coordinate system and an auto-three-dimensional coordinate system of the present invention.

FIG. 5 is a flow chart of state vector calculation according to the first embodiment of the present invention.

6 is a partial flow chart of a positioning method of a rotorcraft according to a second embodiment of the present invention.

Fig. 7 is a partial flow chart showing a method of positioning a rotorcraft according to a third embodiment of the present invention.

FIG. 8 is a flow chart of a positioning method of a rotorcraft according to a fourth embodiment of the present invention.

9 is a flow chart of a positioning method of a rotorcraft according to a fifth embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION A preferred embodiment of the present invention will be described in detail with reference to the drawings.

Referring first to FIG. 2, a structural diagram of a rotorcraft according to a first embodiment of the present invention is shown. The present invention discloses a method of positioning a rotorcraft for use in a rotorcraft 2 as shown in FIG. The positioning method of the present invention mainly determines whether the rotorcraft 2 is moving (ie, zero speed detection) according to the sensed acceleration, and updates the current position when determining that the rotorcraft 2 moves. Thereby, the invention can effectively avoid the positioning error caused by the positioning and drifting of the satellite positioning technology in the fixed state.

Furthermore, in order to prevent the gravity effect from affecting the result of the aforementioned zero speed detection, the present invention first excludes the acceleration caused by the gravity effect from the sensed acceleration before performing the zero speed detection. Thereby, the invention can effectively improve the correct rate of zero speed detection.

Next, the rotorcraft 2 of the present invention will be described. The rotorcraft 2 (such as a helicopter, quadrotor) mainly includes a satellite positioning device 202 (such as a GPS positioning device, a Beidou (BDS) positioning device, a GLONASS positioning device or a Galileo positioning device), and a sense of inertia. An Inertial Measurement Unit (IMU) 204, a memory 210, a driving device 212, and a Microcontroller Unit (MCU) 200 electrically connected to the aforementioned components.

The satellite positioning device 202 receives a set of positioning data from a plurality of positioning satellites, the positioning data including a set of absolute positions (e.g., latitude and longitude coordinates and altitude) of the satellite positioning device 202. The inertial sensing unit 204 is fixedly disposed on the rotorcraft 2 for sensing the current attitude of the rotorcraft 2 (such as the acceleration and tilt angle of the rotorcraft 2). The memory 210 is used to store data. Drive device 212 is used The rotorcraft 2 is driven to move and stop moving (eg, hanging or landing to the ground in the air). The microcontroller 200 is used to control the rotorcraft 2.

Please refer to FIG. 3, which is a flowchart of a positioning method of a rotorcraft according to a first embodiment of the present invention. The positioning method of the various embodiments of the present invention is mainly applied to the rotorcraft 2 shown in FIG. Specifically, the memory 210 of the rotorcraft 2 stores a computer program (not shown) in which the code executable by the microcontroller 200 is stored. When the computer program is executed by the microcontroller 200, the positioning method of various embodiments of the present invention can be implemented. The positioning method of this embodiment includes the following steps.

Step S100: The microcontroller 200 receives the positioning data from the plurality of positioning satellites via the satellite positioning device 202.

Step S102: The microcontroller 200 acquires a set of self-acceleration and a set of attitude angle data via the inertial sensing unit 204.

Preferably, the microcontroller 200 senses the self-acceleration via the accelerometer 206 of the inertial sensing unit 204 and senses the acquired attitude angle data via the gyroscope 208 of the inertial sensing unit 204.

Preferably, the aforementioned self-acceleration is based on the auto-three-dimensional coordinate system of the inertial sensing unit 204 (the auto-three-dimensional coordinate system B shown in FIG. 4), and corresponds to the current triaxial acceleration of the rotorcraft 2. The aforementioned attitude angle data corresponds to the current three-axis tilt angle of the rotorcraft 2.

Preferably, the attitude angle data is a Euler angle between the auto-three-dimensional coordinate system and the world three-dimensional coordinate system, and can indicate an angular deviation between the two sets of coordinate systems.

Preferably, the foregoing attitude angle data is converted to obtain a set of rotation matrices, and the obtained rotation matrix can be used to convert a vector (such as displacement, velocity or acceleration) or coordinates based on the auto-three-dimensional coordinate system into a universal-based world. Three-dimensional coordinate system (such as the world's three-dimensional coordinate system with the positive east as the positive X-axis, the positive south as the positive Y-axis, and the elevation as the positive Z-axis, or the world three-dimensional coordinate system combined with the latitude and longitude coordinates and altitude) Or coordinates.

Please refer to FIG. 4 at the same time, which is a schematic diagram of the world three-dimensional coordinate system and the auto-three-dimensional coordinate system of the present invention. 4 shows a general world three-dimensional coordinate system W and an auto-three-dimensional coordinate system B in which the current self-orientation of the rotorcraft 2 is axial, wherein the world three-dimensional coordinate system W is composed of an X-axis, a Y-axis, and a Z-axis. The autogenous three-dimensional coordinate system B is composed of an X' axis, a Y' axis, and a Z' axis. Moreover, the gravitational acceleration a _{g of the} earth includes only the Z component in the world three-dimensional coordinate system W, and its vector matrix [XYZ] is [0 0 g], where g is the Z component (vertical component) of the earth's gravitational acceleration, and its value It is about 9.8m/s ² .

As shown, when the rotorcraft 2 is tilted, the axial direction of the auto-three-dimensional coordinate system B will change, but be different from the axial direction of the world three-dimensional coordinate system W. At this time, the gravity acceleration ag includes three components of X', Y', and Z' in the auto-three-dimensional coordinate system B after changing the axial direction, and the vector matrix [X'Y'Z'] is [a _x ' a _y ' a _z '].

Referring to FIG. 3, since the same gravitational acceleration a _{g is} different in the vector matrix in different coordinate systems, in order to reduce the gravitational acceleration a _g from the self-acceleration based on different coordinate systems, the present invention further performs the following In step S104, a coordinate system conversion function is provided, and the gravity acceleration and the self-body acceleration based on different coordinate systems can be converted to be based on the same coordinate system, and the operation can be performed.

Step S104: The microcontroller 200 uses the attitude angle data to convert the self-acceleration to the world acceleration.

It is worth mentioning that since the attitude angle data can indicate the angular deviation between the auto-three-dimensional coordinate system and the world three-dimensional coordinate system, the attitude angle data can be used to perform the coordinate system conversion.

Step S106: The microcontroller 200 performs a removal gravity effect process on the world acceleration. Preferably, the aforementioned gravity removal effect subtracts the world acceleration from the gravitational acceleration. Further, the aforementioned world acceleration and gravitational acceleration correspond to the same world three-dimensional coordinate system.

In another embodiment of the present invention, the attitude angle data can be converted into a set of rotation matrices, and the microcontroller 200 can perform multiplication on the self-acceleration and the rotation matrix via the following formula (1) to obtain the world acceleration. And complete the removal of the gravity effect processing.

among them, The world acceleration processed by the removal of gravity effect based on the world three-dimensional coordinate system W at the kth time point; a rotation matrix for converting between the world three-dimensional coordinate system W and the auto-three-dimensional coordinate system B at the kth time point; The k-th time point is based on the auto-acceleration of the auto-three-dimensional coordinate system B; G is [0 0 g] ^T , which represents the gravitational acceleration of the earth.

For example, if the microcontroller 200 obtains self-acceleration via the accelerometer 206 =[0.7812-0.3194 9.6588], obtaining the rotation matrix via the gyroscope 208 The microcontroller 200 can calculate the world acceleration after removing the gravity effect according to the above formula (1). =[0.1191 0.8792-0.1441] ^T . Thereby, the microcontroller 200 can be based on the world acceleration after removing the gravity effect. To perform zero speed detection.

Step S108: The microcontroller 200 determines whether the rotorcraft 2 is moving according to the processed world acceleration. Preferably, the microcontroller 200 determines that the rotorcraft 2 moves when the processed world acceleration is not less than a preset acceleration threshold; and determines that the rotorcraft 2 is determined when the processed world acceleration is less than a preset acceleration threshold. In a fixed state.

If the microcontroller 200 determines that the rotorcraft 2 is moving, step S110 is performed. Otherwise, the microcontroller 200 performs step S112.

Step S110: The microcontroller 200 updates the current position of the rotorcraft 2 with the positioning data (ie, the positioning data received in step S100).

If the microcontroller 200 determines in step S108 that the rotorcraft 2 is not moving, then step S112 is performed: the microcontroller 200 discards the location data (ie, does not update the current location).

The invention updates the position when the rotorcraft moves, and stops updating the position when the rotorcraft is not moving, which can effectively avoid the positioning error caused by the drift of the positioning signal in the fixed point state, and can effectively improve the positioning accuracy and stability.

The state vector acquisition function of the rotorcraft 2 is further provided in the present invention. Specifically, the state vector of the rotorcraft 2 is as follows (2): state vector X _k = (P _K V _K O _K ) ^T = (x _K y _K z _K x ' _K y ' _K z ' _K ψ _k θ _k φ _k ) ^T ...... (2)

Where P _K =(x _K y _K z _K ) ^T is the world displacement of the rotorcraft 2; V _K =(x' _K y' _K z' _K ) ^T is the world speed of the rotorcraft 2; O _K =(ψ _{k θ k φ k)} ^T is the attitude of the rotorcraft 2.

Referring to FIG. 5, a flow chart of state vector calculation according to the first embodiment of the present invention is used to explain how the microcontroller 200 obtains the state vector X _k .

As shown, the microcontroller 200 first receives the auto-acceleration of the rotorcraft 2 from the accelerometer 206, obtains the tilt sensing parameters of the rotorcraft 2 from the gyroscope 208, and performs integral processing on the tilt sensing parameters to obtain the attitude angle. O _K.

Next, the microcontroller 200 performs a multiplication operation on the auto-acceleration and the attitude angle to obtain the world acceleration, and subtracts the world acceleration from the gravitational acceleration to obtain the processed world acceleration.

Finally, the microcontroller 200 performs an integration process on the processed world acceleration to obtain a world velocity V _K , and performs a double integration process on the processed world acceleration to obtain a world displacement P _K .

Thereby, the present invention can obtain the state vector _{Xk of the} rotorcraft 2, and can perform a wider variety of applications.

Continuing to refer to FIG. 6, a partial flow chart of a method for positioning a rotorcraft according to a second embodiment of the present invention is shown. Compared with the first embodiment shown in FIG. 3, the step 5108 of the embodiment is based on the rotorcraft 2 The speed is used for zero speed detection. Specifically, step S108 of the positioning method of this embodiment further includes the following steps.

Step S20: The microcontroller 200 performs an integration process on the processed world acceleration to obtain a world speed, wherein the aforementioned world speed corresponds to the world three-dimensional coordinate system W.

Step S22: It is judged whether the rotorcraft 2 is moving according to the world speed. Preferably, the microcontroller 200 determines that the rotorcraft 2 moves when the world speed is not less than the preset speed threshold; and determines that the rotorcraft 2 is in the fixed state when the world speed is less than the preset speed threshold.

If the microcontroller 200 determines that the rotorcraft 2 is moving, step S110 is performed. Otherwise, the microcontroller 200 performs step S112.

Fig. 7 is a partial flow chart showing a method of positioning a rotorcraft according to a third embodiment of the present invention. Compared with the first embodiment shown in FIG. 3, step S108 of the present embodiment performs zero speed detection according to the displacement of the rotorcraft 2. Specifically, step S108 of the positioning method of this embodiment further includes the following steps.

Step S30: The microcontroller 200 performs a double integration process on the processed world acceleration to obtain a world displacement, wherein the aforementioned world displacement corresponds to the world three-dimensional coordinate system W.

Step S32: Judging whether the rotorcraft 2 is moving according to the world displacement. Preferably, the microcontroller 200 determines that the rotorcraft 2 moves when the world displacement is not less than the preset displacement threshold; and determines that the rotorcraft 2 is in the fixed state when the world displacement is less than the preset displacement threshold.

If the microcontroller 200 determines that the rotorcraft 2 is moving, step S110 is performed. Otherwise, the microcontroller 200 performs step S112.

It is worth mentioning that, in the first embodiment shown in FIG. 3, the second embodiment shown in FIG. 6, and the third embodiment shown in FIG. 7, the microcontroller 200 is based on world acceleration and world speed. And one of the world displacements to determine whether the rotorcraft 2 is moving, but should not be limited by this.

In another embodiment of the present invention, the microcontroller 200 can determine whether the rotorcraft 2 is moving according to all or part of the world acceleration, the world speed, and the world displacement (eg, simultaneously determining according to world acceleration and world speed, or simultaneously The three judged).

Continuing to refer to FIG. 8 is a flow chart of a method for positioning a rotorcraft according to a fourth embodiment of the present invention. In this embodiment, the rotorcraft 2 further includes a timer 214 electrically connected to the microcontroller 200 and a wireless transceiver 216 (such as a Wi-Fi transceiver, a Bluetooth transceiver, an infrared transceiver or an ultrasonic transceiver, etc.) . The timer 214 is used for timing, and the wireless transceiver 216 is used for external electronic devices 3 (such as a remote controller of the rotorcraft 2, a smart phone held by a user, a notebook computer, a tablet computer, a wearable device, etc.). communication.

It is worth mentioning that, in this embodiment, the microcontroller 200 can continuously count the preset positioning time, and receive the positioning data once by the satellite positioning device 202 every time the timing positioning time passes (ie, in step S408). If it is determined to be YES, step S400) is performed again to continue positioning of the rotorcraft 2.

Moreover, the microcontroller 200 can also continuously count the preset zero-speed detection time, and receive the self-acceleration and process it through the inertial sensing unit 204 every time the timing zero-speed detection time passes (ie, Step S410 determines that it is YES and then performs steps S402-S406 again. Preferably, the positioning time is not less than 2 times the zero speed detection time.

The positioning method of this embodiment includes the following steps.

Step S400: The microcontroller 200 receives the positioning data via the satellite positioning device 202.

Step S402: The microcontroller 200 obtains the self-acceleration via the accelerometer 206 and acquires the attitude angle data via the gyroscope 208.

Step S404: The microcontroller 200 uses the attitude angle data to convert the self-acceleration to the world acceleration.

Step S406: The microcontroller 200 performs a gravity removal effect process on the world acceleration.

Step S408: The microcontroller 200 determines whether the positioning time (for example, 1 second) has elapsed.

If the microcontroller 200 determines that the positioning time has elapsed, step S412 is performed. Otherwise, the microcontroller 200 performs step S410.

Step S410: The microcontroller 200 determines whether the zero speed detection time (for example, 0.1 second) has passed.

If the microcontroller 200 determines that the zero speed detection time has elapsed, steps S402 to S406 are performed again to obtain the next processed world acceleration. Otherwise, the microcontroller 200 performs step S408 again to continuously determine whether the positioning time or the zero speed detection time has elapsed. Specifically, since the positioning time is not less than 2 times the zero speed detection time, when the positioning time passes, the microcontroller 200 has obtained the complex world acceleration.

If the microcontroller 200 determines in step S408 that the positioning time has elapsed, step S412 is executed: the microcontroller 200 calculates the statistical acceleration based on the complex world processed acceleration. Preferably, the microcontroller 200 calculates an average of the world accelerations after the complex processing and uses the calculated average as the statistical acceleration.

Step S414: The microcontroller 200 determines whether the rotorcraft 2 is moving according to the statistical acceleration. Preferably, the microcontroller 200 determines that the rotorcraft 2 moves when the statistical acceleration is not less than the acceleration threshold; and determines that the rotorcraft 2 is in the fixed state when the statistical acceleration is less than the acceleration threshold.

If the microcontroller 200 determines that the rotorcraft 2 is moving, step S416 is performed. Otherwise, the microcontroller 200 performs step S418.

Step S416: The microcontroller 200 updates the current position of the rotorcraft 2 with the positioning data. Preferably, the microcontroller 200 can further transmit the updated current location to the external electronic device 3 via the wireless transceiver 216.

Thereby, the user can instantly view the current position of the rotorcraft 2 on the external electronic device 3.

Step S418: The microcontroller 200 discards the latest piece of positioning data.

Step S420: The microcontroller 200 determines whether to end the positioning (if the user turns off the positioning function).

If the microcontroller 200 determines to end the positioning, the current positioning operation is ended. Otherwise, the microcontroller 200 performs step S400 again to continue positioning.

Continuing to refer to FIG. 9, a flow chart of a method for positioning a rotorcraft according to a fifth embodiment of the present invention is shown. The embodiment further provides a mobile positioning function (step S514), and can actively determine the correctness of the positioning data of the rotating rotorcraft 2 in motion.

It should be noted that, in this embodiment, there is no order relationship between step S500 and steps S502-506, and step S500 and step S502-506 may be performed sequentially or in parallel. The positioning method of this embodiment includes the following steps.

Step S500: The microcontroller 200 continuously receives the positioning data via the satellite positioning device 202 to obtain a plurality of positioning data (such as two pieces of positioning data).

Preferably, the microcontroller 200 receives the positioning data once each time the preset positioning time elapses. Thereby, the microcontroller 200 can receive the plurality of positioning data sequentially.

Step S502: The microcontroller 200 obtains the auto-acceleration via the accelerometer 206 and acquires the attitude angle data via the gyroscope 208.

Step S504: The microcontroller 200 uses the attitude angle data to convert the self-acceleration to the world acceleration. Preferably, the microcontroller 200 first converts the attitude angle data into a rotation matrix, and multiplies the self-body acceleration and the rotation matrix as shown in the above formula (1) to obtain the world acceleration.

Step S506: The microcontroller 200 performs a gravity removal effect processing on the world acceleration.

Step S508: The microcontroller 200 determines a set of positioning movement directions according to the plurality of positioning data.

Step S510: The microcontroller 200 determines a set of world moving directions according to the processed world acceleration.

Step S512: The microcontroller 200 determines whether the rotorcraft 2 is moving according to the world acceleration.

If the microcontroller 200 determines that the rotorcraft 2 is moving, step S514 is performed. Otherwise, the microcontroller 200 performs step S518.

Step S514: The microcontroller 200 determines whether the world moving direction coincides with the positioning moving direction. Specifically, in the moving state of the rotorcraft 2, the drift of the positioning data may still occur. In order to solve the above problem, the present embodiment determines whether or not one of the plurality of positioning data acquired in step S500 has a drift phenomenon by comparing whether the world moving direction and the positioning moving direction are identical.

Further, when one of the plurality of positioning data has a drift phenomenon, the positioning moving direction determined according to the plurality of positioning data does not match the world moving direction determined according to the processed world acceleration. Thereby, the present invention can instantly determine whether the positioning data is correct during the movement of the rotorcraft 2.

If the microcontroller 200 determines that the world moving direction coincides with the positioning moving direction, step S516 is performed. Otherwise, the microcontroller 200 performs step S518.

Step S516: The microcontroller 200 updates the current position of the rotorcraft 2 with the positioning data. Preferably, the microcontroller 200 updates the current position of the rotorcraft 2 with the latest positioning data, or updates the current position of the rotorcraft 2 with statistical values of the plurality of positioning data, such as an average or median.

Step S518: The microcontroller 200 discards the received (plural) positioning data.

Step S520: The microcontroller 200 determines whether to end the positioning. If the microcontroller 200 determines to end the positioning, the current positioning operation is ended. Otherwise, the microcontroller 200 performs step S500 again to continue positioning.

In step S514 of the above embodiment, it is determined whether or not the positioning movement direction coincides with the world moving direction, but is not limited thereto.

In another embodiment of the invention, rotorcraft 2 further includes an electronic compass 218 that is electrically coupled to microcontroller 200. The electronic compass 218 is used to sense the azimuth of a particular face (e.g., front) of the rotorcraft 2.

In this embodiment, the microcontroller 200 compares whether the direction of the positioning movement is in accordance with the direction indicated by the azimuth angle sensed by the electronic compass 218 to determine whether the positioning data is correct. And updating the current position of the rotorcraft 2 (ie, performing step S516) when the alignment movement direction matches the direction indicated by the azimuth angle.

Thereby, the present invention can effectively improve the positioning stability of the rotorcraft 2.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Therefore, equivalent changes to the scope of the present invention are included in the scope of the present invention. Bright.

S100-S112‧‧‧First positioning step

Claims (9)

A method for positioning a rotorcraft for a rotorcraft having a satellite positioning device and an inertial sensing unit, comprising: a) receiving a positioning data via the satellite positioning device; b) obtaining a self through the inertial sensing unit Body acceleration and an attitude angle data, wherein the self-acceleration is based on an auto-three-dimensional coordinate system of the inertial sensing unit and corresponds to a current triaxial acceleration of the rotorcraft, the attitude angle data is corresponding to the current rotorcraft a three-axis tilt angle; c) converting the self-acceleration to a world acceleration using the attitude angle data, wherein the world acceleration corresponds to a world three-dimensional coordinate system; d) performing a removal gravity effect processing on the world acceleration; e) determining whether the rotorcraft is moving according to the processed world acceleration; f) updating a current position of the rotorcraft with the positioning data when determining that the rotorcraft is moving; and g) discarding when determining that the rotorcraft is not moving The positioning data. The method for positioning a rotorcraft according to claim 1, wherein the step b senses the self-acceleration via an accelerometer of the inertial sensing unit, and obtains the attitude angle via a gyroscope of the inertial sensing unit. data. The method for positioning a rotorcraft according to claim 1, wherein the step c first converts the attitude angle data into a rotation matrix, and performs a multiplication operation on the self acceleration and the rotation matrix to obtain the world acceleration. This step d subtracts the world acceleration from a gravitational acceleration. The method for positioning a rotorcraft according to claim 1, wherein the step e comprises the following steps: e1) repeatedly performing the step b to the step d to obtain the world acceleration after the complex processing; E2) calculating a statistical acceleration according to the world acceleration after the complex processing; and e3) determining whether the rotorcraft is moving according to the statistical acceleration. The method for positioning a rotorcraft according to claim 4, wherein the step a is to receive the positioning data each time a positioning time elapses. The method for positioning a rotorcraft according to claim 5, wherein the step e1 is performed by performing the step b to the step d every time the timing of the zero-speed detection time elapses, and the positioning time is not less than 2 times the zero. Speed detection time. The method for positioning a rotorcraft according to claim 1, wherein the step e comprises the steps of: e4) performing an integration process on the processed world acceleration to obtain a world speed; and e5) not less than one in the world speed. The rotorcraft is determined to move when the speed threshold is 。. The method for positioning a rotorcraft according to claim 1, wherein the step e comprises the steps of: e6) performing a double integration process on the processed world acceleration to obtain a world displacement; and e7) the world displacement is not less than The rotorcraft is determined to move when a displacement threshold is present. The method for positioning a rotorcraft according to claim 1, wherein the step a receives a plurality of the positioning data in sequence, and the step f comprises the following steps: f1) determining a positioning moving direction according to the plurality of positioning data; f2) The processed world acceleration determines a world moving direction; and f3) updates the current position of the rotorcraft with the latest positioning data when it is determined that the rotorcraft is moving and the positioning moving direction is the same as the world moving direction.