WO2020124509A1

WO2020124509A1 - Method, apparatus and system for dotting-based positioning, and computer storage medium

Info

Publication number: WO2020124509A1
Application number: PCT/CN2018/122451
Authority: WO
Inventors: 李明辉; 潘国秀; 冯健; 黄振昊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-12-20
Filing date: 2018-12-20
Publication date: 2020-06-25
Also published as: CN111356937A; CN111356937B

Abstract

A method, apparatus and system for dotting-based positioning, and a computer-readable storage medium. The method comprises: receiving a first Global Navigation Satellite System (GNSS) differential data and absolute positioning data of a positioning base station; and sending the first GNSS differential data and the absolute positioning data of the positioning base station to a positioning mobile station (204), so that the positioning mobile station (204) determines dotting-based positioning data of the positioning mobile station (204) according to second GNSS differential data of the positioning mobile station (204) and the first GNSS differential data and the absolute positioning data of the positioning base station. Dotting-based positioning of an unmanned aerial vehicle is implemented.

Description

Dot positioning method, device, system and computer storage medium

Technical field

The present application belongs to the field of unmanned aerial vehicles, and in particular relates to a method, device, system and computer-readable storage medium for spot positioning.

Background technique

In the UAV field, based on the basic principles of differential positioning, the positioning base station directly sends its own first observation Global Navigation Satellite System (GNSS) differential data and its own absolute positioning data to the positioning mobile station. Based on its own second GNSS differential data, combined with the first GNSS differential data of the positioning base station and the absolute positioning data of the positioning base station, perform positioning, and use the handbook to record the positioning data to achieve the positioning and mapping.

Summary of the invention

The purpose of the present application is to provide a dot positioning method. The user can control the positioning of the mobile station by dot positioning buttons on the remote control or the mobile station for dot positioning.

In a first aspect, the present application provides a method for positioning positioning, the method for positioning positioning includes:

Receiving the first GNSS differential data and the absolute positioning data of the positioning base station; sending the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station, so that the positioning mobile station according to the second position of the positioning mobile station The GNSS differential data and the first GNSS differential data and the absolute positioning data of the positioning base station determine the spot positioning data of the positioning mobile station.

In a second aspect, the present application provides a method for positioning and positioning, the method for positioning and positioning includes:

Receive ephemeris data from GNSS;

Generating GNSS differential data according to the ephemeris data;

Send the GNSS differential data and absolute positioning data.

According to a third aspect, the present application provides a method of spotting and positioning, which includes:

Receive GNSS positioning data from multiple network real-time dynamic positioning data (Real-TimeKinemati, RTK) base stations;

Generating GNSS differential data of a virtual RTK base station according to the GNSS positioning data;

Sending GNSS differential data and absolute positioning data of the virtual RTK base station.

According to a fourth aspect, the present application provides an apparatus for positioning and positioning. The apparatus for positioning and positioning includes:

A receiving unit, configured to receive the first GNSS differential data and the absolute positioning data of the positioning base station;

A processing unit, configured to send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station, so that the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first GNSS The differential data and the absolute positioning data of the positioning base station determine the spot positioning data of the positioning mobile station.

According to a fifth aspect, the present application provides an apparatus for positioning and positioning. The apparatus for positioning and positioning includes:

The receiving unit is used to receive ephemeris data from GNSS;

A processing unit, configured to generate GNSS differential data according to the ephemeris data;

The sending unit is configured to send the GNSS differential data and absolute positioning data.

According to a sixth aspect, this application provides an apparatus for positioning and positioning. The apparatus for positioning and positioning includes:

The receiving unit is used to receive GNSS positioning data from multiple network RTK base stations;

A processing unit, configured to generate GNSS positioning data of a virtual RTK base station according to the GNSS positioning data;

The sending unit is configured to send GNSS positioning data of the virtual RTK base station.

In a seventh aspect, the present application provides an on-demand positioning system. The on-demand positioning system includes a control device and a positioning mobile station. The system further includes an RTK base station real-time dynamic positioning (RTK) base station or an RTK base station network server;

The real RTK base station is used to receive ephemeris data from a global navigation satellite positioning system (GNSS), generate first GNSS differential data according to the ephemeris data, and send the first GNSS differential data and absolute positioning data;

The RTK base station network server is configured to receive GNSS positioning data from multiple network RTK base stations, generate first GNSS positioning data of a virtual RTK base station based on the GNSS positioning data, and send the first GNSS positioning data of the virtual RTK base station And absolute positioning data;

The control device is configured to receive the first GNSS differential data and the absolute positioning data of the positioning base station, and send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station;

The positioning mobile station is configured to determine the spot positioning data of the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first GNSS differential data and the absolute positioning data of the positioning base station.

In an eighth aspect, the present application provides a control device, including a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the remote control method provided in the first aspect of the remote control is provided.

In a ninth aspect, the present application provides a real-time dynamic positioning RTK base station, including a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the RTK base station executes the second aspect Method for positioning.

In a tenth aspect, this application provides an RTK positioning network server, including a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the RTK base station network server performs the third aspect provides Is a method of positioning.

In an eleventh aspect, the present application provides a computer-readable storage medium that stores computer instructions that instruct a remote controller to perform the method for positioning and positioning provided in the first aspect.

In a twelfth aspect, the present application provides a computer-readable storage medium that stores computer instructions that instruct an RTK base station to perform the method for spotting and positioning provided in the second aspect.

In a thirteenth aspect, the present application provides a computer-readable storage medium that stores computer instructions that instruct the RTK base station network server to perform the method for spotting and positioning provided in the second aspect.

The beneficial effect of the present application is that the control device receives the spotting positioning task, and accordingly, the control device controls the real-time dynamic positioning positioning mobile station to use the GNSS differential data and absolute positioning data of the positioning base station and the GNSS differential data pair of the positioning mobile station The drone is used for positioning.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings used in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only for the application In some embodiments, for those of ordinary skill in the art, without paying creative labor, other drawings may be obtained based on these drawings.

Figure 1 is a schematic diagram of a scenario used to introduce the basic principles of differential positioning;

FIG. 2 is a schematic diagram of a system scene for dot positioning provided by an embodiment of the present application;

FIG. 3 is a system interaction flow chart of a system for spotting and positioning provided by an embodiment of the present application;

4 is a system interaction flow chart of a system for spotting and positioning provided by an embodiment of the present application;

FIG. 5 is a system interaction flow chart of a dot positioning system provided by an embodiment of the present application; FIG.

6 is a system interaction flow chart of a system for spotting and positioning provided by an embodiment of the present application;

7 is a flowchart of an embodiment of the present application provides a remote control method for positioning and positioning;

FIG. 8 is a flowchart of a dot positioning method provided for an RTK base station according to an embodiment of the present application;

9 is a flowchart of a method for providing spot positioning for an RTK base station network server according to an embodiment of the present application;

10 is a flowchart of a method for providing spot positioning for positioning a mobile station according to an embodiment of the present application;

11 is a schematic structural diagram of a device for positioning and positioning a drone provided by an embodiment of the present application;

12 is a schematic structural diagram of a device for positioning and positioning a drone provided by an embodiment of the present application;

13 is a schematic structural diagram of a device for positioning and positioning a drone provided by an embodiment of the present application;

14 is a schematic structural diagram of a device for positioning and positioning a drone provided by an embodiment of the present application.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be construed as limiting the present application.

First introduce the basic principles of differential positioning. Join Figure 1, which is a schematic diagram of a scenario used to introduce the basic principles of differential positioning. The positioning base station B and the positioning mobile station A simultaneously observe the Global Navigation Satellite System (Global Navigation Satellite System, GNSS) data. Obtain the pseudorange observation value and carrier phase observation value for each satellite, taking positioning mobile station A and satellite j as examples:

Where L is the carrier phase observation value, P is the pseudorange observation value, ρ is the distance between the satellite and the base station, c is the speed of light, δ is the clock difference, T is the tropospheric delay, I is the ionospheric delay, and N is the full-period ambiguity , Ε is random error.

When quadratic differences are made between the observations between stations and between stars, we get:

Among them are the carrier phase double difference and pseudorange double difference.

Since the distance between stations (between positioning base station B and positioning mobile station A) is much smaller than the distance between equivalent stations (Aj, Bj), it can be considered that the ionospheric/tropospheric effects on the paths of Aj and Bj are very similar. It can eliminate the main elements such as satellite clock, ionospheric error, tropospheric error and other factors that affect the positioning accuracy, so as to obtain the relative position relationship between centimeter-level stations (between positioning base station B and positioning mobile station A):

(Δx, Δy, Δz)

The method of transmitting the observation data (L _B , P _B ) of the positioning base station B to the positioning mobile station A in real time through wireless, and performing joint calculation is called real-time dynamic difference, that is, calculating real-time dynamic positioning data (Real-TimeKinemati, RTK ) Difference.

If accurate positioning (x _b , y _b , z _b ) of the positioning base station B in the coordinate system can be obtained, centimeter-level precise positioning (X _r , Y _r , Z _r ) of the positioning mobile station A can be obtained.

This application is based on the above-mentioned basic principles of differential positioning, using the first GNSS differential data of the positioning base station and the absolute positioning data of the positioning base station, and the positioning mobile station can determine the positioning information of the positioning mobile station based on its second GNSS differential data to achieve spot positioning .

FIG. 2 provides an example of an application scenario for spotting and positioning a drone provided by this application.

Referring to FIG. 2, the RTK base station 202, the RTK base station network server 203, and the positioning mobile station 204 are located at different locations, respectively. In this application, the RTK base station 202 is a real RTK base station.

The RTK base station 202 and the RTK base station network server 203 respectively communicate with GNSS satellites, receive ephemeris data, and generate GNSS differential data according to the received ephemeris data. Since the RTK base station 202 and the positioning mobile station 204 are in different locations, the ephemeris data generated by each is also different. Ephemeris data is used to locate the location. For example, the ephemeris data received by the RTK base station 202 records the current location of the RTK base station 202 obtained using GNSS satellite positioning.

In addition, the RTK base station 202 will calculate GNSS positioning data based on the ephemeris data it receives.

RTK base station network server 203 is relatively different. RTK base station network server 203 receives GNSS positioning data from multiple network RTK base stations; GNSS differential data is generated from GNSS positioning data of some network RTK base stations among multiple network RTK base stations. The RTK base station network server The provided GNSS data is calculated from the GNSS data of multiple network RTK base stations, which is equivalent to a virtual RTK base station. Alternatively, the RTK base station network server 203 may be a continuously running reference station (Continuously Operating Reference Stations, CORS).

Therefore, the RTK base station 202 and the RTK base station network server 203 can serve as two different types of GNSS differential data sources (ie, positioning base stations), and can provide GNSS differential data externally. In this application, the positioning base station serves as the source of GNSS data.

In this application, the remote controller 201 is connected to the RTK base station 202, the RTK base station network server 203, and the positioning mobile station 204 respectively; for example, the remote controller 201 uses a software-defined radio (Software Defined Radio, SDR) protocol or a 4G protocol or wifi The protocol is in communication with the positioning mobile station 204. In this way, the remote controller 201 can forward the GNSS differential data acquired from the RTK base station 202 or the RTK base station network server 203 to the positioning mobile station 204. Therefore, the positioning mobile station 204 can use the GNSS differential data of the positioning base station and the absolute positioning data of the positioning base station based on the basic principle of differential positioning. The positioning mobile station can determine the positioning information of the positioning mobile station based on the received second GNSS differential data and determine its location. Where the user is, when the user wants to calibrate his location on the electronic map, he only needs to calibrate the current location information of the mobile station, that is, perform a "dot" operation to obtain "dot positioning" data. Correspondingly, the positioning mobile station 204 can also feed the dot positioning data obtained by the dot positioning to the remote controller 201, and the remote controller 201 can store the "dot positioning" data in a local or a map database on the network. In this way, the user can call the dot positioning data through the remote controller 201 to plan the flight path of the drone.

Based on the system of FIG. 2, an embodiment of system interaction is provided, as shown in FIG. 3.

In step S31, the RTK base station network server 203 calculates and generates GNSS data of the virtual RTK base station based on the GNSS differential data and absolute positioning data of each RTK base station.

Specifically, the RTK base station network server 203 receives GNSS positioning data from multiple network RTK base stations; and generates GNSS differential data of the virtual RTK base station according to the GNSS positioning data.

Absolute positioning data refers to the physical location of the RTK base station, which can be obtained by matching features with known location coordinates in the electronic map.

When the RTK base station is used in conjunction with the RTK base station network server, the physical location of each RTK base station server is the geographic data stored in the RTK base station network server in advance. Optionally, the RTK base station network server 203 receives multiple Inertial Measurement Unit (IMU) data from multiple network RTK base stations, and corrects the base station location data based on the IMU data.

In step S32, the RTK base station 202 generates GNSS differential data and absolute positioning data.

Specifically, the RTK base station 202 uses the received GNSS ephemeris data, and uses the ephemeris data to obtain GNSS differential data.

In step S33, the remote controller 201 receives the spotting positioning task.

Optionally, the management task may be created by the user operating the remote controller 201.

Alternatively, the dot positioning task may be generated by the remote controller 201.

The task of positioning and positioning is used to trigger the remote controller 201 to instruct the positioning mobile station 204 to perform positioning and positioning of the drone.

Since the positioning mobile station 204 needs to use GNSS differential data for the positioning of the drone, the remote controller 201 will obtain the GNSS differential data from the GNSS differential data source (that is, the positioning base station), for example, from the RTK base station 202 or the RTK base station network server 203 Request GNSS differential data.

In step S34, the RTK base station network server 203 sends GNSS differential data and absolute positioning data to the remote controller 201.

If the remote controller 201 requests the RTK base station network server 203 for GNSS differential data and absolute positioning data, the RTK base station network server 203 sends the GNSS differential data and absolute positioning data to the remote controller 201.

For example, if the RTK base station network server 203 is used as the GNSS differential signal data source for positioning the mobile station 204, the remote controller 201 is configured in the network RTK mode, and performs RTCM (RadioTechnical Commission for Maritime) with the RTK base station network server 203 through a 4G link ) Data communication, send the rough location of the remote controller 201 to the RTK base station network server 203 (for example, CORS station), the RTK base station network server 203 generates a virtual reference station near the location sent by the remote controller 201, and broadcasts the virtual station to the remote controller 201 Observations. When the remote controller 201 always broadcasts the same location to the RTK base station network server 203, a virtual reference station will always be generated at the same location. The remote controller 201 stores data (including GNSS differential signal data and absolute positioning data) sent from the RTK base station network server 203. Optionally, RTCM is a packaging format for encapsulating GNSS differential signal data, and the GNSS differential signal data may also be encapsulated in other packaging formats to enable the RTK base station network server 203 to send GNSS differential data to the remote controller 201.

In step S35, the RTK base station 202 sends GNSS differential data and absolute positioning data to the remote controller 201.

If the remote controller 201 requests the RTK base station 202 for GNSS differential data and absolute positioning data, the RTK base station 202 sends the GNSS differential data and absolute positioning data to the remote controller 201.

For example, if the RTK base station 202 is used as the GNSS differential signal data source of the RTK handheld pole, before performing the spotting positioning task, the RTK base station 202 is switched to the base station mode by pressing a key, and the RTK base station 202 is set up within the spotting interval; accordingly The remote controller 201 is configured in the RTK base station mode, and performs RTCM data communication with the RTK base station 202 through the SDR link. Based on the RTCM data communication, the RTK base station 202 sends RTCM data to the remote controller 201. The RTCM data includes GNSS differential signal data and absolute positioning data. The remote controller 201 receives and stores the RTCM data sent by the RTK base station 202.

In step S36, the remote controller 201 receives the GNSS differential data and absolute positioning data.

For each time point, the remote controller 201 will only use one GNSS differential data source (that is, positioning base station), that is, the remote controller 201 uses the RTK base station 202 as the GNSS differential data source (that is, positioning base station), or the RTK base station network server 203 as GNSS differential data source (ie positioning base station). After selecting the GNSS differential data source (ie positioning base station), the remote controller 201 receives the GNSS differential data and absolute positioning data from the selected GNSS differential data source (ie positioning base station).

For example, when the remote controller 201 is switched to the network RTK mode, the remote controller 201 receives GNSS differential data and absolute positioning data from the RTK base station network server 203. When the remote controller 201 is switched to the base station mode, the remote controller 201 receives GNSS differential data and absolute positioning data from the RTK base station 202.

It can be seen that if step S31 and step S34 are executed, step S32 and step S35 may not be executed. If step S32 and step S35 are executed, step S31 and step S34 may not be executed. That is, the implementation of the GNSS differential data provided by steps S31 and S34 can be replaced with the implementation of the GNSS differential data and absolute positioning data provided by steps S32 and S35.

In step S37, the remote controller 201 sends to the positioning mobile station 204 an instruction to perform spot positioning on the drone, and the instruction includes the GNSS differential data and absolute positioning data.

In a possible implementation manner, the remote controller 201 splits the RTCM data carrying the GNSS differential data and absolute positioning data into a plurality of data fragments, and sequentially sends the plurality of data fragments to the positioning mobile station 204. Accordingly, the positioning mobile station 204 receives the multiple data fragments and assembles it into complete RTCM data carrying the GNSS differential data and absolute positioning data.

In step S38, the positioning mobile station 204 receives the instruction sent by the remote controller 201 in step S37, and uses the GNSS differential data and absolute positioning data of the positioning base station (RTK base station 202 or RTK base station network server 203) and the GNSS differential of the positioning mobile station 204 The data is used to locate the drone.

Specifically, the positioning mobile station 204 receives the instruction sent by the remote controller 201 in step S37, which carries the GNSS differential data and absolute positioning data of the positioning base station (RTK base station 202 or RTK base station network server 203).

The positioning mobile station 204 performs an operation of acquiring the current position during the movement, that is, a spot positioning operation. At this time, the positioning mobile station 204 acquires its own GNSS positioning data from GNSS satellites in real time.

The positioning mobile station 204 performs spot positioning during the movement process, and generates the current position coordinates of the mobile positioning station 204 based on the GNSS differential data and absolute positioning data forwarded from the remote controller 201 and the real-time GNSS differential data of the positioning mobile station 204, namely, spotting Positioning data. If the coordinate system provided by the RTK base station 202 is used, the dot positioning data for centimeter-level precision positioning under the coordinate system is solved and generated. If the coordinate system provided by the RTK base station network server 203 is used, dot positioning data for centimeter-level precision positioning under the coordinate system is generated.

Alternatively, spot positioning is to designate the mobile station 204 to use a GNSS satellite positioning to get the GNSS differential data of the positioning mobile station 204 each time it reaches a fixed position during the movement, and then based on the GNSS differential data received from the remote controller 201 and The absolute positioning data and the real-time GNSS differential data of the positioning mobile station 204 obtain the dot positioning data.

In this way, through the above system interaction, the remote controller 201 can control the positioning mobile station 204 to perform dot positioning.

Optionally, the positioning mobile station 204 will send the dot positioning data to the remote controller 201. The remote controller 201 receives the dot positioning data fed back by the positioning mobile station 204. The remote controller 201 saves the dot positioning data. Subsequently, the remote controller 201 can use the dot positioning data to plan a flight path for the drone.

In an optional embodiment of the present application, the RTK base station 202 sends inertial measurement unit (IMU) data to the remote controller 201, and the IMU data is used to determine whether the RTK base station 202 moves or tilts. Detecting movement or tilt is based on changes in the output of the IMU. For example, changes in the input angle reflect changes in the attitude of the IMU.

Accordingly, the remote controller 201 receives the IMU data from the RTK base station 202. The remote controller 201 determines whether the RTK base station 202 is moved or tilted according to the IMU data. When it is determined that the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state according to the IMU data, the absolute positioning data of the RTK base station 202 is corrected according to the IMU data.

Optionally, an implementation manner of correcting the absolute positioning data of the RTK base station 202 according to the IMU data is to calculate an offset according to the tilt information and direction information in the IMU data, and then correct the RTK according to the offset Absolute positioning data of the base station 202.

Optionally, the remote controller 201 generates an alarm message when the RTK base station 202 has been moved or the RTK base station is in a tilted state.

When the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, the GNSS differential data provided by the RTK base station 202 is inaccurate. If inaccurate GNSS differential data is used for spot positioning, it will result in spot positioning obtained by spot positioning The data is also inaccurate. In this optional embodiment, when the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, the absolute positioning data of the RTK base station 202 is corrected according to the IMU data, so that inaccurate absolute positioning data can be used to avoid inaccurate positioning. In order to avoid the use of inaccurate absolute positioning data, inaccurate positioning data can be used to control the UAV. In addition, the remote controller 201 may also generate an alarm message when the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, so that the user knows that the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state.

In an optional embodiment of the present application, the RTK base station 202 sends base station calibration data to the remote controller 201, and the base station calibration data is used to determine whether the RTK base station 202 has performed position calibration. Correspondingly, the remote controller 201 receives base station calibration data from the RTK base station 202. The remote controller 201 determines whether the RTK base station 202 has performed position calibration according to the base station calibration data. When the remote controller 201 determines that the RTK base station 202 has not performed position calibration based on the base station calibration data, it does not instruct the positioning mobile station to perform spot positioning.

Under the normal request, if the RTK base station 202 is used as the GNSS differential signal data source for positioning the mobile station 204, the RTK base station 202 configures the coordinate system and sends the configured coordinate system to the remote controller 201. Subsequently, the remote controller 201 uses the coordinate system to locate the point The coordinates specified by the positioning data. In addition, the RTK base station 202 internally calculates the position of the phase center of the base station antenna, and sends it to the remote controller 201 through RTCM data (for example, RTCM1005/1006 data frame).

Optionally, the remote controller 201 generates alarm information when the RTK base station 202 has not performed position calibration.

The RTK base station 202 has not performed position calibration, the positioning mobile station 204 cannot determine the coordinate system provided by the RTK base station 202 and the point positioning cannot be completed under the coordinate system, and the remote controller 201 cannot correctly locate the point positioning data designation from the point positioning data coordinate of. This optional embodiment does not instruct the positioning mobile station 204 to perform spot positioning when the position calibration has not been performed, so that useless work can be avoided. In addition, the remote controller 201 can also generate an alarm message when the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, so that the user knows that the RTK base station 202 has not performed position calibration.

In an optional embodiment of the present application, the remote controller 201 receives the dot positioning data fed back by the positioning mobile station 204, and saves the dot positioning data. In addition, the remote controller 201 performs mean convergence calculation on the received dot positioning data to obtain positioning accuracy and positioning standard deviation, and displays the positioning accuracy and the positioning standard deviation.

For example, the remote controller 201 continuously receives the dot positioning data fed back by the positioning mobile station 204, and performs mean convergence calculation on the dot positioning data (a total of 20 sets of dot positioning data) every 2 seconds to obtain the positioning accuracy and positioning standard deviation, and displays The positioning accuracy and the positioning standard deviation. Through the positioning accuracy and the positioning standard deviation, the accuracy of the dot positioning data can be seen to enhance the accuracy of the dot positioning data.

Optionally, the remote controller 201 is named according to the following dot record format when saving dot positioning data to a file, and the dot record format is “number, longitude, latitude, altitude, positioning status, standard deviation”.

Optionally, the remote controller 201 may modify/or delete the dot positioning data according to user operations.

In this way, the user can operate the remote controller 201 to modify/or delete the inaccurate dot positioning data. Avoid using inaccurate absolute positioning data to obtain unaccurate positioning data to plan the flight path of the UAV.

Optionally, after the end of each spotting task, after the end of the handheld spotting task, the remote controller 201 stores the spotting data in a KML format file. In addition, the remote controller 201 can also be uploaded to the server or uploaded to the cloud. Later, you can download historical RBI positioning data from the server or the cloud, and use the downloaded RBI positioning data to plan the flight path of the drone.

As the main body of the task execution, the task execution may be a handheld RTK, or a mobile carrier carrying an RTK device, such as an unmanned vehicle. Taking a handheld RTK as an example, it has a handheld pole and an RTK antenna on top of the handheld pole. When a user performs a striking operation while holding the handheld pole, the user needs to keep the handheld in a vertical state to ensure that the position of the RTK antenna coincides with its projection on the ground. When the handheld pole is tilted, the stealing position of the RTK antenna on the ground will deviate from the fixed position of the RTK handheld pole on the ground. This deviation will cause a deviation between the positioning position of the RTK and the position of the strike operation. When the deviation is greater than the positioning of the RTK device In accuracy, this error cannot be ignored. As an RTK device, its positioning accuracy is less than 5cm, so a slight tilt of the handheld positioning rod will introduce a non-negligible error to the RTK's hitting position. Therefore, in addition to setting the IMU on the RTK positioning base station to prevent the base station from tilting or tipping errors due to unmanned maintenance, the IMU can also be set on the RTK handheld pole to improve the accuracy when performing spot positioning through the handheld pole.

Optionally, the remote controller 201 receives an altitude value for performing altitude compensation on the positioning mobile station 204, and adjusts the spot positioning data received from the positioning mobile station 204 according to the altitude value.

Specifically, the remote controller 201 supports a height compensation function for positioning the mobile station 204. For example, the remote controller 201 provides a height compensation window for the user to fill in, and the user can enter a height value in the height compensation window. Subsequently, the remote controller 201 uses the height value entered by the user to perform height compensation on the positioning mobile station 204.

Specifically, the remote controller 201 adjusts the dot positioning data received from the positioning mobile station 204 according to the height value of the user. For example, the remote controller 201 deducts the height value from the dot positioning data to calibrate the dot positioning data to the ground point height.

Optionally, the remote controller 201 uses the dot positioning data to plan the flight path of the drone.

Because the remote controller 201 can directly control the drone. Therefore, the dot positioning data can be used in the remote controller 201 to plan the flight path of the drone, and the flight path can be directly used to control the flight of the drone.

Based on the system of FIG. 2, on the basis of the system interaction embodiment provided in FIG. 3, an implementation example of a system interaction process is provided, as shown in FIG. 4.

The flowchart provided in FIG. 4 is used to implement the configuration before dot positioning.

In step S401, a GNSS differential data source (ie, positioning base station) is selected.

Specifically, the RTK base station 202 or the RTK base station network server 203 can be selected as the GNSS differential data source (ie, positioning base station).

If the RTK base station 202 is selected, steps S402 to S404 are executed.

If the RTK base station network server 203 is selected, step S405 is executed.

In step S402, the RTK base station 202 is assumed in the dotted interval.

The hitting interval includes the position interval where the hitting positioning is to be performed.

Step S403, the remote controller 201 configures the RTK option as the RTK base station 202.

That is, the remote controller 201 receives GNSS differential data and absolute positioning data from the RTK base station 202.

Step S404, the RTK switching mode is the base station mode, and the calibration position is set.

The RTK can be configured as the RTK base station 202, that is, the RTK can be used as the RTK base station 202.

Alternatively, the RTK may be configured to locate the mobile station 204, that is, the RTK may be used as the positioning mobile station 204.

In step S405, the remote controller 201 configures the RTK option as the RTK base station network server 203.

That is, the remote controller 201 receives GNSS differential data from the RTK base station network server 203.

Step S406, the RTK switching mode is the positioning mobile station mode, and the GNSS receiving chip is set to the positioning mobile station mobile station mode.

That is, the RTK is configured to locate the mobile station 204, that is, the RTK can be used as the positioning mobile station 204.

In step S407, the remote controller 201 determines the GNSS differential data source (ie, the positioning base station).

The remote controller 201 determines whether the GNSS differential data source (that is, the positioning base station) is the RTK base station 202 or the RTK base station network server 203.

If the RTK base station 202 is selected, steps S408-S409 are executed.

If the RTK base station network server 203 is selected, step S410 is executed.

In step S408, the remote controller 201 determines whether the RTK base station 202 has performed position calibration.

If the RTK base station 202 does not perform position calibration, step S409 is executed.

If the RTK base station 202 has performed position calibration, step S411 is executed.

In step S409, the remote controller 201 does not instruct the positioning mobile station 204 to perform dot positioning, and prompts the user that "the RTK base station 202 has not performed position calibration".

In step S410, the remote controller 201 sends the current rough location to the RTK base station network server 203.

In this way, the RTK base station network server 203 generates a virtual reference station near the position sent by the remote controller 201 according to the current rough position of the remote controller 201, and broadcasts the GNSS differential data and absolute positioning data to the remote controller 201.

In step S411, the user enters a height value for height compensation of the handheld surveying instrument 204.

Subsequently, the remote controller 201 adjusts the dot positioning data received from the positioning mobile station 204 according to the height value.

After performing step S401 to step S401, the configuration before dot positioning is completed.

Based on the system of FIG. 2, on the basis of the system interaction embodiment provided in FIG. 3, combined with the implementation example of the system interaction process shown in FIG. 4, an example of implementation of the system interaction process is further provided, as shown in FIG. 5.

The flowchart provided in FIG. 5 is used to implement dot positioning.

In step S501, the GNSS differential data source (ie, positioning base station) sends RTCM data to the remote controller 201.

If the RTK base station network server 203 is a GNSS differential data source (ie positioning base station), the RTK base station network server 203 sends RTCM data to the remote controller 201, the RTCM data carrying GNSS differential data and absolute positioning data.

If the RTK base station 202 is a GNSS differential data source (that is, a positioning base station), the RTK base station 202 sends RTCM data to the remote controller 201, and the RTCM data carries GNSS differential data and absolute positioning data.

In step S502, the remote controller 201 splits the RTCM data and sends it to the positioning mobile station 204.

Specifically, the remote controller 201 splits the RTCM data into multiple data fragments; the remote controller 201 sends the positioning mobile station 204 to the multiple data fragments.

In step S503, the remote controller 201 determines whether the TRK base station 202 moves or tilts.

If the RTK base station 202 is used as the GNSS differential data source (that is, the positioning base station), the RTK base station 202 sends IMU data to the remote controller 201, and the remote controller 201 determines whether the RTK base station 202 moves or tilts according to the IMU data; if based on the IMU If the data determines that the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, step S504 is executed. If it is determined according to the IMU data that the RTK base station 202 is not moved or the RTK base station 202 is not in a tilted state, step S505 is executed.

In step S504, the remote controller 201 indicates that dot positioning cannot be performed, and prompts the user to "the RTK base station 202 moves or tilts".

And, the remote controller 201 adjusts the absolute positioning data of the RTK base station 202 in the RTCM data according to the IMU data.

In step S505, the positioning mobile station 204 composes complete RTCM data, performs positioning solution in combination with its own GNSS differential data, and sends the obtained dot positioning data to the remote controller 201.

The positioning mobile station 204 receives the multiple data fragments sent by the remote controller 201 in step S502, and composes the multiple data fragments into complete RTCM data.

When performing spot positioning, the positioning mobile station 204 uses the absolute positioning data and the GNSS differential data of the RTK base station 202 in the RTCM data, and combines the GNSS differential data of the positioning mobile station 204 to perform positioning solution to generate the spot positioning data.

The positioning mobile station 204 feeds back the positioning data obtained by the positioning to the remote controller 201.

In step S506, the remote controller 201 calculates the current 20 sets of dot positioning data to perform mean convergence calculation.

In step S507, the remote controller 201 records the dot positioning data.

The remote controller 201 saves the hitting positioning data sent from the positioning mobile station 204, and stores the hitting positioning data calculated by the mean convergence calculation, the positioning accuracy, and the positioning standard deviation.

In step S508, the user modifies or deletes one or more dot positioning data through the remote controller 201.

The user can use the remote controller 201 to modify or delete the stored one or more dot positioning data.

After performing steps S501 to S508, the dot positioning is completed.

Based on the system of FIG. 2, on the basis of the system interaction embodiment provided in FIG. 3, combined with the implementation examples of the system interaction process shown in FIGS. 4 and 5, an example of implementation of the system interaction process is further provided, as shown in FIG. 6 .

The flow chart provided in Figure 6 is used to plan the flight path of the UAV.

In step S601, the historical dot positioning data is derived from the remote controller 201.

The historical spot positioning data may be saved spot positioning data, that is, spot positioning data received from the positioning mobile station 204 in the previous spot positioning task.

Step S602: Import the dot positioning data into the GSPRO tool to build a map.

In step S603, the remote controller 201 plans the flight path of the drone according to the hit positioning data.

Based on the above system interaction embodiment provided based on any one of FIG. 3 to FIG. 6, the present application provides a dot positioning system, as shown in FIG. 2.

As shown in FIG. 2, in the system for spotting and positioning a drone, the system includes a remote controller 201 and a positioning mobile station 204, and the system further includes an RTK base station 202 or an RTK base station network server 203.

The remote controller 201, the positioning mobile station 204, the RTK base station 202, and the RTK base station network server 203 respectively have the function of performing the steps in which the above-mentioned system interaction embodiments are each responsible.

The following provides a remote controller 201 and a positioning mobile station 204. The system further includes an example of a function of the RTK base station 202 or the RTK base station network server 203.

The real RTK base station 202 is configured to receive ephemeris data from a global navigation satellite positioning system (GNSS), generate first GNSS differential data according to the ephemeris data, and send the first GNSS differential data and absolute positioning data;

The RTK base station network server 203 is configured to receive GNSS positioning data from multiple network RTK base stations, generate first GNSS positioning data of a virtual RTK base station based on the GNSS positioning data, and send the first GNSS positioning of the virtual RTK base station Data and absolute positioning data;

The remote controller 201 is configured to receive the first GNSS differential data and the absolute positioning data of the positioning base station, and send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station 204;

The positioning mobile station 204 is configured to determine the spot positioning data of the positioning mobile station according to the second GNSS differential data of the positioning mobile station 204 and the first GNSS differential data and the absolute positioning data of the positioning base station.

Optionally, the real RTK base station 202 is used to obtain first inertial measurement unit (IMU) data, send the first IMU data, or generate tilt or movement information according to the first IMU data, and send the tilt or movement information;

The remote controller 201 is configured to receive first IMU data from the RTK base station when the first GNSS differential data is GNSS differential data received by a real RTK base station, and determine the real RTK base station according to the first IMU data Whether it was moved or tilted.

Optionally, the remote controller 201 is used to generate alarm information when the real RTK base station 202 is moved or is in a tilted state.

Optionally, the remote controller 201 is configured to correct the absolute positioning data of the positioning base station according to the first IMU data.

Optionally, the remote controller 201 is configured to calculate an offset according to the tilt information and direction information in the first IMU data, and correct the absolute positioning data of the positioning base station according to the offset.

Optionally, the remote controller 201 is configured to receive the dot positioning data fed back by the positioning mobile station, and save the dot positioning data.

Optionally, the remote controller 201 is configured to perform mean convergence calculation on the received dot positioning data, obtain positioning accuracy and positioning standard deviation, and display the positioning accuracy and the positioning standard deviation.

Optionally, the remote controller 201 is used to modify/or delete the dot positioning data according to user operations.

Optionally, the remote controller 201 is configured to receive a height value used for height compensation of the positioning mobile station;

The remote controller adjusts the dot positioning data received from the positioning mobile station according to the height value.

Optionally, the remote controller 201 is configured to modify the spotting positioning data of the positioning mobile station according to the second IMU data of the positioning mobile station.

Optionally, the RTK base station network server 203 is configured to receive multiple IMU data from multiple network RTK base stations, and correct the absolute positioning data of the RTK base station network server based on the IMU data.

Based on the above system interaction embodiment provided based on any one of FIG. 3 to FIG. 6, a method for positioning and positioning the remote controller 201 is provided, as shown in FIG. 7. It should be noted that, although the remote controller 201 is used as the execution subject to describe the method, the execution subject of the method may also be other ones that can forward GNSS differential data and positioning base stations between the positioning base station and the positioning mobile station. The device for absolute positioning data is implemented. The device may be a router, terminal, server, drone console, or other control device with processing capabilities, which is not limited herein.

In step S71, the remote controller 201 receives the first GNSS differential data and the absolute positioning data of the positioning base station.

When the remote controller 201 is triggered to control the positioning mobile station 204 to perform the positioning of the drone, since the positioning mobile station 204 needs to use the GNSS differential data for the positioning of the drone, the remote controller 201 needs to select the GNSS differential data source (that is, positioning Base station), and obtain GNSS differential data and absolute positioning data from the selected GNSS differential data source (ie positioning base station). This application does not limit the type of GNSS differential data source (ie, positioning base station) from which GNSS differential data and absolute positioning data are obtained, for example, requesting GNSS differential data and absolute positioning data from RTK base station 202 or RTK base station network server 203.

Optionally, the remote controller 201 receives the GNSS differential data from the RTK base station 202.

Optionally, the remote controller 201 receives the GNSS differential data from the RTK base station network server 203.

Optionally, the remote controller 201 uses only GNSS differential data provided by a GNSS differential data source (ie, positioning base station), for example, GNSS differential data received from the RTK base station 202, or GNSS received from the RTK base station network server 203 Differential data.

Step S72, the remote controller 201 sends the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station 204, so that the positioning mobile station 204 according to the second GNSS differential data of the positioning mobile station and the The first GNSS differential data and the absolute positioning data of the positioning base station determine the spot positioning data of the positioning mobile station 204.

Specifically, the remote controller 201 sends the positioning mobile station 204 an instruction to perform spot positioning on the drone, and the instruction includes the GNSS differential data and absolute positioning data.

In a possible implementation manner, the remote controller 201 splits the RTCM data carrying the GNSS differential data and absolute positioning data into a plurality of data fragments, and sequentially sends the plurality of data fragments to the positioning mobile station 204. Accordingly, the positioning mobile station 204 receives the multiple data fragments and assembles the complete RTCM data carrying the GNSS differential data.

Subsequently, the positioning mobile station 204 performs spot positioning in the process of moving and positioning the mobile station 204 according to the instruction of the remote controller 201.

Specifically, in the process of positioning the mobile station 204, the positioning mobile station 204 uses GNSS satellite positioning in real time to obtain GNSS differential data of the positioning mobile station 204. The positioning mobile station 204 generates dot positioning data based on the GNSS differential data and absolute positioning data received from the remote controller 201 and the real-time GNSS differential data of the positioning mobile station 204.

If the coordinate system provided by the RTK base station 202 is used, the dot positioning data for centimeter-level precision positioning under the coordinate system is solved and generated. If the coordinate system provided by the RTK base station network server 203 is used, dot positioning data for centimeter-level precision positioning under the coordinate system is generated.

In this way, by performing steps S71 to S72, the remote controller 201 can control the positioning mobile station 204 to perform dot positioning.

In an optional embodiment of the present application, if the remote controller 201 receives the GNSS differential data from the RTK base station 202, the method further includes: the remote controller 201 receives the inertial measurement unit IMU from the RTK base station 202 Data; when the remote controller 201 determines that the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state based on the IMU data, the absolute positioning data of the RTK base station 202 is corrected according to the IMU data.

Specifically, the RTK base station 202 sends IMU data to the remote controller 201, and the IMU data is used to determine whether the RTK base station 202 moves or tilts. Accordingly, the remote controller 201 receives the IMU data from the RTK base station 202. The remote controller 201 determines whether the RTK base station 202 is moved or tilted according to the IMU data; when it is determined that the RTK base station 202 has been moved or the RTK base station 202 is tilted according to the IMU data, the RTK is corrected according to the IMU data Absolute positioning data of the base station 202.

Optionally, a possible implementation of correcting the absolute positioning data of the RTK base station 202 according to the IMU data is to calculate the offset according to the tilt information and the direction information in the first IMU data, and then according to the The offset corrects the absolute positioning data of the positioning base station.

Optionally, in this method, the remote controller 201 generates an alarm message when the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state.

In an optional embodiment of the present application, if the remote controller 201 receives the GNSS differential data from the RTK base station 202, the method further includes: the remote controller 201 receives base station calibration data from the RTK base station 202; When the remote controller 201 determines that the RTK base station 202 has not performed position calibration based on the base station calibration data, the absolute positioning data of the RTK base station 202 is corrected according to the IMU data.

Specifically, the RTK base station 202 sends base station calibration data to the remote controller 201, and the base station calibration data is used to determine whether the RTK base station 202 has performed position calibration. Correspondingly, the remote controller 201 receives base station calibration data from the RTK base station 202. The remote controller 201 determines whether the RTK base station 202 has performed position calibration according to the base station calibration data. When the remote controller 201 determines that the RTK base station 202 has not performed position calibration based on the base station calibration data, it does not instruct the positioning mobile station to perform spot positioning.

Under normal request, if the RTK base station 202 is used as the GNSS differential signal data source of the RTK handheld surveying instrument 204, the RTK base station 202 configures the coordinate system and sends the configured coordinate system to the remote controller 201. Subsequently, the remote controller 201 uses the coordinate system to locate Dot positioning data specified coordinates. In addition, the RTK base station 202 internally calculates the position of the phase center of the base station antenna, and sends it to the remote controller 201 through RTCM data (for example, RTCM1005/1006 data frame).

Optionally, in this method, the remote controller 201 generates alarm information when the RTK base station 202 has not performed position calibration.

The RTK base station 202 has not performed position calibration, the positioning mobile station 204 cannot coordinate the coordinate system provided by the RTK base station 202 and the point positioning cannot be completed under the coordinate system, and the remote controller 201 cannot correctly locate the point positioning data specified in the point positioning data coordinate. This optional embodiment does not instruct the positioning mobile station 204 to perform spot positioning when the position calibration has not been performed, so that useless work can be avoided. In addition, the remote controller 201 can also generate an alarm message when the RTK base station 202 has been moved or the RTK base station 202 is in a tilted state, so that the user knows that the RTK base station 202 has not performed position calibration.

An optional embodiment of the present application. In this method, the remote controller 201 receives the hit positioning data fed back by the positioning mobile station 204; the remote controller 201 saves the hit positioning data.

In this way, the remote controller 201 can use the dot positioning data to plan the flight path of the drone.

An optional embodiment of the present application. In this method, the remote controller 201 performs mean convergence calculation on the received dot positioning data to obtain positioning accuracy and positioning standard deviation; the remote controller 201 displays the positioning accuracy and location Describe the positioning standard deviation.

An optional embodiment of the present application. In this method, the remote controller 201 modifies/deletes the dot positioning data according to user operations.

An optional embodiment of the present application. In this method, the remote controller 201 receives an altitude value for performing altitude compensation on the positioning mobile station 204; the remote controller 201 adjusts from the altitude value according to the altitude value. The dot positioning data received by the positioning mobile station 204.

An optional embodiment of the present application. In this method, the remote controller 201 uses the dot positioning data to plan the flight path of the drone.

In an optional embodiment of the present application, in this method, the remote controller 201 corrects the spot positioning data of the positioning mobile station 204 according to the IMU data of the positioning mobile station 204. The implementation principle is similar to using the IMU data of the RTK base station 202 to correct the absolute positioning data of the RTK base station 202.

Based on the above system interaction embodiment provided based on any one of FIG. 3 to FIG. 6, a method for spotting and positioning is provided for the RTK base station 202, as shown in FIG. 8.

Step S81, receiving ephemeris data from GNSS;

In step S82, the RTK base station 202 generates GNSS differential data and absolute positioning data according to the ephemeris data of the RTK base station 202.

Specifically, the RTK base station 202 uses GNSS satellite positioning to obtain the ephemeris data of the RTK base station 202, and uses the ephemeris data to calculate GNSS differential data.

In step S83, the RTK base station 202 sends the GNSS differential data and absolute positioning data to the remote control 201 of the drone.

If the remote controller 201 requests the GNSS differential data from the RTK base station 202, the RTK base station 202 transmits the GNSS differential data to the remote controller 201.

For example, if the RTK base station 202 is used as the GNSS differential signal data source for positioning the mobile station 204, before performing the spotting positioning task, the RTK base station 202 is switched to the base station mode by pressing a key, and the RTK base station 202 is set up in the spotting interval; corresponding Ground, the remote controller 201 is configured in the RTK base station mode, and performs RTCM data communication with the RTK base station 202 through the SDR link. Based on the RTCM data communication, the RTK base station 202 sends RTCM data to the remote controller 201. The RTCM data includes GNSS differential signal data. The remote controller 201 receives and stores the RTCM data sent from the RTK base station 202.

An optional embodiment of the present application. In this method, the RTK base station 202 obtains IMU data, and sends the IMU data to the remote controller 201. The IMU data is used to determine whether the RTK base station 202 is moving or tilting. In this way, the remote controller 201 can determine whether to instruct the positioning mobile station 204 to perform spot positioning according to whether the RTK base station 202 moves or tilts.

In an optional embodiment of the present application, in this method, the RTK base station 202 obtains IMU data, generates tilt or movement information according to the IMU data, and sends the tilt or movement information. Here, the tilt or movement information records whether the RTK base station 202 moves or tilts. In this way, the remote controller 201 can know whether the RTK base station 202 is moved or tilted according to the tilt or movement information, and determine whether to instruct the positioning mobile station 204 to perform dot positioning.

In an optional embodiment of the present application, in this method, the RTK base station 202 sends base station calibration data to the remote controller 201, and the base station calibration data is used to determine whether the RTK base station 202 has performed position calibration. In this way, the remote controller 201 can determine whether to instruct the positioning mobile station 204 to perform spot positioning according to whether the RTK base station 202 has performed position calibration.

Based on the above system interaction embodiment provided based on any one of FIG. 3 to FIG. 6, a method for spotting and positioning is provided for the RTK base station network server 203, as shown in FIG. 9.

Step S91, the RTK base station network server 203 receives GNSS positioning data from multiple network RTK base stations;

Step S92: Generate GNSS differential data of the virtual RTK base station according to the GNSS positioning data.

In step S93, the RTK base station network server 203 sends the GNSS differential data to the remote control 201 of the drone.

If the remote controller 201 requests the RTK base station network server 203 for GNSS differential data, the RTK base station network server 203 sends the GNSS differential data to the remote controller 201.

For example, if the RTK base station network server 203 is used as the GNSS differential signal data source for positioning the mobile station 204, the remote controller 201 is configured in the network RTK mode, and performs RTCM data communication with the RTK base station network server 203 through a 4G link to control the remote control. The rough position of the device 201 is sent to the RTK base station network server 203 (for example, a CORS station). The RTK base station network server 203 generates a virtual reference station near the position sent by the remote controller 201 and broadcasts the virtual observation value to the remote controller 201. When the remote controller 201 always broadcasts the same location to the RTK base station network server 203, a virtual reference station will always be generated at the same location. The remote controller 201 stores data (including GNSS differential signal data) sent from the RTK base station network server 203. Optionally, RTCM is a packaging format for encapsulating GNSS differential signal data, and the GNSS differential signal data may also be encapsulated in other packaging formats to enable the RTK base station network server 203 to send GNSS differential data to the remote controller 201.

Based on the above system interaction embodiment provided based on any one of FIG. 3 to FIG. 6, a method of spotting and positioning is provided for positioning the mobile station 204, as shown in FIG. 10.

In step S101, the positioning mobile station 204 receives an instruction of the remote control 201 of the drone, the instruction carrying GNSS differential data and absolute positioning data of the positioning base station.

In step S102, the positioning mobile station 204 performs spot positioning on the drone according to the GNSS differential data and absolute positioning data of the positioning base station and the GNSS differential data of the positioning mobile station 204.

The positioning mobile station 204 performs spot positioning in the process of moving and positioning the mobile station 204 according to the instruction of the remote controller 201.

Specifically, in the process of positioning the mobile station 204, the positioning mobile station 204 uses GNSS satellite positioning in real time to obtain GNSS differential data of the positioning mobile station 204. The positioning mobile station 204 generates point positioning data based on the GNSS differential data and absolute positioning data received from the remote controller 201 and the real-time GNSS differential data of the positioning mobile station 204.

In this way, by performing steps S101 to S102, the remote controller 201 can control the positioning mobile station 204 to perform dot positioning.

In an optional embodiment of the present application, in this method, the positioning mobile station 204 feeds back the positioning data obtained by the positioning to the remote controller 201. Subsequently, the remote controller 201 can use the dot positioning data to plan a flight path for the drone.

Corresponding to FIG. 7 providing a method for spotting and positioning the remote controller 201, the present application further provides a device 110 for spotting and positioning the drone for implementing the method for spotting and positioning, the device 110 is deployed at Remote controller 201. This application does not limit the division of functional modules in the device 110. An example of division of the functional modules included in the device 110 is given below with reference to FIG. 6.

Referring to FIG. 11, a device 110 for spotting and positioning a drone includes:

The receiving unit 111 is configured to receive differential data of the first global navigation satellite positioning system (GNSS) and absolute positioning data of the positioning base station;

The processing unit 112 is configured to send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station, so that the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first The GNSS differential data and the absolute positioning data of the positioning base station determine the spot positioning data of the positioning mobile station.

Optionally, the first GNSS differential data includes:

GNSS differential data obtained from real RTK base stations; or,

The RTK base station network server simulates GNSS differential data generated by real base stations.

Optionally, the receiving unit 111 is configured to receive first inertial measurement unit (IMU) data from the RTK base station when the first GNSS differential data is GNSS differential data obtained by real RTK base station reception;

The processing unit 112 is configured to determine whether the real RTK base station is moved or is in a tilted state according to the IMU data.

Optionally, the processing unit 112 is configured to generate alarm information when the real RTK base station is moved or in a tilted state.

Optionally, the processing unit 112 is configured to correct the absolute positioning data of the positioning base station according to the first IMU data.

Optionally, the processing unit 112 is configured to calculate an offset according to the tilt information and direction information in the first IMU data, and correct the absolute positioning data of the positioning base station according to the offset.

Optionally, the receiving unit 111 is configured to receive the hit positioning data fed back by the positioning mobile station;

The processing unit 112 is configured to save the dot positioning data.

Optionally, the processing unit 112 is configured to perform mean convergence calculation on the received dot positioning data to obtain positioning accuracy and positioning standard deviation.

The device includes a display unit 113 for displaying the positioning accuracy and the positioning standard deviation.

Optionally, the processing unit 112 is configured to modify/delete the dot positioning data according to user operations.

Optionally, the receiving unit 111 is configured to receive an altitude value for performing altitude compensation on the positioning mobile station;

The processing unit 112 is configured to adjust the dot positioning data received from the positioning mobile station according to the height value.

Optionally, the processing unit 112 is configured to modify the spot positioning data of the positioning mobile station according to the second IMU data of the positioning mobile station.

Corresponding to FIG. 8, which provides a method for spotting and positioning the RTK base station 202, the present application also provides a device 120 for spotting and positioning the drone for implementing the method, which is deployed on the RTK base station 202. This application does not limit the division of the functional modules in the device 120. An example of division of the functional modules included in the device 120 for positioning and positioning a drone is given below with reference to FIG. 12.

Referring to FIG. 12, the device 120 includes:

The receiving unit 121 is used to receive ephemeris data from a global navigation satellite positioning system (GNSS);

The processing unit 122 is configured to generate GNSS differential data according to the ephemeris data;

The sending unit 123 is configured to send the GNSS differential data and absolute positioning data.

Optionally, the processing unit 122 is configured to obtain inertial measurement unit (IMU) data.

Optionally, the sending unit 123 is configured to receive IMU data, or generate tilt or movement information according to the IMU data, and send the tilt or movement information.

Corresponding to FIG. 9 for a RTK base station network server 203 providing a method of spotting and positioning, the present application also provides a device 130 for spotting and positioning of a drone for implementing the method, and the device 130 is deployed on the RTK base station network Server 203. This application does not limit the division of functional modules in the device 130. An example of division of the functional modules included in the device 130 is given below with reference to FIG. 13.

Device 130 includes:

The receiving unit 131 is configured to receive GNSS positioning data from multiple network RTK base stations;

The processing unit 132 is configured to generate GNSS positioning data of a virtual RTK base station according to the GNSS positioning data;

The sending unit 133 is configured to send GNSS positioning data of the virtual RTK base station.

Optionally, the receiving unit 131 is configured to receive multiple IMU data from multiple network RTK base stations;

The processing unit 132 is configured to correct the GNSS positioning data based on the IMU data.

Corresponding to FIG. 10, which provides a method for positioning and positioning a mobile station 204, the present application also provides a device 140 for implementing positioning and positioning for an unmanned aerial vehicle, which is deployed on an RTK base station network server 203. This application does not limit the division of functional modules in the device 140. An example of division of the functional modules included in the device 140 is given below with reference to FIG. 14.

The device 140 includes:

The receiving unit 141 is used to receive an instruction of the remote control 201 of the drone, the instruction carrying GNSS differential data and absolute positioning data;

The dot positioning unit 412 is configured to perform dot positioning on the drone according to the GNSS differential data and absolute positioning data and the GNSS differential data of the positioning mobile station 204.

Optionally, the device 140 includes:

The feedback unit 143 is configured to feed back dot positioning data obtained by dot positioning to the remote controller 201.

The present application provides a remote controller 201, including a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the remote controller 201 executes a method for positioning the remote controller 201, For example, the method steps shown in FIG. 7.

Optionally, the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and application specific integrated circuits (Application Specific Integrated Circuit (ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Optionally, the memory may include read-only memory and/or random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information.

The present application provides an RTK base station 202, which includes a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the RTK base station 202 performs a method of providing a positioning for the RTK base station 202, For example, the method steps shown in FIG. 8 are performed.

The present application provides an RTK base station network server 203, including a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the RTK base station network server 203 executes the RTK base station network server 203 to provide a For a method of dot positioning, for example, the method steps shown in FIG. 9 are performed.

The present application provides a positioning mobile station 204, which includes a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the positioning mobile station 204 performs a point positioning for the positioning mobile station 204 For example, the method steps shown in FIG. 10 are performed.

Optionally, the memory may include read-only memory and/or random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory can also store device type information.

The present application also provides a computer-readable storage medium that stores computer instructions. The computer instruction instructs the remote controller 201 or other control device having a forwarding control function to perform a method of positioning and positioning for the remote controller 201 or other control device having a forwarding control function, for example, performing the method steps shown in FIG. 7.

The present application also provides a computer-readable storage medium that stores computer instructions. The computer instruction instructs the RTK base station 202 to perform a method of positioning and positioning for the RTK base station 202, for example, the method steps shown in FIG. 8 are performed.

The present application also provides a computer-readable storage medium that stores computer instructions. The computer instruction instructs the RTK base station network server 203 to perform a method of positioning and positioning for the RTK base station network server 203, for example, to perform the method steps shown in FIG. 9.

The present application also provides a computer-readable storage medium that stores computer instructions. The computer instruction instructs the positioning mobile station 204 to perform a method for positioning the mobile station 204, such as performing the method steps shown in FIG.

In the description of this specification, reference to the descriptions of the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means combined embodiments The specific features, structures, materials or characteristics described in the examples are included in at least one embodiment or example of the present application. In this specification, the schematic expression of the above terms does not necessarily refer to the same embodiment or example. Although the embodiments of the present application have been shown and described, those of ordinary skill in the art may understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and purpose of the present application, The scope of the application is defined by the claims and their equivalents.

Claims

A dot positioning method, characterized in that the dot positioning method includes:

Receive the first global navigation satellite positioning system (GNSS) differential data and the absolute positioning data of the positioning base station;

Sending the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station, so that the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first GNSS differential data and positioning base station The absolute positioning data determines the spot positioning data of the positioning mobile station.
The method of claim 1, wherein the first GNSS differential data includes:

GNSS differential data obtained from real RTK base stations; or,

The RTK base station network server simulates GNSS differential data generated by real base stations.
The method for positioning and positioning according to claim 2, wherein the method for positioning and positioning further comprises:

When the first GNSS differential data is the GNSS differential data obtained by the real RTK base station, receive the first inertial measurement unit (IMU) data from the RTK base station;

According to the IMU data, it is determined whether the real RTK base station is moved or in a tilted state.
The method of positioning according to claim 3, wherein the method of positioning includes:

When the real RTK base station is moved or tilted, an alarm message is generated.
The method of positioning according to claim 3, wherein the method of positioning includes:

According to the first IMU data, the absolute positioning data of the positioning base station is corrected.
The method according to claim 5, wherein the correcting the absolute positioning data of the positioning base station according to the first IMU data includes:

Calculating an offset according to the tilt information and the direction information in the first IMU data;

The absolute positioning data of the positioning base station is corrected according to the offset.
The method of positioning according to claim 1, wherein the method of positioning includes:

Receiving dot positioning data fed back by the positioning mobile station;

Save the dot positioning data.
The method of positioning according to claim 7, wherein the method of positioning includes:

Perform mean convergence calculation on the received dot positioning data to obtain positioning accuracy and positioning standard deviation.

The positioning accuracy and the positioning standard deviation are displayed.
The method of positioning according to claim 7, wherein the method of positioning includes:

Modify/remove the dot positioning data according to user operations.
The method of positioning according to claim 7, wherein the method of positioning includes:

Receiving an altitude value for altitude compensation of the positioning mobile station;

Adjust the dot positioning data received from the positioned mobile station according to the height value.
7. The method of positioning positioning according to claim 7, wherein the method of positioning positioning comprises: modifying the positioning data of the positioning mobile station according to the second IMU data of the positioning mobile station.
A method of positioning positioning, characterized in that the method of positioning positioning includes:

Receive ephemeris data from Global Navigation Satellite Positioning System (GNSS);

Generating GNSS differential data according to the ephemeris data;

Send the GNSS differential data and absolute positioning data.
The method for positioning and positioning according to claim 12, wherein the method for positioning and positioning further comprises:

Obtain inertial measurement unit (IMU) data.
The method of positioning according to claim 13, wherein the method of positioning includes:

Send the IMU data; or

Generate tilt or movement information based on the IMU data, and send the tilt or movement information.
The method of dot positioning is characterized in that the method includes:

Receive GNSS positioning data from multiple network RTK base stations;

Generating GNSS differential data of a virtual RTK base station according to the GNSS positioning data;

Sending GNSS differential data and absolute positioning data of the virtual RTK base station.
15. The method of positioning positioning according to claim 15, wherein the method of positioning positioning further comprises: receiving a plurality of IMU data from a plurality of network RTK base stations, and correcting the absolute positioning data based on the IMU data.
A point positioning system, characterized in that the point positioning system includes a control device and a positioning mobile station, and the system further includes an RTK base station real-time dynamic positioning (RTK) base station or an RTK base station network server;

The real RTK base station is used to receive ephemeris data from a global navigation satellite positioning system (GNSS), generate first GNSS differential data according to the ephemeris data, and send the first GNSS differential data and absolute positioning data;

The RTK base station network server is configured to receive GNSS positioning data from multiple network RTK base stations, generate first GNSS positioning data of a virtual RTK base station based on the GNSS positioning data, and send the first GNSS positioning data of the virtual RTK base station And absolute positioning data;

The control device is configured to receive the first GNSS differential data and the absolute positioning data of the positioning base station, and send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station;

The positioning mobile station is configured to determine the spot positioning data of the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first GNSS differential data and the absolute positioning data of the positioning base station.
The system of claim 17, wherein:

The real RTK base station is used to obtain first inertial measurement unit (IMU) data, send the first IMU data, or generate tilt or movement information according to the first IMU data, and send the tilt or movement information;

The control device is configured to receive first IMU data from the RTK base station when the first GNSS differential data is GNSS differential data received by a real RTK base station, and determine whether the real RTK base station is based on the first IMU data Moved or tilted.
The system of claim 18, wherein

The control device is configured to generate alarm information when the real RTK base station is moved or in a tilted state.
The system of claim 18, wherein

The control device is configured to correct the absolute positioning data of the positioning base station based on the first IMU data.
The system of claim 20, wherein

The control device is configured to calculate an offset according to the tilt information and direction information in the first IMU data, and correct the absolute positioning data of the positioning base station according to the offset.
The system of claim 17, wherein:

The control device is configured to receive the dot positioning data fed back by the positioning mobile station, and save the dot positioning data.
The system of claim 22, wherein

The control device is configured to perform mean convergence calculation on the received dot positioning data, obtain positioning accuracy and positioning standard deviation, and display the positioning accuracy and the positioning standard deviation.
The system of claim 22, wherein

The control device is configured to modify/or delete the dot positioning data according to user operations.
The system of claim 22, wherein

The control device is configured to receive an altitude value for performing altitude compensation on the positioning mobile station;

The control device adjusts the spot positioning data received from the positioning mobile station according to the height value.
The system of claim 22, wherein

The control device is configured to correct the spot positioning data of the positioning mobile station according to the second IMU data of the positioning mobile station.
The system of claim 17, wherein:

The RTK base station network server is configured to receive multiple IMU data from multiple network RTK base stations, and correct the absolute positioning data of the RTK base station network server based on the IMU data.
A point positioning device, characterized in that the point positioning device includes:

The receiving unit is used to receive differential data of the first global navigation satellite positioning system (GNSS) and absolute positioning data of the positioning base station;

A processing unit, configured to send the first GNSS differential data and the absolute positioning data of the positioning base station to the positioning mobile station, so that the positioning mobile station according to the second GNSS differential data of the positioning mobile station and the first GNSS The differential data and the absolute positioning data of the positioning base station determine the spot positioning data of the positioning mobile station.
The device of claim 28, wherein the first GNSS differential data includes:

GNSS differential data obtained from real RTK base stations; or,

The RTK base station network server simulates GNSS differential data generated by real base stations.
The device for striking positioning according to claim 29, wherein

The receiving unit is configured to receive first inertial measurement unit (IMU) data from the RTK base station when the first GNSS differential data is GNSS differential data obtained by real RTK base station reception;

The processing unit is configured to determine whether the real RTK base station is moved or is in a tilted state according to the IMU data.
The dot positioning device according to claim 30, characterized in that

The processing unit is configured to generate alarm information when the real RTK base station is moved or in a tilted state.
The device for striking positioning according to claim 29, wherein

The processing unit is configured to correct the absolute positioning data of the positioning base station based on the first IMU data.
The device for striking positioning according to claim 32, wherein

The processing unit is configured to calculate an offset according to the tilt information and direction information in the first IMU data, and correct the absolute positioning data of the positioning base station according to the offset.
The dot positioning device according to claim 28, characterized in that

The receiving unit is configured to receive the dot positioning data fed back by the positioning mobile station;

The processing unit is used to save the dot positioning data.
The apparatus for striking positioning according to claim 34, wherein the processing unit is configured to perform mean convergence calculation on the received striking positioning data to obtain positioning accuracy and positioning standard deviation.

The device includes a display unit for displaying the positioning accuracy and the positioning standard deviation.
The device for positioning and positioning according to claim 34, wherein

The processing unit is configured to modify/delete the dot positioning data according to user operations.
The device for positioning and positioning according to claim 34, wherein

The receiving unit is configured to receive an altitude value for performing altitude compensation on the positioning mobile station;

The processing unit is configured to adjust the dot positioning data received from the positioning mobile station according to the height value.
The apparatus of claim 34, wherein the processing unit is configured to modify the spot positioning data of the positioning mobile station according to the second IMU data of the positioning mobile station.
A dot positioning device, characterized in that the device includes:

The receiving unit is used to receive ephemeris data from the Global Navigation Satellite Positioning System (GNSS);

A processing unit, configured to generate GNSS differential data according to the ephemeris data;

The sending unit is configured to send the GNSS differential data and absolute positioning data.
The dot positioning device according to claim 39, characterized in that

The processing unit is used to obtain inertial measurement unit (IMU) data.
The dot positioning device according to claim 39, characterized in that

The sending unit is configured to send the IMU data, or generate tilt or movement information according to the IMU data, and send the tilt or movement information.
A dot positioning device is characterized by the following features:

The receiving unit is used to receive GNSS positioning data from multiple network RTK base stations;

A processing unit, configured to generate GNSS positioning data of a virtual RTK base station according to the GNSS positioning data;

The sending unit is configured to send GNSS positioning data of the virtual RTK base station.
The device for striking positioning according to claim 42, wherein

The receiving unit is configured to receive multiple IMU data from multiple network RTK base stations;

The processing unit is configured to correct the GNSS positioning data based on the IMU data.
[Correction based on Rule 91 08.01.2019]
A control device, comprising a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory, so that the control device executes any of the claims 1 to 11 Positioning method.
[Correction based on Rule 91 08.01.2019]
A real-time dynamic positioning (RTK) base station, characterized by comprising a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory so that the real RTK base station executes claims 12 to 14 Any one of the methods is a positioning method.
[Correction based on Rule 91 08.01.2019]
A real-time dynamic positioning (RTK) base station network server, characterized by comprising a processor and a memory; the memory stores computer instructions; the processor executes the computer instructions in the memory so that the RTK base station network server executes the claims 15 or 16 is a method of positioning.
[Correction based on Rule 91 08.01.2019]
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions that instruct a control device to perform the method for positioning according to any one of claims 1 to 11.
[Correction based on Rule 91 08.01.2019]
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions that instruct a real-time dynamic positioning (RTK) base station to perform the positioning for management according to any one of claims 12 to 14. Methods.
[Correction based on Rule 91 08.01.2019]
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions that instruct a real-time dynamic positioning (RTK) base station network server to perform the method for spot management according to claim 15.