WO2021062670A1 - 无人飞行器定位方法、终端设备、以及无人飞行器 - Google Patents

无人飞行器定位方法、终端设备、以及无人飞行器 Download PDF

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Publication number
WO2021062670A1
WO2021062670A1 PCT/CN2019/109537 CN2019109537W WO2021062670A1 WO 2021062670 A1 WO2021062670 A1 WO 2021062670A1 CN 2019109537 W CN2019109537 W CN 2019109537W WO 2021062670 A1 WO2021062670 A1 WO 2021062670A1
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WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
terminal device
communication distance
aircraft
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PCT/CN2019/109537
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English (en)
French (fr)
Inventor
张志鹏
王焱
赵丹
饶雄斌
Original Assignee
上海飞来信息科技有限公司
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Application filed by 上海飞来信息科技有限公司 filed Critical 上海飞来信息科技有限公司
Priority to CN201980034088.XA priority Critical patent/CN112690008B/zh
Priority to PCT/CN2019/109537 priority patent/WO2021062670A1/zh
Publication of WO2021062670A1 publication Critical patent/WO2021062670A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/364—Delay profiles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle.
  • the unmanned aerial vehicle When the unmanned aerial vehicle is flying, it may voluntarily land or blow up due to low battery or other unexpected factors. In this case, the unmanned aerial vehicle can push the coordinates of the bombing point or autonomous landing point to the mobile terminal or remote control and other terminal equipment carried by the user.
  • the terminal device instructs the user to search for the unmanned aerial vehicle according to the coordinates. In the process of searching for unmanned aerial vehicles, the user combines the location information of the terminal device to determine the location relationship between the terminal device and the bombing point.
  • the GPS signal of the unmanned aerial vehicle may be affected by obstructions such as grass, woods, or mountains, and the unmanned aerial vehicle may be affected by obstructions such as grass, woods or mountains.
  • the unmanned aerial vehicle After the unmanned aerial vehicle blows up, it will affect the positioning accuracy of the unmanned aerial vehicle due to uncertain factors such as attitude and occlusion, and even cause GPS failure, which will make the terminal equipment unable to accurately locate the unmanned aerial vehicle, making it difficult for users to quickly retrieve the unmanned aerial vehicle. , Can't even find unmanned aerial vehicles.
  • this manual provides an unmanned aerial vehicle positioning method, terminal equipment and unmanned aerial vehicle, aiming to solve the existing unmanned aerial vehicle positioning method that cannot accurately locate the unmanned aerial vehicle when the unmanned aerial vehicle GPS positioning is inaccurate. problem.
  • this specification provides an unmanned aerial vehicle positioning method for terminal equipment, and the method includes:
  • Obtain at least one location point of the terminal device and obtain signal transmission delay information between the terminal device and the UAV when the terminal device is at each location point, where the at least one location point is when a user moves the terminal device At least one location on the path of;
  • the location information of the unmanned aerial vehicle is determined according to at least one of the location points and the communication distance corresponding to each of the location points.
  • this specification provides an unmanned aerial vehicle positioning method for the unmanned aerial vehicle, and the method includes:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV, and Enabling the terminal device to determine the communication distance with the unmanned aerial vehicle according to the delay information, and determine the position information of the unmanned aerial vehicle according to the position point and the communication distance;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides an unmanned aerial vehicle positioning method for the unmanned aerial vehicle, and the method includes:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV , And make the terminal device determine the communication distance with the unmanned aerial vehicle according to the delay information, and determine the position information of the unmanned aerial vehicle according to the location point and the communication distance;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides an unmanned aerial vehicle positioning method for terminal equipment, and the method includes:
  • the position of the unmanned aerial vehicle is determined based on at least one position point of the terminal device and the communication distance between the terminal device and the unmanned aerial vehicle at each of the position points information;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides a terminal device, the terminal device including a memory and a processor;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • Obtain at least one location point of the terminal device and obtain signal transmission delay information between the terminal device and the UAV when the terminal device is at each location point, where the at least one location point is when a user moves the terminal device At least one location on the path of;
  • the location information of the unmanned aerial vehicle is determined according to at least one of the location points and the communication distance corresponding to each of the location points.
  • this specification provides an unmanned aerial vehicle, the unmanned aerial vehicle including a memory and a processor;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV, and Enabling the terminal device to determine the communication distance with the unmanned aerial vehicle according to the delay information, and determine the position information of the unmanned aerial vehicle according to the position point and the communication distance;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides an unmanned aerial vehicle, the unmanned aerial vehicle including a memory and a processor;
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV , And make the terminal device determine the communication distance with the unmanned aerial vehicle according to the delay information, and determine the position information of the unmanned aerial vehicle according to the location point and the communication distance;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides a terminal device, the terminal device including a memory and a processor
  • the memory is used to store a computer program
  • the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
  • the position of the unmanned aerial vehicle is determined based on at least one position point of the terminal device and the communication distance between the terminal device and the unmanned aerial vehicle at each of the position points information;
  • the location point is a location on a path along which the user carries the terminal device.
  • this specification provides a flight system including the aforementioned terminal equipment and the aforementioned unmanned aerial vehicle.
  • this specification provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the computer program can be used by a processor to implement the above-mentioned method.
  • the embodiments of this specification provide an unmanned aerial vehicle positioning method, terminal equipment, unmanned aerial vehicle, flight system, and storage medium.
  • the signal transmission delay information between the terminal equipment and the unmanned aerial vehicle is used to determine the difference between the terminal equipment and the unmanned aerial vehicle. Based on the communication distance, determine whether the position of the UAV is valid or not; and when the position of the UAV is not accurate or the terminal device cannot obtain the position of the UAV from the UAV, the position of the UAV can be determined according to the communication distance. information. On the one hand, it can improve the positioning accuracy, and it can also estimate the explosion point or autonomous landing point of the unmanned aerial vehicle when the GPS of the unmanned aerial vehicle fails or drifts too much, so as to improve the success rate of users in finding the unmanned aerial vehicle.
  • FIG. 1 is a schematic flowchart of an unmanned aerial vehicle positioning method for terminal equipment according to an embodiment of this specification
  • Figure 2 is a schematic diagram of the communication between the terminal equipment and the unmanned aerial vehicle
  • FIG. 3 is a schematic diagram of determining the position of the unmanned aerial vehicle according to the position point and the communication distance in an embodiment
  • FIG. 4 is a schematic diagram of determining the position of the aircraft according to the position point and the communication distance in another embodiment
  • FIG. 5 is a schematic flowchart of an embodiment of an unmanned aerial vehicle positioning method for terminal equipment
  • FIG. 6 is a schematic flowchart of another embodiment of an unmanned aerial vehicle positioning method for terminal equipment
  • FIG. 7 is a schematic flowchart of an unmanned aerial vehicle positioning method for an unmanned aerial vehicle according to an embodiment of this specification
  • FIG. 8 is a schematic flowchart of an embodiment of an unmanned aerial vehicle positioning method for an unmanned aerial vehicle
  • FIG. 9 is a schematic flowchart of an unmanned aerial vehicle positioning method for an unmanned aerial vehicle according to another embodiment of this specification.
  • FIG. 10 is a schematic flowchart of an unmanned aerial vehicle positioning method for terminal equipment according to another embodiment of this specification.
  • FIG. 11 is a schematic block diagram of a terminal device according to an embodiment of the present specification.
  • Fig. 12 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present specification.
  • FIG. 1 is a schematic flowchart of an unmanned aerial vehicle positioning method according to an embodiment of this specification.
  • the unmanned aerial vehicle positioning method can be applied to a terminal device for the process of determining the position of the aircraft by the terminal device; wherein the terminal device can include a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, and a remote controller At least one of the following; the unmanned aerial vehicle can be a rotary-wing drone, such as a four-rotor drone, a hexa-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • the terminal device and the UAV communicate via a wireless channel.
  • the terminal device may display the position B of the unmanned aerial vehicle and the position A of the terminal device.
  • the positioning method for an unmanned aerial vehicle of this embodiment includes steps S110 to S130.
  • the at least one location point is at least one location on a path on which the user carries the terminal device.
  • the terminal device is equipped with a positioning device, for example, the location of the terminal device can be determined through a navigation system.
  • the landing location can be pushed to the terminal device, and the user can bring the terminal device to the landing location to find the unmanned aerial vehicle.
  • the path on which the user can carry the terminal to the UAV includes location point 1, location point 2, and location point 3. For example, the user moves from position point 1 to position point 2, and then moves from position point 2 to position point 3.
  • the terminal device determines the signal transmission delay with the unmanned aerial vehicle when at least one position point such as position point 1, position point 2, and/or position point 3 is located.
  • the signal transmission delay between the terminal device and the UAV when the terminal device is at position point 1 is T1
  • the signal transmission delay between the terminal device and the UAV when the terminal device is at position point 2 is T2.
  • the landing location can be pushed to the terminal device, and the user can bring the terminal device to the landing location to find the unmanned aerial vehicle.
  • the terminal device can communicate with the unmanned aerial vehicle, so that the communication delay with the unmanned aerial vehicle can be determined.
  • the terminal device determines the signal transmission delay information with the UAV at a certain frequency. For example, in a certain cycle, the terminal device determines the delay at location point 1 as T1; in a later cycle, the terminal device determines the delay at location point 2 as T2.
  • the terminal device may obtain the location of the unmanned aerial vehicle from the unmanned aerial vehicle, and then the terminal device guides the user to this location.
  • the terminal device carried by the user moves from location point 1 to location point 2, and then to location point 3.
  • the terminal device determines the delay information based on the time when the terminal signal is sent to the UAV and the time when the feedback signal is received.
  • the terminal device sends a terminal signal to the unmanned aerial vehicle when it needs to determine the communication delay with the unmanned aerial vehicle.
  • the UAV sends a feedback signal to the terminal device in response to the terminal signal sent by the terminal device.
  • the terminal device determines the signal transmission delay information with the UAV according to the time difference between sending the terminal signal and receiving the feedback signal.
  • the delay includes the signal transmission time from the terminal device to the UAV and the signal transmission time from the UAV to the terminal device. Therefore, the signal transmission delay information between the terminal device and the UAV includes the round-trip delay of the signal (Round- Trip Time, RTT).
  • obtaining the location point of the terminal device in step S110 includes determining the location point corresponding to the feedback signal. For example, the position when the terminal signal is sent or the position when the feedback signal is received.
  • the unmanned aerial vehicle sends a broadcast signal when it is in a bombing or low battery landing state. If the terminal device receives the broadcast signal, it can establish a communication connection with the UAV.
  • the terminal device may send a terminal signal to the unmanned aerial vehicle, so that the unmanned aerial vehicle sends a feedback signal according to the interrupt signal.
  • the terminal device When the unmanned aerial vehicle is in the state of bombing or landing with low power, by sending a broadcast signal with a small amount of data, it is convenient for the terminal device to detect the unmanned aerial vehicle in time and establish communication with the unmanned aerial vehicle, and also enables the unmanned aerial vehicle to maintain low power consumption , To prevent the UAV from running out of power when the UAV is not found.
  • S120 Determine the communication distance between each of the location points and the UAV according to each of the delay information.
  • the relative distance between the terminal device and the UAV can be calculated more accurately.
  • the maximum error of the round-trip distance between the terminal device and the UAV determined by the round-trip delay is the distance corresponding to 0.5 sampling points.
  • step S120 further includes: adjusting the sampling frequency according to the communication distance.
  • step S120 further includes: sending the communication distance to the UAV to The unmanned aerial vehicle is allowed to adjust the sampling frequency according to the communication distance.
  • the terminal device and/or the UAV may use a smaller sampling frequency if the communication distance between the terminal device and the UAV at a certain location is greater than the preset distance threshold;
  • the terminal device and/or the UAV may use a smaller sampling frequency if the communication distance between the terminal device and the UAV at a certain location is greater than the preset distance threshold;
  • the terminal device and/or the unmanned aerial vehicle can use a larger sampling frequency. Therefore, when the user is far from the bombing point or autonomous landing point of the UAV, a larger distance error is allowed, but the terminal equipment and/or UAV can reduce the energy consumption and extend the terminal by using a smaller sampling frequency.
  • step S120 further includes: adjusting the communication distance with the UAV according to the communication distance.
  • the signal frequency of the signal transmission
  • step S120 further includes: sending the communication distance to the UAV to The UAV adjusts the signal frequency of the signal transmission between the UAV and the terminal device according to the communication distance.
  • the terminal device and/or the UAV may use a smaller signal frequency;
  • the terminal device and/or the unmanned aerial vehicle can use a larger signal frequency. Therefore, when the user is far from the bombing point or autonomous landing point of the UAV, the terminal equipment and/or the UAV can reduce the energy consumption by using a smaller signal frequency, and extend the terminal equipment and/or the UAV's power consumption. Life time.
  • the communication distance refers to the one-way distance between the terminal device and the unmanned aerial vehicle determined according to the delay information when the terminal device is at a location point.
  • the communication distance between location point 1 and the unmanned aerial vehicle is L1
  • the communication distance between location point 2 and the unmanned aerial vehicle is L2
  • the communication distance between location point 3 and the unmanned aerial vehicle For L3.
  • S130 Determine the location information of the unmanned aerial vehicle according to at least one of the location points and the communication distance corresponding to each of the location points.
  • the terminal device can more accurately determine the location of the unmanned aerial vehicle. Even if the positioning device carried by the unmanned aerial vehicle fails or the positioning is not accurate, the terminal device can guide the user to the unmanned aerial vehicle's location to find the unmanned aerial vehicle based on the location information of the unmanned aerial vehicle.
  • the position information of the unmanned aerial vehicle is determined according to at least one of the position points and the communication distance corresponding to each of the position points.
  • the failure of the positioning device carried by the unmanned aerial vehicle includes: the communication between the unmanned aerial vehicle and the terminal device is disconnected and the method of digging to obtain the position determined by the positioning device carried by the unmanned aerial vehicle, or the positioning device carried by the unmanned aerial vehicle is damaged or caused by The position cannot be determined by occlusion, etc.
  • the positioning device mounted on the unmanned aerial vehicle is invalid.
  • the shielding between the unmanned aerial vehicle and the terminal equipment becomes more, and the communication is often disconnected.
  • the positioning device of the unmanned aerial vehicle is damaged or the position of the aerial vehicle cannot be determined due to obstruction.
  • the position of the aircraft obtained by the UAV positioning device is the position coordinates when the communication link is disconnected, not the actual coordinates of the UAV.
  • the position information of the unmanned aerial vehicle is determined according to at least one of the position points and the communication distance corresponding to each of the position points.
  • the position failure of the aircraft includes: the position of the aircraft determined by the positioning device of the unmanned aircraft drifts greatly and is not accurate enough.
  • unmanned aerial vehicles can communicate with terminal equipment
  • the positioning device of unmanned aerial vehicles can also determine the position of the aircraft, but the unmanned aerial vehicle's attitude, occlusion and other uncertain factors will affect the unmanned aerial vehicle to obtain the coordinates of the final landing point. Accuracy, the drift is relatively large.
  • the position information of the unmanned aerial vehicle can be determined through steps S110 to S130, instead of relying on the determination of the unmanned aerial vehicle positioning device.
  • the location of the human aircraft and can ensure the high accuracy of the location information.
  • the terminal device after determining the communication distance between the location point and the UAV, the terminal device outputs the communication distance to prompt the user of the current distance between the UAV.
  • the terminal device when the user carries the terminal device to the location point 2, and the determined communication distance is L2, the terminal device outputs the distance L2 in a manner such as displaying and/or playing voice. It is convenient for users to judge the location of the UAV.
  • the terminal device acquires at least three location points of the terminal device, and determines the location information of the unmanned aerial vehicle according to the at least three location points and the communication distance corresponding to each of the location points.
  • FIG. 3 According to the coordinates of position point 1, position point 2, and position point 3, and the communication distance L1 between the terminal device and the UAV at position point 1, and the communication distance between the terminal device and the unmanned aircraft at position point 2.
  • the communication distance L2 of the aircraft and the communication distance L3 of the unmanned aerial vehicle at the position point 3 determine an intersection point, and the coordinates of the intersection point are determined as the position information of the unmanned aerial vehicle.
  • the terminal device is based on the direction of the UAV relative to the terminal device when the terminal device is at at least one of the location points, as well as at least one of the location points and each of the locations.
  • the communication distance corresponding to the point determines the location information of the UAV.
  • the terminal device determines two intersection points according to the location point 1, the location point 2, and the communication distance L1 and the communication distance L2.
  • the terminal device detects the direction of the UAV at the position point 2 as shown by the arrow, it can be determined that the coordinates of the intersection on the left side in FIG. 2 are the position information of the UAV.
  • the unmanned aerial vehicle is also equipped with a positioning device, and the position of the aircraft determined by the positioning device can be sent to the terminal device.
  • the terminal device receives the aircraft position sent by the unmanned aerial vehicle, and then determines the unmanned aircraft position when the terminal device is at the position point according to the position point when the terminal device receives the aircraft position and the aircraft position The direction of the aircraft relative to the terminal device.
  • the terminal device receives the position of the aircraft at the position point 2, the direction of the unmanned aerial vehicle relative to the position point 2 can be determined.
  • the unmanned aerial vehicle positioning method further includes: when the terminal device performs signal transmission between the terminal device and the unmanned aerial vehicle, determining that the unmanned aerial vehicle is relative to the terminal device according to the transmitted signal Direction.
  • the terminal device can detect the receiving angle of the signal received from the unmanned aerial vehicle, so that the direction of the unmanned aerial vehicle relative to the terminal device can be determined.
  • the terminal device may determine the position information of the unmanned aerial vehicle according to a position point and the communication distance with the unmanned aerial vehicle at the position point.
  • the unmanned aerial vehicle positioning method further includes: receiving an aerial vehicle position sent by the unmanned aerial vehicle, and determining a positioning distance corresponding to the position point according to the aerial vehicle position and the position point of the terminal device.
  • the unmanned aerial vehicle determines the position of the aerial vehicle through the positioning device mounted on the unmanned aerial vehicle, and sends the position of the aerial vehicle to the terminal device.
  • the terminal device can determine the current position of the terminal device according to the positioning device mounted on the terminal device, so as to determine the current positioning distance from the UAV, that is, the distance determined by the positioning device, such as GPS.
  • the unmanned aerial vehicle positioning method further includes: judging whether the position of the aerial vehicle is valid according to the positioning distance and the communication distance corresponding to the position point.
  • the deviation threshold may be determined according to the flight range of the unmanned aerial vehicle, for example.
  • a prompt message indicating that the position of the aircraft is invalid is output to remind the user that the positioning device of the unmanned aerial vehicle cannot accurately locate.
  • the position information of the UAV determined in step S130 is output to inform the user of the current accurate position of the UAV, and prompt the user to search for the UAV according to the position information.
  • the terminal device can display the position of the aircraft B and the position point A of the terminal device.
  • the position of the aircraft and the position of the terminal device may be updated at a higher frequency.
  • step S120 further includes step S140 after determining the communication distance between each of the location points and the UAV according to each of the delay information.
  • S140 Send the communication distance to the unmanned aerial vehicle, so that the unmanned aerial vehicle adjusts the frequency of sending flight terminal information to the terminal device according to the communication distance.
  • the communication distance is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle increases the frequency of sending the flight terminal information to the terminal device when the communication distance decreases.
  • the unmanned aerial vehicle increases the frequency of sending the flight terminal information to the terminal device.
  • the UAV in order to ensure that the UAV has enough power to support the communication with the terminal device before the user reaches the landing point of the UAV, when the user is far away from the UAV, the UAV can be more effective.
  • the low frequency communicates with the terminal equipment to save power, and when the user is close to the UAV, the UAV communicates with the terminal equipment at a higher frequency, so that the terminal equipment can be updated in a timely manner.
  • the location information of the aircraft accurately guides the user to find the unmanned aircraft.
  • the unmanned aerial vehicle obtains the power information of the aircraft, and adjusts the frequency of sending the flight terminal signal to the terminal device according to the power information of the aircraft and the communication distance.
  • the aircraft power information is used to indicate the remaining power of the unmanned aerial vehicle and/or the length of time the remaining power can be used. For example, if the remaining power is greater, the signal from the flight terminal can be sent at a higher frequency.
  • the flight terminal signal includes the position of the aircraft determined by the unmanned aircraft through the positioning device.
  • the unmanned aerial vehicle obtains the communication distance from the terminal device, and adjusts the frequency of determining the position of the aircraft and the frequency of sending the position of the aircraft to the terminal device according to the communication distance.
  • the flight terminal signal includes a broadcast signal sent by an unmanned aerial vehicle, and the unmanned aerial vehicle can adjust the frequency of sending the broadcast signal according to the communication distance.
  • an unmanned aerial vehicle after an unmanned aerial vehicle has exploded or landed on a low battery, it only keeps sending broadcast signals to reduce power consumption, so as to initiate a communication connection with the unmanned aerial vehicle after the terminal device detects the broadcast signal.
  • the unmanned aerial vehicle increases the frequency of sending the broadcast signal to the terminal device when the communication distance decreases.
  • the unmanned aerial vehicle adjusts the frequency of sending the broadcast signal according to the electric power information of the aircraft and the communication distance. For example, if the remaining power is greater, the broadcast signal can be transmitted at a higher frequency. The smaller the communication distance, that is, the closer the user is to the unmanned aerial vehicle, the higher the frequency of sending the broadcast signal to the terminal device.
  • step S120 further includes step S150 after determining the communication distance between each of the location points and the UAV according to each of the delay information.
  • the terminal device sends a terminal signal to the unmanned aerial vehicle, and the unmanned aerial vehicle sends a feedback signal to the terminal device in response to the terminal signal, so that the terminal device determines the signal transmission delay information with the unmanned aerial vehicle .
  • the frequency of sending the terminal signal to the UAV is increased.
  • the terminal device increases the frequency of sending the terminal signal to the unmanned aerial vehicle.
  • the terminal device can transmit to the UAV at a lower frequency.
  • the human aircraft sends terminal signals, thereby reducing the frequency of unmanned aircraft sending feedback signals to save power.
  • the terminal device can send the terminal signal to the unmanned aerial vehicle at a higher frequency, thereby increasing the frequency of the unmanned aerial vehicle sending feedback signals, so that the terminal device can update the unmanned aerial vehicle more quickly.
  • the location information of the aircraft accurately guides the user to find the unmanned aircraft.
  • the terminal device also receives the aircraft power information sent by the unmanned aerial vehicle, and adjusts the frequency of sending the terminal signal to the unmanned aerial vehicle according to the aircraft power information and the communication distance.
  • the unmanned aerial vehicle obtains the power information of the aircraft, and sends the power information of the aircraft to the terminal device.
  • the aircraft power information is used to indicate the remaining power of the unmanned aerial vehicle and/or the length of time the remaining power can be used. For example, if the unmanned aerial vehicle has more remaining power, the terminal device can send terminal signals to the unmanned aerial vehicle at a higher frequency, thereby increasing the frequency of the unmanned aerial vehicle sending feedback signals, so that the terminal equipment can update the unmanned aerial vehicle in time.
  • the location information of the aircraft is used to indicate the remaining power of the unmanned aerial vehicle and/or the length of time the remaining power can be used.
  • the unmanned aerial vehicle positioning method provided in this embodiment obtains at least one position point of the terminal device, and obtains the delay information of the signal transmission between the terminal device and the unmanned aerial vehicle when the terminal device is at each position point;
  • the communication distance between the aircraft; and the location information of the unmanned aircraft is determined according to at least one location point and the communication distance corresponding to each location point.
  • the realization can determine the position of the unmanned aerial vehicle without relying on the unmanned aerial vehicle positioning device, and the high accuracy of the position information can be guaranteed.
  • FIG. 7 is a schematic flowchart of an unmanned aerial vehicle positioning method according to an embodiment of this specification.
  • the unmanned aerial vehicle positioning method can be applied to an unmanned aerial vehicle to communicate with a terminal device so that the terminal device can determine the position of the aircraft.
  • the UAV positioning method includes step S210.
  • the location point is a location on a path along which the user carries the terminal device.
  • the terminal device sends a terminal signal to the unmanned aerial vehicle when it needs to determine the communication delay with the unmanned aerial vehicle.
  • the UAV sends a feedback signal to the terminal device in response to the terminal signal sent by the terminal device.
  • the terminal device determines the signal transmission delay information with the UAV according to the time difference between sending the terminal signal and receiving the feedback signal, and determines the communication distance with the UAV according to the delay information.
  • the terminal device determines that the location when the terminal signal is sent is the location point corresponding to the UAV feedback signal, or the terminal device determines that the location when the UAV feedback signal is received is the location point corresponding to the feedback signal.
  • the communication distance between location point 1 and the unmanned aerial vehicle is L1
  • the communication distance between location point 2 and the unmanned aerial vehicle is L2
  • the communication distance between location point 3 and the unmanned aerial vehicle For L3.
  • the terminal device determines the location information of the unmanned aerial vehicle according to at least one of the location points and the communication distance corresponding to each of the location points.
  • the UAV positioning method further includes step S220.
  • the terminal device can transmit to the UAV at a lower frequency.
  • the human aircraft sends terminal signals, thereby reducing the frequency of unmanned aircraft sending feedback signals to save power.
  • the aircraft power information is used to indicate the remaining power of the unmanned aerial vehicle and/or the length of time the remaining power can be used. For example, if the unmanned aerial vehicle has more remaining power, the terminal device can send terminal signals to the unmanned aerial vehicle at a higher frequency, thereby increasing the frequency of the unmanned aerial vehicle sending feedback signals, so that the terminal equipment can update the unmanned aerial vehicle in time.
  • the location information of the aircraft is used to indicate the remaining power of the unmanned aerial vehicle and/or the length of time the remaining power can be used.
  • the unmanned aerial vehicle positioning method further includes: the unmanned aerial vehicle determines the position of the aerial vehicle through the positioning device mounted on the unmanned aerial vehicle, and sends the aerial vehicle position to the terminal device.
  • the unmanned aerial vehicle is also equipped with a positioning device, and the position of the aircraft determined by the positioning device can be sent to the terminal device.
  • the terminal device receives the aircraft position sent by the unmanned aerial vehicle, and then determines the unmanned aircraft position when the terminal device is at the position point according to the position point when the terminal device receives the aircraft position and the aircraft position The direction of the aircraft relative to the terminal device.
  • the terminal device can determine the current position of the terminal device according to the positioning device mounted on the terminal device, so as to determine the current positioning distance from the unmanned aerial vehicle, that is, the distance determined by the positioning device, such as GPS.
  • the terminal device may also determine whether the position of the aircraft is valid according to the positioning distance and the communication distance corresponding to the position point. Due to the high accuracy of the communication distance, it is possible to judge whether the UAV's positioning device is invalid or inaccurate according to the communication distance.
  • the unmanned aerial vehicle positioning method further includes: the unmanned aerial vehicle obtains the communication distance from the terminal device, and adjusts and determines the position of the aircraft according to the communication distance and the frequency of transmitting the position of the aircraft.
  • the unmanned aerial vehicle determines the position of the aerial vehicle and the frequency of sending the position of the aerial vehicle according to the electric power information of the aerial vehicle and the communication distance adjustment.
  • the frequency of determining the position of the aircraft and transmitting the position of the aircraft is increased.
  • the frequency of determining the position of the aircraft and reduce the frequency of transmitting the position of the aircraft when the remaining power of the unmanned aerial vehicle is low, reduce the frequency of determining the position of the aircraft and reduce the frequency of transmitting the position of the aircraft; when the communication distance is long, reduce the frequency of determining the position of the aircraft and reduce the frequency of transmitting the position of the aircraft , To reduce power consumption.
  • FIG. 9 is a schematic flowchart of an unmanned aerial vehicle positioning method according to an embodiment of this specification.
  • the unmanned aerial vehicle positioning method can be applied to an unmanned aerial vehicle to communicate with a terminal device so that the terminal device can determine the position of the aircraft.
  • the UAV positioning method includes step S310 and step S320.
  • S310 Send a broadcast signal when the plane is bombed or land with a low battery, so that the terminal device sends a terminal signal to the UAV according to the broadcast signal.
  • the unmanned aerial vehicle sends a broadcast signal when it is in a bombing or low battery landing state. If the terminal device receives the broadcast signal, it can establish a communication connection with the UAV. After establishing a communication connection with the unmanned aerial vehicle, the terminal device may send a terminal signal to the unmanned aerial vehicle, so that the unmanned aerial vehicle sends a feedback signal according to the interrupt signal.
  • S320 In response to the terminal signal sent by the terminal device, send a feedback signal to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the signal transmission between the terminal device and the UAV. Delay information, and enable the terminal device to determine the communication distance with the unmanned aerial vehicle based on the delay information, and determine the position information of the unmanned aerial vehicle based on the location point and the communication distance.
  • the location point is a location on a path along which the user carries the terminal device.
  • the terminal device sends a terminal signal to the unmanned aerial vehicle when it needs to determine the communication delay with the unmanned aerial vehicle.
  • the UAV sends a feedback signal to the terminal device in response to the terminal signal sent by the terminal device.
  • the terminal device determines the signal transmission delay information with the UAV according to the time difference between sending the terminal signal and receiving the feedback signal, and determines the communication distance with the UAV according to the delay information.
  • the terminal device determines that the location at which the terminal signal is sent is the location point corresponding to the UAV feedback signal, and the terminal device determines the location of the UAV according to at least one of the location points and the communication distance corresponding to each of the location points. location information.
  • the UAV positioning method further includes: acquiring the communication distance from the terminal device, and adjusting the frequency of sending flight terminal information to the terminal device according to the communication distance.
  • the UAV in order to ensure that the UAV has enough power to support the communication with the terminal device before the user reaches the landing point of the UAV, when the user is far away from the UAV, the UAV can be more effective.
  • the low frequency communicates with the terminal equipment to save power, and when the user is close to the UAV, the UAV communicates with the terminal equipment at a higher frequency, so that the terminal equipment can be updated in a timely manner.
  • the location information of the aircraft accurately guides the user to find the unmanned aircraft.
  • the flight terminal signal includes a broadcast signal sent by an unmanned aerial vehicle
  • the unmanned aerial vehicle positioning method further includes: the unmanned aerial vehicle adjusts the frequency of sending the broadcast signal according to the communication distance.
  • the unmanned aerial vehicle increases the frequency of sending the broadcast signal to the terminal device when the communication distance decreases.
  • the UAV in order to ensure that the UAV has enough power to support the communication with the terminal device before the user reaches the landing point of the UAV, when the user is far away from the UAV, the UAV can be more effective.
  • the low frequency communicates with the terminal equipment to save power, and when the user is close to the UAV, the UAV communicates with the terminal equipment at a higher frequency, so that the terminal equipment can be updated in a timely manner.
  • the location information of the aircraft accurately guides the user to find the unmanned aircraft.
  • the unmanned aerial vehicle obtains the power information of the aircraft, and adjusts the frequency of sending the broadcast signal according to the power information of the aircraft and the communication distance.
  • an unmanned aerial vehicle after an unmanned aerial vehicle has exploded or landed on a low battery, it only keeps sending broadcast signals to reduce power consumption, so as to initiate a communication connection with the unmanned aerial vehicle after the terminal device detects the broadcast signal.
  • the UAV positioning method further includes: the unmanned aerial vehicle obtains aircraft power information, and sends the aircraft power information to the terminal device, so that the terminal device can be based on the aircraft power information and
  • the communication distance adjusts the frequency of sending terminal signals to the UAV.
  • the terminal device can send terminal signals to the unmanned aerial vehicle at a higher frequency, thereby increasing the frequency of the unmanned aerial vehicle sending feedback signals, so that the terminal equipment can update the unmanned aerial vehicle in time.
  • the location information of the aircraft can be used to determine whether the unmanned aerial vehicle has more remaining power.
  • the unmanned aerial vehicle positioning method further includes: the unmanned aerial vehicle determines the position of the aerial vehicle through a positioning device mounted on the unmanned aerial vehicle, and sends the aerial vehicle position to the terminal device.
  • the terminal device receives the aircraft position sent by the unmanned aerial vehicle, and then determines when the terminal device is at the position point according to the position point when the terminal device receives the aircraft position and the aircraft position The direction of the UAV relative to the terminal device.
  • the terminal device can determine the current position of the terminal device according to the positioning device mounted on the terminal device, so that the current positioning distance from the unmanned aerial vehicle can be determined, that is, the distance determined by the positioning device, such as GPS.
  • the terminal device may also determine whether the position of the aircraft is valid according to the positioning distance and the communication distance corresponding to the position point. Due to the high accuracy of the communication distance, it is possible to judge whether the UAV's positioning device is invalid or inaccurate according to the communication distance.
  • the unmanned aerial vehicle positioning method further includes: adjusting and determining the position of the aerial vehicle according to the communication distance and the frequency of transmitting the position of the aerial vehicle.
  • the unmanned aerial vehicle increases the frequency of determining and transmitting the position of the aerial vehicle when the communication distance decreases.
  • the unmanned aerial vehicle reduces the frequency of determining the position of the aerial vehicle and the frequency of transmitting the position of the aerial vehicle when the communication distance is long, so as to reduce power consumption. Increase the frequency of transmitting the aircraft position when the communication distance is short.
  • the position of the aircraft is determined and the frequency of sending the position of the aircraft is adjusted according to the power information of the aircraft and the communication distance.
  • the frequency of determining the position of the aerial vehicle and the frequency of transmitting the position of the aerial vehicle are reduced to reduce power consumption.
  • FIG. 10 is a schematic flowchart of an unmanned aerial vehicle positioning method according to an embodiment of this specification.
  • the unmanned aerial vehicle positioning method can be applied to a terminal device for processes such as determining the position of the aircraft by the terminal device.
  • the UAV positioning method includes steps S410 to S450.
  • the terminal device may be disconnected from the unmanned aerial vehicle, or the positioning device of the unmanned aerial vehicle cannot locate, but the terminal device can still obtain the unmanned aerial vehicle at a certain moment The position of the aircraft.
  • the terminal device can still communicate with the unmanned aerial vehicle, and the unmanned aerial vehicle can still determine the position of the aircraft and send the position of the aircraft to the terminal device.
  • the terminal device will go to the area near the unmanned aerial vehicle's landing point according to the position of the aircraft at a certain moment. If the communication device of the unmanned aerial vehicle can still work normally, the terminal equipment can resume communication with the unmanned aerial vehicle over a distance ranging from tens of meters to several kilometers.
  • the unmanned aerial vehicle can send the latest aircraft position to the terminal device, and the terminal device can obtain the latest aircraft position.
  • S420 Determine a position point of the terminal device, and determine a positioning distance corresponding to the position point according to the position point and the position of the aircraft.
  • the terminal device is equipped with a positioning device, for example, the location of the terminal device can be determined in real time through a navigation system.
  • the terminal device may display the position point determined by the positioning device and the aircraft position obtained from the unmanned aerial vehicle, as shown in FIG. 2, to display the relative position between the unmanned aerial vehicle and the user.
  • the terminal device determines the positioning distance d corresponding to the position point according to the real-time position point and the latest aircraft position received from the unmanned aerial vehicle.
  • the terminal device obtains the delay information of the signal transmission between the current time and the unmanned aerial vehicle, and then determines the communication distance with the unmanned aerial vehicle according to the delay information.
  • the terminal device determines the delay information according to the time when the terminal signal is sent to the UAV and the time when the feedback signal is received.
  • the signal transmission delay between the terminal device and the UAV when the terminal device is at position point 1 is T1
  • the signal transmission delay between the terminal device and the UAV when the terminal device is at position point 2 is T2.
  • the communication distance between location point 1 and the unmanned aerial vehicle is L1
  • the communication distance between location point 2 and the unmanned aerial vehicle is L2
  • the communication distance between location point 3 and the unmanned aerial vehicle is L3.
  • the terminal device after determining the communication distance between the location point and the UAV, the terminal device outputs the communication distance to prompt the user of the current distance between the UAV.
  • S440 Determine whether the position of the aircraft is valid according to the communication distance and the positioning distance.
  • the deviation threshold may be determined according to the flight range of the unmanned aerial vehicle, for example.
  • a prompt message indicating that the position of the aircraft is invalid is output to remind the user that the positioning device of the unmanned aerial vehicle cannot accurately locate.
  • the position of the aircraft is not invalid, the position of the aircraft and the position of the terminal device obtained from the unmanned aerial vehicle are displayed, as shown in FIG. 2.
  • the location point is a location on a path along which the user carries the terminal device.
  • the position information of the UAV determined in step S450 is output to inform the user of the current accurate position of the UAV, and prompt the user to search for the UAV according to the position information.
  • the terminal device can more accurately determine the location of the unmanned aerial vehicle. Even if the positioning device carried by the unmanned aerial vehicle fails or the positioning is not accurate, the terminal device can guide the user to the unmanned aerial vehicle's location to find the unmanned aerial vehicle based on the location information of the unmanned aerial vehicle.
  • the terminal device acquires at least three location points of the terminal device, and determines the location information of the unmanned aerial vehicle according to the at least three location points and the communication distance corresponding to each of the location points.
  • the terminal device is based on the direction of the unmanned aerial vehicle relative to the terminal device when the terminal device is at at least one of the position points, and at least one of the position points and each of the position points.
  • the communication distance determines the location information of the UAV.
  • the terminal device determines the position of the unmanned aerial vehicle relative to the terminal device when the terminal device is at the location point according to the position point when the terminal device receives the aircraft position and the aircraft position. direction.
  • the direction of the unmanned aerial vehicle relative to the terminal device is determined according to the transmitted signal.
  • the UAV positioning method further includes: the terminal device sends the communication distance to the UAV, so that the UAV sends the flight terminal to the terminal device according to the communication distance adjustment. Frequency of information.
  • the terminal device sends the communication distance to the unmanned aerial vehicle, so that the unmanned aerial vehicle increases the frequency of sending the flight terminal information to the terminal device when the communication distance decreases.
  • the UAV in order to ensure that the UAV has enough power to support the communication with the terminal device before the user reaches the landing point of the UAV, when the user is far away from the UAV, the UAV can be more effective.
  • the low frequency communicates with the terminal equipment to save power, and when the user is close to the UAV, the UAV communicates with the terminal equipment at a higher frequency, so that the terminal equipment can be updated in a timely manner.
  • the location information of the aircraft accurately guides the user to find the unmanned aircraft.
  • the terminal device sends the communication distance to the unmanned aerial vehicle, so that the unmanned aerial vehicle adjusts the frequency of sending flight terminal information to the terminal device according to the aircraft power information and the communication distance.
  • the terminal device adjusts the frequency of sending a terminal signal to the UAV according to the communication distance, so that the UAV adjusts the frequency of sending a feedback signal to the terminal device according to the terminal signal.
  • the terminal device sends a terminal signal to the unmanned aerial vehicle, and the unmanned aerial vehicle sends a feedback signal to the terminal device in response to the terminal signal, so that the terminal device determines the signal transmission delay information with the unmanned aerial vehicle .
  • the frequency of sending the terminal signal to the UAV is increased.
  • the terminal device receives from the unmanned aerial vehicle the aircraft power information sent by the unmanned aerial vehicle, and adjusts the frequency of sending the terminal signal to the unmanned aerial vehicle according to the aircraft power information and the communication distance.
  • the UAV positioning method for terminal equipment determines the communication distance between the terminal equipment and the UAV by obtaining the delay information of signal transmission between the terminal equipment and the UAV, and then according to the communication distance Determine whether the position of the unmanned aerial vehicle is valid; and when the position of the unmanned aerial vehicle is inaccurate or the terminal device cannot obtain the position of the unmanned aerial vehicle, the position information of the unmanned aerial vehicle can be determined according to the communication distance. On the one hand, it can improve the positioning accuracy, and it can also estimate the explosion point or autonomous landing point of the unmanned aerial vehicle when the GPS of the unmanned aerial vehicle fails or drifts too much, so as to improve the success rate of users in finding the unmanned aerial vehicle.
  • FIG. 11 is a schematic block diagram of a terminal device 600 according to an embodiment of this specification.
  • the terminal device 600 includes a processor 601 and a memory 602.
  • the processor 601 and the memory 602 are connected by a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 601 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned UAV positioning method for terminal equipment when the computer program is executed.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:
  • Obtain at least one location point of the terminal device and obtain signal transmission delay information between the terminal device and the UAV when the terminal device is at each location point, where the at least one location point is when a user moves the terminal device At least one location on the path of;
  • the location information of the unmanned aerial vehicle is determined according to at least one of the location points and the communication distance corresponding to each of the location points.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:
  • the position of the unmanned aerial vehicle is determined based on at least one position point of the terminal device and the communication distance between the terminal device and the unmanned aerial vehicle at each of the position points information;
  • the location point is a location on a path along which the user carries the terminal device.
  • FIG. 12 is a schematic block diagram of an unmanned aerial vehicle 700 according to an embodiment of the present specification.
  • the unmanned aerial vehicle 700 includes a processor 701 and a memory 702.
  • the processor 701 and the memory 702 are connected by a bus 703, and the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 701 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the aforementioned unmanned aerial vehicle positioning method for an unmanned aerial vehicle when the computer program is executed.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when the computer program is executed:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV, and The terminal device determines the communication distance with the unmanned aerial vehicle based on the delay information, and determines the position information of the unmanned aerial vehicle based on the location point and the communication distance.
  • the location point is a location on a path along which the user carries the terminal device.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when the computer program is executed:
  • a feedback signal is sent to the terminal device, so that the terminal device determines the location point corresponding to the feedback signal and determines the delay information of the signal transmission with the UAV , And make the terminal device determine the communication distance with the unmanned aerial vehicle according to the delay information, and determine the position information of the unmanned aerial vehicle according to the location point and the communication distance.
  • the location point is a location on a path along which the user carries the terminal device.
  • the flight system provided by an embodiment of the present specification, as shown in FIG. 2, includes the aforementioned terminal equipment and the aforementioned unmanned aerial vehicle.
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the method provided by the example.
  • the computer-readable storage medium may be the internal storage unit of the terminal device or the unmanned aerial vehicle described in any of the foregoing embodiments, for example, the hard disk or memory of the terminal device or the unmanned aerial vehicle.
  • the computer-readable storage medium may also be an external storage device of the terminal device or an unmanned aerial vehicle, such as a plug-in hard disk or a smart memory card (Smart Media Card, SMC) equipped on the terminal device or an unmanned aerial vehicle. , Secure Digital (SD) card, Flash Card (Flash Card), etc.
  • SD Secure Digital
  • Flash Card Flash Card

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Abstract

一种无人飞行器定位方法、终端设备以及无人飞行器，该方法包括:获取终端设备的至少一个位置点，以及获取终端设备在各位置点时和无人飞行器之间信号传输的延迟信息(S110)；根据各延迟信息确定各位置点和无人飞行器的通信距离(S120)；根据至少一个位置点和各位置点的通信距离确定无人飞行器的位置信息(S130)。

Description

无人飞行器定位方法、终端设备、以及无人飞行器 技术领域
本发明涉及无人飞行器定位技术领域，尤其涉及一种无人飞行器定位方法、终端设备以及无人飞行器。
背景技术
无人飞行器在飞行时，可能会由于电量过低或者其他意外因素自主降落或炸机。在此情况下，无人飞行器可以将炸机点或自主降落点的坐标推送给用户携带的移动终端或遥控器等终端设备。终端设备根据该坐标指示用户寻找无人飞行器。在寻找无人飞行器过程中，用户结合终端设备的位置信息，判断终端设备和炸机点的位置关系。
然而，无人飞行器在环境复杂的工作区炸机或自主降落时，随着无人飞行器高度的降低，无人飞行器的GPS信号可能会受到草丛、树林或山体等遮挡物的影响，可能出现无人飞行器与终端设备的通信断开的情形。该情形下获取的无人飞行器坐标是通信断链时的位置坐标，并非无人飞行器的实际坐标。而无人飞行器炸机后会因姿态、遮挡等不确定因素影响无人飞行器定位的准确性，甚至造成GPS失效，会使终端设备无法准确定位无人飞行器，致使用户难以快速找回无人飞行器，甚至找不到无人飞行器。
发明内容
基于此，本说明书提供了一种无人飞行器定位方法、终端设备以及无人飞行器，旨在解决现有的无人飞行器定位方法在无人飞行器GPS定位不准确时无法准确定位无人飞行器等技术问题。
第一方面，本说明书提供了一种无人飞行器定位方法，用于终端设备，所述方法包括：
获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位 置点时和无人飞行器之间信号传输的延迟信息，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置；
根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离；
根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
第二方面，本说明书提供了一种无人飞行器定位方法，用于无人飞行器，所述方法包括：
响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第三方面，本说明书提供了一种无人飞行器定位方法，用于无人飞行器，所述方法包括：
在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所述广播信号向所述无人飞行器发送终端信号；
响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第四方面，本说明书提供了一种无人飞行器定位方法，用于终端设备，所述方法包括：
接收无人飞行器发送的飞行器位置；
确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离；
获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离；
根据所述通信距离和所述定位距离判断所述飞行器位置是否有效；
若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第五方面，本说明书提供了一种终端设备，所述终端设备包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位置点时和无人飞行器之间信号传输的延迟信息，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置；
根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离；
根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
第六方面，本说明书提供了一种无人飞行器，所述无人飞行器包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第七方面，本说明书提供了一种无人飞行器，所述无人飞行器包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所述广播信号向所述无人飞行器发送终端信号；
响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第八方面，本说明书提供了一种终端设备，所述终端设备包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
接收无人飞行器发送的飞行器位置；
确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离；
获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离；
根据所述通信距离和所述定位距离判断所述飞行器位置是否有效；
若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
第九方面，本说明书提供了一种飞行系统，包括前述的终端设备，以及前述的无人飞行器。
第十方面，本说明书提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序可被处理器以实现上述的方法。
本说明书实施例提供了一种无人飞行器定位方法、终端设备、无人飞行器、 飞行系统及存储介质，通过获取终端设备和无人飞行器之间信号传输的延迟信息确定终端设备和无人飞行器之间的通信距离，然后根据该通信距离判断无人飞行器定位的飞行器位置是否有效；并可以在飞行器位置不准确或者终端设备无法从无人飞行器获取飞行器位置时，根据通信距离确定无人飞行器的位置信息。一方面可以提高定位精度，还能在无人飞行器GPS失效或者漂移过大时估计出无人飞行器的炸机点或者自主降落点，提升用户找到无人飞行器的成功率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本说明书的公开内容。
附图说明
为了更清楚地说明本说明书实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本说明书的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本说明书一实施例提供的用于终端设备的无人飞行器定位方法的流程示意图；
图2是终端设备和无人飞行器通信的示意图；
图3是一实施方式中根据位置点和通信距离确定无人飞行器的位置的示意图；
图4是另一实施方式中根据位置点和通信距离确定飞行器位置的示意图；
图5是用于终端设备的无人飞行器定位方法一实施方式的流程示意图；
图6是用于终端设备的无人飞行器定位方法另一实施方式的流程示意图；
图7是本说明书一实施例提供的用于无人飞行器的无人飞行器定位方法的流程示意图；
图8是用于无人飞行器的无人飞行器定位方法一实施方式的流程示意图；
图9是本说明书另一实施例提供的用于无人飞行器的无人飞行器定位方法的流程示意图；
图10是本说明书另一实施例提供的用于终端设备的无人飞行器定位方法的流程示意图；
图11是本说明书一实施例提供的一种终端设备的示意性框图；
图12是本说明书一实施例提供的一种无人飞行器的示意性框图。
具体实施方式
下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本说明书保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本说明书的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，图1是本说明书一实施例提供的一种无人飞行器定位方法的流程示意图。所述无人飞行器定位方法可以应用在终端设备中，用于终端设备确定飞行器位置等过程；其中终端设备可以包括手机、平板电脑、笔记本电脑、台式电脑、个人数字助理、穿戴式设备、遥控器等中的至少一项；无人飞行器可以为旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
进一步而言，如图2所示，终端设备和无人飞行器之间通过无线信道进行通信。
示例性的，如图2所示，终端设备可以显示无人飞行器的位置B以及终端设备的位置A。
如图1所示，本实施例无人飞行器定位方法包括步骤S110至步骤S130。
S110、获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位置点时和无人飞行器之间信号传输的延迟信息。
其中，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置。
具体的，终端设备搭载有定位装置，例如可以通过导航系统确定终端设备 的位置。
示例性的，若无人飞行器因炸机降落或者因低电量自主降落，可以将降落的地点推送到终端设备，则用户可以携带终端设备前去降落地点找寻无人飞行器。如图3所示，用户可以携带终端向无人飞行器移动的路径上包括位置点1、位置点2和位置点3。例如，用户从位置点1移动到位置点2，然后从位置点2移动到位置点3。
示例性的，如图3所示，终端设备在位置点1、位置点2和/或位置点3等至少一个位置点时，确定与无人飞行器之间的信号传输的延迟。例如，终端设备在位置点1时与无人飞行器之间的信号传输的延迟为T1，终端设备在位置点2时与无人飞行器之间的信号传输的延迟为T2。
示例性的，若无人飞行器因炸机降落或者因低电量降落，可以将降落的地点推送到终端设备，则用户可以携带终端设备前去降落地点找寻无人飞行器。用户携带终端设备移动的过程中，终端设备可以与无人飞行器通信，从而可以确定与无人飞行器之间的通信延迟。
示例性的，终端设备以一定的频率确定与无人飞行器之间信号传输的延迟信息。例如在某一周期时，终端设备在位置点1确定延迟为T1；在之后的某个周期时，终端设备在位置点2确定延迟为T2。
示例性的，无人飞行器在炸机降落或者因低电量降落之前，终端设备可以从无人飞行器获取到无人飞行器的定位，然后终端设备指引用户向这个定位位置行进。用户携带终端设备从位置点1移动到位置点2，然后又移动到位置点3。
在一些实施方式中，所述终端设备根据向所述无人飞行器发送终端信号的时刻和接收所述反馈信号的时刻确定所述延迟信息。
具体的，终端设备在需要确定与无人飞行器之间的通信延迟时向无人飞行器发送终端信号。所述无人飞行器响应于终端设备发送的终端信号，向所述终端设备发送反馈信号。终端设备根据发送终端信号和接收反馈信号的时间差确定和所述无人飞行器之间信号传输的延迟信息。该延迟包括信号从终端设备向无人飞行器传输的时间和信号从无人飞行器向终端设备传输的时间，因此终端设备和无人飞行器之间信号传输的延迟信息包括信号的往返时延(Round-Trip Time，RTT)。
示例性的，步骤S110中获取所述终端设备的位置点，包括确定所述反馈信 号对应的位置点。例如，发送所述终端信号时的位置或者接收所述反馈信号时的位置。
在一些实施方式中，无人飞行器在炸机或低电量降落状态时，发送广播信号。若终端设备接收到广播信号，则可以与无人飞行器建立通信连接。
与无人飞行器建立通信连接后，终端设备可以向所述无人飞行器发送终端信号，以使无人飞行器根据中断信号发送反馈信号。
无人飞行器在炸机或低电量降落状态时，通过发送数据量较小的广播信号，便于终端设备及时检测到无人飞行器并和无人飞行器建立通信，还使得无人飞行器可以保持低功耗，防止在未找到无人飞行器时无人飞行器就耗尽电量。
S120、根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离。
示例性的，通过检测发送包和接收包之间的时间间隔，可以更为精确计算出终端设备和无人飞行器之间的相对距离。
例如，对严格同步的通信系统，通过往返时延确定的终端设备和无人飞行器之间的往返距离最大误差为0.5个采样点对应的距离。例如采样频率fs为30Msps时，往返距离的估计误差最大为：0.5×c÷fs＝5米，其中c表示信号传输的速度，则终端设备和无人飞行器之间单程距离的最大估计误差为5÷2＝2.5米。
在一些实施方式中，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括：根据所述通信距离调整采样频率。
在一些实施方式中，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括：将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整采样频率。
示例性的，若终端设备在某位置点时和无人飞行器之间的通信距离大于预设的距离阈值，则终端设备和/或无人飞行器可以采用较小的采样频率；若随着用户向无人飞行器靠近而使终端设备在某位置点时和无人飞行器之间的通信距离小于该预设的距离阈值，则终端设备和/或无人飞行器可以采用较大的采样频率。从而，在用户距离无人飞行器的炸机点或自主降落点较远时，允许较大的距离误差，但终端设备和/或无人飞行器可以通过采用较小的采样频率降低能耗，延长终端设备和/或无人飞行器的续航时间；而在用户距离无人飞行器的炸机点 或自主降落点较近时，通终端设备和/或无人飞行器过采用较大的采样频率减少距离误差，增加距离判定和位置确定的精度。
在一些实施方式中，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括：根据所述通信距离调整与所述无人飞行器之间信号传输的信号频率。
在一些实施方式中，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括：将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整与所述终端设备之间信号传输的信号频率。
示例性的，若终端设备在某位置点时和无人飞行器之间的通信距离大于预设的距离阈值，则终端设备和/或无人飞行器可以采用较小的信号频率；若随着用户向无人飞行器靠近而使终端设备在某位置点时和无人飞行器之间的通信距离小于该预设的距离阈值，则终端设备和/或无人飞行器可以采用较大的信号频率。从而，在用户距离无人飞行器的炸机点或自主降落点较远时，终端设备和/或无人飞行器可以通过采用较小的信号频率降低能耗，延长终端设备和/或无人飞行器的续航时间。
示例性的，通信距离表示终端设备在一个位置点时，根据延迟信息确定的与无人飞行器之间的单程距离。
例如，如图3所示，位置点1与无人飞行器之间的通信距离为L1，位置点2与无人飞行器之间的通信距离为L2，位置点3与无人飞行器之间的通信距离为L3。
S130、根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
基于准确度较高的通信距离，终端设备可以更准确的确定无人飞行器的位置。即使无人飞行器搭载的定位装置失效或者定位不准时，终端设备也可以根据无人飞行器的位置信息引导用户前往无人飞行器的位置找到无人飞行器。
示例性的，若判定所述无人飞行器搭载的定位装置失效，则根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。示例性的，无人飞行器搭载的定位装置失效包括：无人飞行器和终端设备的通信断开而挖法获取无人飞行器搭载的定位装置确定的位置，或者无人飞行器搭 载的定位装置损坏或因遮挡等无法确定位置。
例如，若间隔预设时长未从所述无人飞行器获取到所述飞行器位置，判定所述无人飞行器搭载的定位装置失效。
例如，无人飞行器炸机或者低电量降落时，由于无人飞行器高度的降低，无人飞行器和终端设备之间的遮挡变多，经常出现通信断开的情况。或者无人飞行器的定位装置损坏或者因遮挡等无法确定飞行器位置。则该情况下通过无人飞行器定位装置获取的飞行器位置是通信断链时的位置坐标，并非无人飞行器的实际坐标。
示例性的，若判定所述飞行器位置失效，则根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，飞行器位置失效包括：无人飞行器的定位装置确定的飞行器位置漂移较大，不够准确。
例如，虽然无人飞行器可以和终端设备进行通信，无人飞行器的定位装置也可以确定飞行器位置，但是因为无人飞行器的姿态、遮挡等不确定因素，会影响无人飞行器获取最终落点的坐标准确性，漂移比较大。
在通信断开、无人飞行器的定位装置失效或者飞行器位置不准确的情况下，可以通过步骤S110至步骤S130确定所述无人飞行器的位置信息，而不依赖于通过无人飞行器定位装置确定无人飞行器的位置，且可以保证位置信息的较高准确性。
在一些实施方式中，在确定所述位置点和所述无人飞行器之间的通信距离之后，所述终端设备输出所述通信距离以提示用户当前与所述无人飞行器之间的距离。
示例性的，用户携带终端设备行至位置点2时，确定的通信距离为L2，则终端设备以显示和/或播放语音等方式输出距离L2。便于用户判断无人飞行器的位置。
在一些实施方式中，所述终端设备获取所述终端设备的至少三个位置点，根据至少三个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，如图3所示，根据位置点1、位置点2和位置点3的坐标，以及终端设备在位置点1时与无人飞行器的通信距离L1、在位置点2时与无人飞 行器的通信距离L2、在位置点3时与无人飞行器的通信距离L3确定一个交点，将该交点的坐标确定为无人飞行器的位置信息。
在另一些实施方式中，所述终端设备根据所述终端设备在至少一个所述位置点时所述无人飞行器相对于所述终端设备的方向，以及至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，如图4所示，终端设备根据位置点1、位置点2以及通信距离L1和通信距离L2确定了两个交点。终端设备在位置点2时检测到无人飞行器的方向如箭头所示，则可以确定图2中左侧的交点的坐标为无人飞行器的位置信息。
示例性的，所述无人飞行器也搭载定位装置，可以将通过定位装置确定的飞行器位置发送给终端设备。所述终端设备接收所述无人飞行器发送的飞行器位置，然后根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
例如，终端设备在位置点2时接收所述飞行器位置，则可以确定无人飞行器相对于位置点2的方向。
示例性的，无人飞行器定位方法还包括：所述终端设备在所述终端设备和所述无人飞行器之间进行信号传输时，根据传输的信号确定所述无人飞行器相对于所述终端设备的方向。
例如，终端设备可以检测到从无人飞行器接收信号的接收角度，从而可以确定无人飞行器相对于所述终端设备的方向。
示例性的，在终端设备对信号接收角度的检测精度较高时，终端设备可以根据一个位置点以及在该位置点时与无人飞行器之间的通信距离确定所述无人飞行器的位置信息。
在一些实施方式中，无人飞行器定位方法还包括：接收所述无人飞行器发送的飞行器位置，根据所述飞行器位置和所述终端设备的位置点确定所述位置点对应的定位距离。
具体的，无人飞行器通过所述无人飞行器搭载的定位装置确定飞行器位置，向所述终端设备发送所述飞行器位置。终端设备根据终端设备搭载的定位装置可以确定当前终端设备的位置点，从而可以确定当前与无人飞行器之间的定位 距离，即通过定位装置，如GPS确定的距离。
示例性的，无人飞行器定位方法还包括：根据所述定位距离和所述位置点对应的通信距离判断所述飞行器位置是否有效。
由于通信距离的准确性较高，因此可以根据通信距离去判断无人飞行器的定位装置是否失效或者定位不准。
示例性的，若所述定位距离和所述通信距离的差值大于预设的偏差阈值，判定所述飞行器位置失效；若所述定位距离和所述通信距离的差值不大于预设的偏差阈值，判定所述飞行器位置未失效。偏差阈值例如可以根据无人飞行器的飞行范围等确定。
示例性的，若判定所述飞行器位置失效，输出表示所述飞行器位置失效的提示信息，以提示用户无人飞行器的定位装置无法准确定位。
示例性的，若判定所述飞行器位置失效，输出步骤S130确定的所述无人飞行器的所述位置信息，以告知用户无人飞行器当前的准确位置，提示用户根据该位置信息寻找无人飞行器。
示例性的，若判定所述飞行器位置未失效，显示所述飞行器位置和所述终端设备的位置点。
如果飞行器位置未失效，则可以如图2所示，在终端设备显示飞行器位置B和终端设备的位置点A。示例性的，可以以较高频率刷新飞行器位置和终端设备的位置。
在一些实施方式中，如图5所示，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括步骤S140。
S140、将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率。
示例性的，将所述通信距离发送给所述无人飞行器，以使所述无人飞行器在所述通信距离减小时增大向所述终端设备发送所述飞行端信息的频率。
示例性的，若在用户携带终端设备靠近无人飞行器的过程中，某时刻的通信距离小于预设的阈值，则无人飞行器增大向所述终端设备发送所述飞行端信息的频率。
示例性的，为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时， 无人飞行器可以以较低的频率与终端设备进行通信，以节省电量，而当用户距离无人飞行器距离较近时，无人飞行器以较高的频率与终端设备进行通信，以使终端设备可以更及时的更新无人飞行器的位置信息，准确引导用户找到无人飞行器。
示例性的，无人飞行器获取飞行器电量信息，并根据所述飞行器电量信息和所述通信距离调整向所述终端设备发送飞行端信号的频率。
飞行器电量信息用于表示无人飞行器的剩余电量和/或剩余电量可以使用的时长。例如，若剩余电量越多，则可以以较高的频率发送飞行端信号。
示例性的，飞行端信号包括无人飞行器通过定位装置确定的飞行器位置。
例如，无人飞行器从所述终端设备获取所述通信距离，并根据所述通信距离调整确定飞行器位置的频率以及向终端设备发送所述飞行器位置的频率。
示例性的，飞行端信号包括无人飞行器发送的广播信号，无人飞行器可以根据所述通信距离调整发送所述广播信号的频率。
例如，无人飞行器在炸机或者低电量降落后，仅保持发送广播信号以降低功耗，以在终端设备检测到广播信号后发起与无人飞行器的通信连接。
示例性的，无人飞行器在所述通信距离减小时增大向所述终端设备发送所述广播信号的频率。
具体的，无人飞行器根据所述飞行器电量信息和所述通信距离调整发送所述广播信号的频率。例如，若剩余电量越多，则可以以较高的频率发送广播信号。通信距离越小，即用户越靠近无人飞行器时，增大向所述终端设备发送所述广播信号的频率。
在一些实施方式中，如图6所示，步骤S120根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离之后，还包括步骤S150。
S150、根据所述通信距离调整向所述无人飞行器发送终端信号的频率，以使所述无人飞行器根据所述终端信号调整向所述终端设备发送反馈信号的频率。
示例性的，终端设备向无人飞行器发送终端信号，所述无人飞行器响应于终端信号向所述终端设备发送反馈信号，以使所述终端设备确定与无人飞行器之间信号传输的延迟信息。
示例性的，在所述通信距离减小时增大向所述无人飞行器发送所述终端信号的频率。
示例性的，若在用户携带终端设备靠近无人飞行器的过程中，某时刻的通信距离小于预设的阈值，则终端设备增大向所述无人飞行器发送所述终端信号的频率。
为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时，终端设备可以以较低的频率向无人飞行器发送终端信号，从而降低无人飞行器发送反馈信号的频率，以节省电量。而当用户距离无人飞行器距离较近时，终端设备可以以较高的频率向无人飞行器发送终端信号，从而提高无人飞行器发送反馈信号的频率，以使终端设备可以更快的更新无人飞行器的位置信息，准确引导用户找到无人飞行器。
示例性的，终端设备还接收所述无人飞行器发送的飞行器电量信息，并根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
具体的，无人飞行器获取飞行器电量信息，将所述飞行器电量信息发送给所述终端设备。
示例性的，飞行器电量信息用于表示无人飞行器的剩余电量和/或剩余电量可以使用的时长。例如，若无人飞行器的剩余电量越多，则终端设备可以以较高的频率向无人飞行器发送终端信号，从而提高无人飞行器发送反馈信号的频率，以使终端设备可以及时的更新无人飞行器的位置信息。
本实施例提供的无人飞行器定位方法，通过获取终端设备的至少一个位置点，以及获取终端设备在各位置点时和无人飞行器之间信号传输的延迟信息；并根据延迟信息确定和无人飞行器之间的通信距离；以及根据至少一个位置点和各位置点对应的通信距离确定无人飞行器的位置信息。实现可以不依赖于无人飞行器定位装置确定无人飞行器的位置，且可以保证位置信息的较高准确性。
请结合上述实施例参阅图7，图7是本说明书一实施例提供的一种无人飞行器定位方法的流程示意图。所述无人飞行器定位方法可以应用在无人飞行器，用于与终端设备通信以便终端设备确定飞行器位置等过程。
如图7所示，所述无人飞行器定位方法包括步骤S210。
S210、响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器 之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息。
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
示例性的，终端设备在需要确定与无人飞行器之间的通信延迟时向无人飞行器发送终端信号。所述无人飞行器响应于终端设备发送的终端信号，向所述终端设备发送反馈信号。
终端设备根据发送终端信号和接收反馈信号的时间差确定和所述无人飞行器之间信号传输的延迟信息，并根据延迟信息确定和所述无人飞行器之间的通信距离。
示例性的，终端设备确定发送终端信号时所在的位置为无人飞行器反馈信号对应的位置点，或者终端设备确定接收到无人飞行器反馈信号时所在的位置为所述反馈信号对应的位置点。例如，如图3所示，位置点1与无人飞行器之间的通信距离为L1，位置点2与无人飞行器之间的通信距离为L2，位置点3与无人飞行器之间的通信距离为L3。
示例性的，终端设备根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，如图8所示，所述无人飞行器定位方法还包括步骤S220。
S220、获取飞行器电量信息，将所述飞行器电量信息发送给所述终端设备，以使所述终端设备根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时，终端设备可以以较低的频率向无人飞行器发送终端信号，从而降低无人飞行器发送反馈信号的频率，以节省电量。
示例性的，飞行器电量信息用于表示无人飞行器的剩余电量和/或剩余电量可以使用的时长。例如，若无人飞行器的剩余电量越多，则终端设备可以以较高的频率向无人飞行器发送终端信号，从而提高无人飞行器发送反馈信号的频率，以使终端设备可以及时的更新无人飞行器的位置信息。
在一些实施方式中，无人飞行器定位方法还包括：无人飞行器通过所述无 人飞行器搭载的定位装置确定飞行器位置，向所述终端设备发送所述飞行器位置。
示例性的，所述无人飞行器也搭载定位装置，可以将通过定位装置确定的飞行器位置发送给终端设备。所述终端设备接收所述无人飞行器发送的飞行器位置，然后根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
示例性的，终端设备根据终端设备搭载的定位装置可以确定当前终端设备的位置点，从而可以确定当前与无人飞行器之间的定位距离，即通过定位装置，如GPS确定的距离。
示例性的，终端设备还可以根据所述定位距离和所述位置点对应的通信距离判断所述飞行器位置是否有效。由于通信距离的准确性较高，因此可以根据通信距离去判断无人飞行器的定位装置是否失效或者定位不准。
在一些实施方式中，无人飞行器定位方法还包括：无人飞行器从所述终端设备获取所述通信距离，根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
示例性的，无人飞行器根据所述飞行器电量信息和所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
示例性的，在所述通信距离减小时增大确定飞行器位置和发送所述飞行器位置的频率。
例如，在无人飞行器的剩余电量较少时，降低确定飞行器位置的频率以及降低发送所述飞行器位置的频率；在通信距离较远时降低确定飞行器位置的频率以及降低发送所述飞行器位置的频率，以降低功耗。
本说明书实施例提供的用于无人飞行器的具体原理和实现方式均与前述实施例的用于终端设备的无人飞行器定位方法类似，此处不再赘述。
请结合上述实施例参阅图9，图9是本说明书一实施例提供的一种无人飞行器定位方法的流程示意图。所述无人飞行器定位方法可以应用在无人飞行器，用于与终端设备通信以便终端设备确定飞行器位置等过程。
如图9所示，所述无人飞行器定位方法包括步骤S310和步骤S320。
S310、在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所 述广播信号向所述无人飞行器发送终端信号。
在一些实施方式中，无人飞行器在炸机或低电量降落状态时，发送广播信号。若终端设备接收到广播信号，则可以与无人飞行器建立通信连接。与无人飞行器建立通信连接后，终端设备可以向所述无人飞行器发送终端信号，以使无人飞行器根据中断信号发送反馈信号。
根据所述广播信号向所述无人飞行器发送终端信号，以使无人飞行器根据中断信号发送反馈信号。
S320、响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息。
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
示例性的，终端设备在需要确定与无人飞行器之间的通信延迟时向无人飞行器发送终端信号。所述无人飞行器响应于终端设备发送的终端信号，向所述终端设备发送反馈信号。终端设备根据发送终端信号和接收反馈信号的时间差确定和所述无人飞行器之间信号传输的延迟信息，并根据延迟信息确定和所述无人飞行器之间的通信距离。
示例性的，终端设备确定发送终端信号时所在的位置为无人飞行器反馈信号对应位置点，终端设备根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
在一些实施方式中，所述无人飞行器定位方法还包括：从所述终端设备获取所述通信距离，根据所述通信距离调整向所述终端设备发送飞行端信息的频率。
示例性的，为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时，无人飞行器可以以较低的频率与终端设备进行通信，以节省电量，而当用户距离无人飞行器距离较近时，无人飞行器以较高的频率与终端设备进行通信，以使终端设备可以更及时的更新无人飞行器的位置信息，准确引导用户找到无人飞行器。
在一些实施方式中，飞行端信号包括无人飞行器发送的广播信号，所述无人飞行器定位方法还包括：无人飞行器根据所述通信距离调整发送所述广播信号的频率。
示例性的，无人飞行器在所述通信距离减小时增大向所述终端设备发送所述广播信号的频率。
示例性的，为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时，无人飞行器可以以较低的频率与终端设备进行通信，以节省电量，而当用户距离无人飞行器距离较近时，无人飞行器以较高的频率与终端设备进行通信，以使终端设备可以更及时的更新无人飞行器的位置信息，准确引导用户找到无人飞行器。
示例性的，无人飞行器获取飞行器电量信息，并根据所述飞行器电量信息和所述通信距离调整发送所述广播信号的频率。
例如，无人飞行器在炸机或者低电量降落后，仅保持发送广播信号以降低功耗，以在终端设备检测到广播信号后发起与无人飞行器的通信连接。
在一些实施方式中，所述无人飞行器定位方法还包括：无人飞行器获取飞行器电量信息，将所述飞行器电量信息发送给所述终端设备，以使所述终端设备根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
例如，若无人飞行器的剩余电量越多，则终端设备可以以较高的频率向无人飞行器发送终端信号，从而提高无人飞行器发送反馈信号的频率，以使终端设备可以及时的更新无人飞行器的位置信息。
在一些实施方式中，所述无人飞行器定位方法还包括：无人飞行器通过所述无人飞行器搭载的定位装置确定飞行器位置，向所述终端设备发送所述飞行器位置。
示例性的，所述终端设备接收所述无人飞行器发送的飞行器位置，然后根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
示例性的，终端设备根据终端设备搭载的定位装置可以确定当前终端设备的位置点，从而可以确定当前与无人飞行器之间的定位距离，即通过定位装置， 如GPS确定的距离。
示例性的，终端设备还可以根据所述定位距离和所述位置点对应的通信距离判断所述飞行器位置是否有效。由于通信距离的准确性较高，因此可以根据通信距离去判断无人飞行器的定位装置是否失效或者定位不准。
示例性的，所述无人飞行器定位方法还包括：根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
示例性的，无人飞行器在所述通信距离减小时增大确定飞行器位置和发送所述飞行器位置的频率。
例如，无人飞行器在通信距离较远时降低确定飞行器位置的频率以及降低发送所述飞行器位置的频率，以降低功耗。在通信距离较近时增大发送飞行器位置的频率。
示例性的，根据所述飞行器电量信息和所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
例如，在无人飞行器的剩余电量较少时，降低确定飞行器位置的频率以及降低发送所述飞行器位置的频率，以降低功耗。
本说明书实施例提供的用于无人飞行器的具体原理和实现方式均与前述实施例的用于终端设备的无人飞行器定位方法类似，此处不再赘述。
请结合上述实施例参阅图10，图10是本说明书一实施例提供的一种无人飞行器定位方法的流程示意图。所述无人飞行器定位方法可以应用在终端设备，用于终端设备确定飞行器位置等过程。
如图10所示，无人飞行器定位方法包括步骤S410至步骤S450。
S410、接收无人飞行器发送的飞行器位置。
示例性的，无人飞行器炸机或者低电量降落后，终端设备可能与无人飞行器断开通信连接，或者无人飞行器的定位装置无法定位，但终端设备仍可以获取无人飞行器在某一时刻的飞行器位置。
示例性的，无人飞行器炸机或者低电量降落后，终端设备仍可与无人飞行器通信连接，无人飞行器仍可确定飞行器位置和向终端设备发送飞行器位置。
示例性的，无人飞行器炸机或者低电量降落后，终端设备根据某一时刻的飞行器位置前往无人飞行器落点附近区域。若无人飞行器的通信装置仍能正常工作，则终端设备可以和无人飞行器在几十米到几公里不等的距离上恢复通信。
示例性的，无人飞行器可以向终端设备发送最新的飞行器位置，终端设备可以获取最新的飞行器位置。
S420、确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离。
示例性的，终端设备搭载有定位装置，例如可以通过导航系统实时确定终端设备的位置。
示例性的，终端设备可以将显示通过定位装置确定的位置点以及从无人飞行器获取的飞行器位置进行显示，如图2所示，以显示无人飞行器和用户之间的相对位置。
示例性的，终端设备根据实时的位置点和从无人飞行器接收的最新的飞行器位置确定所述位置点对应的定位距离d。
S430、获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离。
示例性的，终端设备获取当前时刻与无人飞行器之间信号传输的延迟信息，然后根据该延迟信息确定和无人飞行器之间的通信距离。
示例性的，所述终端设备根据向所述无人飞行器发送终端信号的时刻和接收所述反馈信号的时刻确定所述延迟信息。
例如，终端设备在位置点1时与无人飞行器之间的信号传输的延迟为T1，终端设备在位置点2时与无人飞行器之间的信号传输的延迟为T2。位置点1与无人飞行器之间的通信距离为L1，位置点2与无人飞行器之间的通信距离为L2，位置点3与无人飞行器之间的通信距离为L3。
在一些实施方式中，在确定所述位置点和所述无人飞行器之间的通信距离之后，所述终端设备输出所述通信距离以提示用户当前与所述无人飞行器之间的距离。
S440、根据所述通信距离和所述定位距离判断所述飞行器位置是否有效。
由于通信距离的准确性较高，因此可以根据通信距离去判断无人飞行器的定位装置是否失效或者定位不准。
示例性的，若所述定位距离和所述通信距离的差值大于预设的偏差阈值，判定所述飞行器位置失效；若所述定位距离和所述通信距离的差值不大于预设 的偏差阈值，判定所述飞行器位置未失效。偏差阈值例如可以根据无人飞行器的飞行范围等确定。
示例性的，若判定所述飞行器位置失效，输出表示所述飞行器位置失效的提示信息，以提示用户无人飞行器的定位装置无法准确定位。
示例性的，若判定所述飞行器位置未失效，显示从无人飞行器获取的飞行器位置和所述终端设备的位置点，如图2所示。
S450、若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息。
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
示例性的，若判定所述飞行器位置失效，输出步骤S450确定的所述无人飞行器的所述位置信息，以告知用户无人飞行器当前的准确位置，提示用户根据该位置信息寻找无人飞行器。
基于准确度较高的通信距离，终端设备可以更准确的确定无人飞行器的位置。即使无人飞行器搭载的定位装置失效或者定位不准时，终端设备也可以根据无人飞行器的位置信息引导用户前往无人飞行器的位置找到无人飞行器。
示例性的，所述终端设备获取所述终端设备的至少三个位置点，根据至少三个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，所述终端设备根据所述终端设备在至少一个所述位置点时所述无人飞行器相对于所述终端设备的方向，以及至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，所述终端设备根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
示例性的，所述终端设备在所述终端设备和所述无人飞行器之间进行信号传输时，根据传输的信号确定所述无人飞行器相对于所述终端设备的方向。
在一些实施方式中，无人飞行器定位方法还包括：终端设备将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率。
示例性的，终端设备将所述通信距离发送给所述无人飞行器，以使所述无人飞行器在所述通信距离减小时增大向所述终端设备发送所述飞行端信息的频率。
示例性的，为了保证在用户到达无人飞行器落点之前，无人飞行器有足够的电量可以支撑与终端设备之间的通信，在用户距离无人飞行器距离较远时，无人飞行器可以以较低的频率与终端设备进行通信，以节省电量，而当用户距离无人飞行器距离较近时，无人飞行器以较高的频率与终端设备进行通信，以使终端设备可以更及时的更新无人飞行器的位置信息，准确引导用户找到无人飞行器。
示例性的，终端设备将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述飞行器电量信息和所述通信距离调整向所述终端设备发送飞行端信息的频率。在一些实施方式中，终端设备根据所述通信距离调整向所述无人飞行器发送终端信号的频率，以使所述无人飞行器根据所述终端信号调整向所述终端设备发送反馈信号的频率。
示例性的，终端设备向无人飞行器发送终端信号，所述无人飞行器响应于终端信号向所述终端设备发送反馈信号，以使所述终端设备确定与无人飞行器之间信号传输的延迟信息。
示例性的，在所述通信距离减小时增大向所述无人飞行器发送所述终端信号的频率。
具体的，终端设备从无人飞行器接收所述无人飞行器发送的飞行器电量信息，根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
本说明书实施例提供的用于终端设备的无人飞行器定位方法具体原理和实现方式部分与前述实施例的无人飞行器定位方法类似，此处不再赘述。
本说明书实施例提供的用于终端设备的无人飞行器定位方法，通过获取终端设备和无人飞行器之间信号传输的延迟信息确定终端设备和无人飞行器之间的通信距离，然后根据该通信距离判断无人飞行器定位的飞行器位置是否有效；并可以在飞行器位置不准确或者终端设备无法从无人飞行器获取飞行器位置时，根据通信距离确定无人飞行器的位置信息。一方面可以提高定位精度，还能在无人飞行器GPS失效或者漂移过大时估计出无人飞行器的炸机点或者自主降落 点，提升用户找到无人飞行器的成功率。
请结合上述实施例参阅图11，图11是本说明书一实施例提供的终端设备600的示意性框图。该终端设备600包括处理器601和存储器602。
示例性的，处理器601和存储器602通过总线603连接，该总线603比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器601可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器602可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现前述的用于终端设备的无人飞行器定位方法。
示例性的，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现如下步骤：
获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位置点时和无人飞行器之间信号传输的延迟信息，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置；
根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离；
根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
示例性的，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现如下步骤：
接收无人飞行器发送的飞行器位置；
确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离；
获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离；
根据所述通信距离和所述定位距离判断所述飞行器位置是否有效；
若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无 人飞行器的位置信息；
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
本说明书实施例提供的终端设备的具体原理和实现方式均与前述实施例的用于终端设备的无人飞行器定位方法类似，此处不再赘述。
请参阅图12，图12是本说明书一实施例提供的无人飞行器700的示意性框图。该无人飞行器700包括处理器701和存储器702。
示例性的，处理器701和存储器702通过总线703连接，该总线703比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器701可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器702可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器701用于运行存储在存储器702中的计算机程序，并在执行所述计算机程序时实现前述的用于无人飞行器的无人飞行器定位方法。
示例性的，所述处理器701用于运行存储在存储器702中的计算机程序，并在执行所述计算机程序时实现如下步骤：
响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息。
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
示例性的，所述处理器701用于运行存储在存储器702中的计算机程序，并在执行所述计算机程序时实现如下步骤：
在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所述广播信号向所述无人飞行器发送终端信号；
响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人 飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息。
其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
本说明书实施例提供的无人飞行器的具体原理和实现方式均与前述实施例的用于无人飞行器的无人飞行器定位方法类似，此处不再赘述。
本说明书一实施例提供的飞行系统，如图2所示，该飞行系统包括前述的终端设备，以及前述的无人飞行器。
本说明书的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的终端设备或无人飞行器的内部存储单元，例如所述终端设备或无人飞行器的硬盘或内存。所述计算机可读存储介质也可以是所述终端设备或无人飞行器的外部存储设备，例如所述终端设备或无人飞行器上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
应当理解，在此本说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本说明书。
还应当理解，在本说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本说明书的具体实施方式，但本说明书的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本说明书揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本说明书的保护范围之内。因此，本说明书的保护范围应以权利要求的保护范围为准。

Claims (57)

  1. 一种无人飞行器定位方法，用于终端设备，其特征在于，所述方法包括：
    获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位置点时和无人飞行器之间信号传输的延迟信息，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置；
    根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离；
    根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，获取所述终端设备的至少三个位置点，根据至少三个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  3. 根据权利要求1所述的方法，其特征在于，所述根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息，包括：
    根据所述终端设备在至少一个所述位置点时所述无人飞行器相对于所述终端设备的方向，以及至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  4. 根据权利要求3所述的方法，其特征在于，还包括：
    接收所述无人飞行器发送的飞行器位置，所述飞行器位置是所述无人飞行器搭载的定位装置确定的；
    根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
  5. 根据权利要求3所述的方法，其特征在于，还包括：
    在所述终端设备和所述无人飞行器之间进行信号传输时，根据传输的信号确定所述无人飞行器相对于所述终端设备的方向。
  6. 根据权利要求1所述的方法，其特征在于，所述确定所述位置点和所述无人飞行器之间的通信距离之后，包括：
    输出所述通信距离以提示用户当前与所述无人飞行器之间的距离。
  7. 根据权利要求1或6所述的方法，其特征在于，还包括：
    接收所述无人飞行器发送的飞行器位置；
    根据所述飞行器位置和所述终端设备的位置点确定所述位置点对应的定位距离。
  8. 根据权利要求7所述的方法，其特征在于，还包括：
    根据所述定位距离和所述位置点对应的通信距离判断所述飞行器位置是否有效。
  9. 根据权利要求8所述的方法，其特征在于，还包括：
    若判定所述飞行器位置失效，输出表示所述飞行器位置失效的提示信息和/或所述无人飞行器的所述位置信息。
  10. 根据权利要求8所述的方法，其特征在于，还包括：
    若判定所述飞行器位置未失效，显示所述飞行器位置和所述终端设备的位置点。
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述定位距离和所述位置点对应的通信距离判断所述飞行器位置是否有效，包括：
    若所述定位距离和所述通信距离的差值大于预设的偏差阈值，判定所述飞行器位置失效；
    若所述定位距离和所述通信距离的差值不大于预设的偏差阈值，判定所述飞行器位置未失效。
  12. 根据权利要求1所述的方法，其特征在于，还包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率。
  13. 根据权利要求12所述的方法，其特征在于，所述将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率，包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述飞行器电量信息和所述通信距离调整向所述终端设备发送飞行端信息的频率。
  14. 根据权利要求12所述的方法，其特征在于，所述将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率，包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器在所述通信 距离减小时增大向所述终端设备发送所述飞行端信息的频率。
  15. 根据权利要求1所述的方法，其特征在于，还包括：
    根据所述通信距离调整向所述无人飞行器发送终端信号的频率，以使所述无人飞行器根据所述终端信号调整向所述终端设备发送反馈信号的频率。
  16. 根据权利要求15所述的方法，其特征在于，还包括：
    接收所述无人飞行器发送的飞行器电量信息；
    所述根据所述通信距离调整向所述无人飞行器发送终端信号的频率，包括：
    根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
  17. 根据权利要求15所述的方法，其特征在于，所述根据所述通信距离调整向所述无人飞行器发送终端信号的频率，包括：
    在所述通信距离减小时增大向所述无人飞行器发送所述终端信号的频率。
  18. 根据权利要求15所述的方法，其特征在于，所述获取所述延迟信息，包括：
    根据向所述无人飞行器发送终端信号的时刻和接收所述反馈信号的时刻确定所述延迟信息。
  19. 根据权利要求1所述的方法，其特征在于，若判定所述飞行器位置失效，则根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  20. 根据权利要求1所述的方法，其特征在于，若判定所述无人飞行器搭载的定位装置失效，则根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  21. 根据权利要求20所述的方法，其特征在于，还包括：
    若间隔预设时长未从所述无人飞行器获取到所述飞行器位置，判定所述无人飞行器搭载的定位装置失效。
  22. 一种无人飞行器定位方法，用于无人飞行器，其特征在于，所述方法包括：
    响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行 器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  23. 根据权利要求22所述的方法，其特征在于，还包括：
    获取飞行器电量信息，将所述飞行器电量信息发送给所述终端设备，以使所述终端设备根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
  24. 根据权利要求22或23所述的方法，其特征在于，还包括：
    通过所述无人飞行器搭载的定位装置确定飞行器位置，向所述终端设备发送所述飞行器位置。
  25. 根据权利要求24所述的方法，其特征在于，还包括：
    从所述终端设备获取所述通信距离，根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
  26. 根据权利要求25所述的方法，其特征在于，所述根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率，包括：
    根据所述飞行器电量信息和所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
  27. 根据权利要求25所述的方法，其特征在于，所述根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率，包括：
    在所述通信距离减小时增大确定飞行器位置和发送所述飞行器位置的频率。
  28. 一种无人飞行器定位方法，用于无人飞行器，其特征在于，所述方法包括：
    在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所述广播信号向所述无人飞行器发送终端信号；
    响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  29. 根据权利要求28所述的方法，其特征在于，还包括：
    从所述终端设备获取所述通信距离，根据所述通信距离调整发送所述广播信号的频率。
  30. 根据权利要求29所述的方法，其特征在于，所述根据所述通信距离调整发送所述广播信号的频率，包括：
    根据所述飞行器电量信息和所述通信距离调整发送所述广播信号的频率。
  31. 根据权利要求29所述的方法，其特征在于，所述根据所述通信距离调整发送所述广播信号的频率，包括：
    在所述通信距离减小时增大向所述终端设备发送所述广播信号的频率。
  32. 根据权利要求28-31中任一项所述的方法，其特征在于，还包括：
    获取飞行器电量信息，将所述飞行器电量信息发送给所述终端设备，以使所述终端设备根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
  33. 根据权利要求28-31中任一项所述的方法，其特征在于，还包括：
    通过所述无人飞行器搭载的定位装置确定飞行器位置，向所述终端设备发送所述飞行器位置。
  34. 根据权利要求33所述的方法，其特征在于，还包括：
    根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
  35. 根据权利要求34所述的方法，其特征在于，所述根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率，包括：
    根据所述飞行器电量信息和所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率。
  36. 根据权利要求34所述的方法，其特征在于，所述根据所述通信距离调整确定飞行器位置和发送所述飞行器位置的频率，包括：
    在所述通信距离减小时增大确定飞行器位置和发送所述飞行器位置的频率。
  37. 一种无人飞行器定位方法，用于终端设备，其特征在于，所述方法包括：
    接收无人飞行器发送的飞行器位置；
    确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离；
    获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟 信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离；
    根据所述通信距离和所述定位距离判断所述飞行器位置是否有效；
    若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  38. 根据权利要求37所述的方法，其特征在于，所述确定所述终端设备和所述无人飞行器之间的通信距离之后，包括：
    输出所述通信距离以提示用户当前与所述无人飞行器之间的距离。
  39. 根据权利要求37所述的方法，其特征在于，所述根据所述通信距离和所述定位距离判断所述飞行器位置是否有效，包括：
    若所述定位距离和所述通信距离的差值大于预设的偏差阈值，判定所述飞行器位置失效；
    若所述定位距离和所述通信距离的差值不大于预设的偏差阈值，判定所述飞行器位置未失效。
  40. 根据权利要求37所述的方法，其特征在于，还包括：
    若判定所述飞行器位置失效，输出表示所述飞行器位置失效的提示信息和/或所述无人飞行器的所述位置信息。
  41. 根据权利要求37所述的方法，其特征在于，还包括：
    若判定所述飞行器位置未失效，显示所述飞行器位置和所述终端设备的位置点。
  42. 根据权利要求37所述的方法，其特征在于，所述根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息，包括：
    根据所述终端设备的至少三个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  43. 根据权利要求37所述的方法，其特征在于，所述根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息，包括：
    根据所述终端设备在至少一个所述位置点时所述无人飞行器相对于所述终 端设备的方向，以及至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  44. 根据权利要求43所述的方法，其特征在于，还包括：
    根据所述终端设备接收所述飞行器位置时的位置点和所述飞行器位置确定所述终端设备在所述位置点时所述无人飞行器相对于所述终端设备的方向。
  45. 根据权利要求44所述的方法，其特征在于，还包括：
    在所述终端设备和所述无人飞行器之间进行信号传输时，根据传输的信号确定所述无人飞行器相对于所述终端设备的方向。
  46. 根据权利要求37所述的方法，其特征在于，还包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率。
  47. 根据权利要求46所述的方法，其特征在于，所述将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率，包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述飞行器电量信息和所述通信距离调整向所述终端设备发送飞行端信息的频率。
  48. 根据权利要求46所述的方法，其特征在于，所述将所述通信距离发送给所述无人飞行器，以使所述无人飞行器根据所述通信距离调整向所述终端设备发送飞行端信息的频率，包括：
    将所述通信距离发送给所述无人飞行器，以使所述无人飞行器在所述通信距离减小时增大向所述终端设备发送所述飞行端信息的频率。
  49. 根据权利要求37所述的方法，其特征在于，还包括：
    根据所述通信距离调整向所述无人飞行器发送终端信号的频率，以使所述无人飞行器根据所述终端信号调整向所述终端设备发送反馈信号的频率。
  50. 根据权利要求49所述的方法，其特征在于，还包括：
    接收所述无人飞行器发送的飞行器电量信息；
    所述根据所述通信距离调整向所述无人飞行器发送终端信号的频率，包括：
    根据所述飞行器电量信息和所述通信距离调整向所述无人飞行器发送终端信号的频率。
  51. 根据权利要求49所述的方法，其特征在于，所述根据所述通信距离调 整向所述无人飞行器发送终端信号的频率，包括：
    在所述通信距离减小时增大向所述无人飞行器发送所述终端信号的频率。
  52. 根据权利要求49所述的方法，其特征在于，所述获取所述延迟信息，包括：
    根据向所述无人飞行器发送终端信号的时刻和接收所述反馈信号的时刻确定所述延迟信息。
  53. 一种终端设备，其特征在于，所述终端设备包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取所述终端设备的至少一个位置点，以及获取所述终端设备在各所述位置点时和无人飞行器之间信号传输的延迟信息，所述至少一个位置点是用户携带所述终端设备移动的路径上的至少一个位置
    根据各所述延迟信息确定各所述位置点和所述无人飞行器之间的通信距离；
    根据至少一个所述位置点和各所述位置点对应的通信距离确定所述无人飞行器的位置信息。
  54. 一种无人飞行器，其特征在于，所述无人飞行器包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    响应于终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  55. 一种无人飞行器，其特征在于，所述无人飞行器包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    在炸机或低电量降落状态时，发送广播信号，以使终端设备根据所述广播信号向所述无人飞行器发送终端信号；
    响应于所述终端设备发送的终端信号，向所述终端设备发送反馈信号，以使所述终端设备确定所述反馈信号对应的位置点以及确定和所述无人飞行器之间信号传输的延迟信息，并使所述终端设备根据所述延迟信息确定和所述无人飞行器之间的通信距离，以及根据所述位置点和所述通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  56. 一种终端设备，其特征在于，所述终端设备包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    接收无人飞行器发送的飞行器位置；
    确定所述终端设备的位置点，根据所述位置点和所述飞行器位置确定所述位置点对应的定位距离；
    获取所述终端设备在所述位置点时和所述无人飞行器之间信号传输的延迟信息，根据所述延迟信息确定所述终端设备和所述无人飞行器之间的通信距离；
    根据所述通信距离和所述定位距离判断所述飞行器位置是否有效；
    若判定所述飞行器位置失效，根据所述终端设备的至少一个位置点，以及所述终端设备在各所述位置点时和所述无人飞行器之间的通信距离确定所述无人飞行器的位置信息；
    其中，所述位置点是用户携带所述终端设备移动的路径上的位置。
  57. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现：
    如权利要求1-52任一项所述的方法。
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