WO2021081773A1 - Movable platform positioning method and device, and movable platform - Google Patents

Movable platform positioning method and device, and movable platform Download PDF

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Publication number
WO2021081773A1
WO2021081773A1 PCT/CN2019/114097 CN2019114097W WO2021081773A1 WO 2021081773 A1 WO2021081773 A1 WO 2021081773A1 CN 2019114097 W CN2019114097 W CN 2019114097W WO 2021081773 A1 WO2021081773 A1 WO 2021081773A1
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WO
WIPO (PCT)
Prior art keywords
navigation information
historical navigation
movable platform
satellite
storage device
Prior art date
Application number
PCT/CN2019/114097
Other languages
French (fr)
Chinese (zh)
Inventor
张岩松
李佳乘
潘国秀
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980038500.5A priority Critical patent/CN112292615A/en
Priority to PCT/CN2019/114097 priority patent/WO2021081773A1/en
Publication of WO2021081773A1 publication Critical patent/WO2021081773A1/en

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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver

Definitions

  • the present invention relates to the field of control technology, in particular to a positioning method, equipment and a movable platform of a movable platform.
  • mobile platforms such as drones
  • the satellite positioning receiver can provide more accurate positioning when the signal is received. Otherwise, the mobile platform will continue to wait until it searches for satellites that meet the preset number threshold. It can be seen that after the mobile platform is powered on, it takes a long time to search and locate the satellite, and how to achieve rapid positioning is a technical problem that needs to be solved urgently.
  • the embodiments of the present invention provide a positioning method, equipment and a movable platform for a movable platform, which can realize rapid positioning of the movable platform.
  • the first aspect of the embodiments of the present invention provides a positioning method of a movable platform, the movable platform includes a satellite positioning receiver, and the method includes:
  • the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
  • the satellite positioning receiver is controlled to perform a satellite search operation.
  • a second aspect of the embodiments of the present invention provides a positioning device of a movable platform, and the positioning device of the movable platform includes a local storage device, a processor, and a satellite positioning receiver;
  • the satellite positioning receiver is used to obtain historical navigation data
  • the local storage device is used to store the historical navigation information and program code
  • the processor is used to call the program instructions to perform the following operations:
  • the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
  • the satellite positioning receiver is controlled to perform a satellite search operation.
  • a third aspect of the embodiments of the present invention provides a movable platform, which includes:
  • a power system installed on the fuselage and used to provide power for the control terminal
  • the movable platform when the movable platform detects the power-on operation of the movable platform, it may first obtain the historical navigation information of the satellite positioning receiver from the local storage device of the movable platform. Further, The satellite used for positioning the movable platform can be determined according to the historical navigation information, and when the determined number of satellites meets a preset threshold, it is determined that the movable platform completes the satellite search operation, so that the The mobile platform can search for stars based on historical navigation information after being powered on, which realizes rapid positioning of the movable platform based on historical navigation information, and can improve the efficiency of searching for stars of the mobile platform.
  • FIG. 1 is a schematic flowchart of a method for positioning a movable platform according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for positioning a movable platform according to another embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of storing historical navigation information according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of obtaining historical navigation information according to an embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of a positioning device of a movable platform according to an embodiment of the present invention.
  • the built-in satellite positioning receiver can provide accurate positioning services for the drone during the flight of the drone, wherein the satellite The positioning accuracy of the positioning receiver is within 1 meter, and the positioning accuracy refers to the position difference between the position of the drone determined by the satellite positioning receiver and the actual position of the drone. If the UAV encounters obstruction during the flight, the navigation signal becomes weak, or the navigation signal completely disappears due to the sudden turn off of the satellite positioning receiver, in order to avoid the crash caused by the rapid descent of the UAV The problem is that the UAV can maintain the attitude mode to fly when the navigation signal becomes weak or the signal is lost. When the UAV is in the attitude mode, it may drift due to the influence of the wind, causing the UAV to leave. The aircraft blows up or crashes due to the advance flight trajectory.
  • the satellite positioning receiver when the drone is powered on again after power failure, the satellite positioning receiver will initialize and perform the satellite search operation. If the satellite positioning receiver built in the drone has a slower satellite search operation, so The aforementioned drone will also take off in the attitude mode, and the drone that takes off in the attitude mode cannot obtain more accurate position information, so that the drone may deviate from the flight route set by the user and affect the user experience.
  • an embodiment of the present invention provides a positioning method for a movable platform , Can improve the speed of searching and positioning the mobile platform, so that the mobile platform can quickly perform satellite positioning after power off and restart, so that the mobile platform can be quickly started after power off and restart.
  • the mobile platform when the mobile platform detects a power-on operation, it needs to initialize a satellite positioning receiver first, where the satellite positioning receiver may be, for example, a global positioning system (Global Positioning System) receiver.
  • the satellite positioning receiver may be, for example, a global positioning system (Global Positioning System) receiver.
  • the local storage device may be, for example, a flash memory (Flash) device or a storage hard disk.
  • the mobile platform can obtain navigation information in real time during operation, so that the obtained navigation information can be stored in a local storage device (for example, the obtained navigation information can be stored in a first-in first-out manner).
  • a local storage device for example, the obtained navigation information can be stored in a first-in first-out manner.
  • the acquired positioning data for positioning the mobile platform can be processed in the form of a data packet Storage, that is, the positioning data can be stored in one or more ephemeris data packets, so that the mobile platform can obtain the historical navigation information of the satellite positioning receiver from the local storage device.
  • All the stored ephemeris data packages are acquired in the local storage device, so that the positioning information of the movable platform can be determined based on all the acquired ephemeris data packages, and the historical navigation information of the movable platform can also be determined .
  • the mobile platform Before the mobile platform acquires navigation information during operation and stores the acquired navigation information in the local storage device, in order to determine whether the currently acquired navigation information is valid, where the navigation information is valid is Means that the difference between the positioning position of the movable platform determined according to the navigation information and the actual position of the movable platform is less than or equal to the preset position difference threshold.
  • the movable platform can be determined according to The navigation information indicates the number of satellites that provide positioning services for the mobile platform to determine whether the navigation information is valid, wherein the navigation information indicates that the number of satellites that provide positioning services for the mobile platform is less than or When the number is equal to the preset number threshold, the mobile platform determines that the currently acquired navigation information is invalid, and when the navigation information indicates that the number of satellites providing positioning services for the mobile platform is greater than the preset number threshold, it determines that The navigation information currently acquired by the movable platform is valid, and the preset number threshold may be, for example, 6 or 7, and so on.
  • the mobile platform When the preset number threshold is 7, the mobile platform only determines that the number of satellites that provide positioning services for the mobile platform is 8 or more based on the currently acquired navigation information, the mobile platform determines the currently acquired The navigation information is valid, and the currently acquired navigation information is stored in the local storage device.
  • the mobile platform when the mobile platform stores the currently acquired navigation information in a local storage device, it may store the currently acquired navigation information in the form of a data packet, wherein the The mobile platform may separately store navigation information in one or more data packets, and the one or more data packets used to store the navigation information may be referred to as ephemeris data packets.
  • the mobile platform obtains historical navigation information from the local storage device, it can obtain the stored ephemeris data package from the local system, and obtain the ephemeris data from the local storage system on the mobile platform.
  • the mobile platform may first determine the number of the ephemeris data packets acquired, and compare the number with the number of the ephemeris data packets corresponding to when the mobile platform stores navigation information.
  • the number of ephemeris data packets obtained by the mobile platform is equal to the number of ephemeris data packets corresponding to when the mobile platform stores navigation information.
  • the historical navigation information is used to search for satellites. When the mobile platform is powered on, and the number of satellites meeting the preset number is successfully searched, the mobile platform can be controlled to operate.
  • FIG. 1 is a schematic flowchart of a method for positioning a movable platform according to an embodiment of the present invention. As shown in FIG. 1, the method includes:
  • the power-on of the movable platform means that the satellite positioning receiver of the movable platform is powered on, and the movable platform can be positioned. Therefore, the power-on operation of the movable platform Including: after the mobile platform is powered off, restarting and starting operation, such as power-on operation, etc., or the power-on operation also includes: restarting the mobile platform after the navigation signal is lost during operation. Obtain the operation of the navigation signal. After the power-on operation is detected by the movable platform, the movable platform needs to perform satellite search and positioning to determine the operating position of the movable platform, so as to avoid the loss of the movable platform.
  • the power-on operation is an operation in which the movable platform is powered off and restarted
  • the movable platform after the movable platform is powered on, it needs to perform satellite search and locate the current position of the movable platform before triggering
  • the operation of the movable platform is to ensure the safety of the movable platform during operation.
  • the movable platform may be a drone, an unmanned car, or an intelligent robot, etc.
  • the mobile platform after the mobile platform detects the power-on operation, in order to enable the mobile platform to quickly perform satellite search and positioning to determine the current position of the mobile platform, the mobile platform
  • the historical navigation information of the satellite positioning receiver can be obtained from a local storage device, wherein the historical navigation information is obtained by the satellite positioning receiver at a historical moment before the power-on operation, and the historical navigation information is The effective navigation information that satisfies the preset search and positioning conditions, that is, the number of satellites used to provide positioning services for the mobile platform indicated by the historical navigation information is greater than a preset number threshold.
  • the number threshold may be, for example, 7. Etc., that is, the historical navigation information is navigation information indicating that the number of satellites providing positioning services for the mobile platform at the historical moment is 8 or more.
  • the The mobile platform will not store the navigation information of the historical moment in the local storage device. For example, if the navigation information obtained by the satellite positioning receiver included in the mobile platform at a historical moment indicates that the number of satellites providing positioning services for the mobile platform at the historical moment is 3, the mobile platform It is determined that the positioning at this historical moment is not accurate, so the movable platform will not store navigation information at this historical moment.
  • the movable platform may also acquire the navigation information at the same time.
  • the acquisition time and the historical navigation information are stored together, so that when the mobile platform stores multiple navigation information, if a power-on operation of the mobile platform is detected, the mobile platform can be based on The acquisition time corresponding to the stored multiple pieces of historical navigation information is obtained from the local storage device at the time closest to the current time, so as to improve the star search efficiency of the mobile platform.
  • the mobile platform can also determine whether the historical navigation information acquired by the mobile platform is valid based on the acquisition time, and when determining that the historical navigation information is valid, determine to acquire the historical navigation information from the local storage device. Describe historical navigation information.
  • the mobile platform when the mobile platform determines whether the historical navigation information acquired by the mobile platform is valid based on the acquisition time, it can determine the current time and determine the time difference between the acquisition time and the current time Whether it is less than or equal to a preset time difference threshold, when the movable platform determines that the time difference between the acquisition time and the current time is less than or equal to the preset time difference threshold, it is determined that the historical navigation information is valid , And obtain the historical navigation information from the local storage device, and then proceed to step S102, or, on the mobile platform, it is determined that the time difference between the acquisition time and the current time is greater than the expected time.
  • the time difference threshold is set, it is determined that the historical navigation information is invalid.
  • the invalid historical navigation information means that the historical navigation information has no reference value for the current star search operation of the mobile platform, then the mobile platform The historical navigation information will not be obtained from the local storage device.
  • S102 Control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
  • the mobile platform can perform a star search operation based on the historical navigation information.
  • the operating distance after power-on is not long. Therefore, the mobile platform can determine the satellite that currently provides positioning services for the mobile platform according to the historical navigation information.
  • the mobile platform may first determine the satellite that provides the positioning service for the mobile platform at the historical moment according to the historical navigation information, and use the satellite that provides the positioning service for the mobile platform at the historical moment as the current A set of candidate satellites that may provide positioning services for the mobile platform.
  • the satellite positioning receiver may be controlled to perform a satellite search operation on each satellite in the set of candidate satellites, that is, to determine the satellite positioning Whether the receiver can receive the navigation signals corresponding to each satellite in the candidate satellite set, the mobile platform may, after determining the receivable navigation signals from the candidate satellite set, collect the candidate satellites in the The satellite positioning receiver can receive the navigation signal as the target satellite. Further, the movable platform can determine the number corresponding to the target satellite. If the number corresponding to the target satellite is less than or equal to the preset number threshold, it indicates The mobile platform has a poor positioning effect on the mobile platform based on the target satellite. Therefore, the mobile platform can further judge the surrounding satellites of the target satellite to determine whether the satellite positioning receiver can Receive navigation signals from surrounding satellites of the target satellite. After the mobile platform determines the preset number of satellites, it is determined to complete the satellite search operation.
  • the movable platform when the movable platform detects the power-on operation of the movable platform, it may first obtain the historical navigation information of the satellite positioning receiver from the local storage device of the movable platform. Further, The satellite used for positioning the movable platform can be determined according to the historical navigation information, and when the determined number of satellites meets a preset threshold, it is determined that the movable platform completes the satellite search operation, so that the The mobile platform can search for stars based on historical navigation information after being powered on, which realizes rapid positioning of the movable platform based on historical navigation information, and can improve the efficiency of searching for stars of the mobile platform.
  • FIG. 2 is a schematic flowchart of a method for positioning a movable platform according to another embodiment of the present invention. As shown in FIG. 2, the method may include:
  • the mobile platform after the mobile platform detects a preset operation, it can obtain historical navigation information, and determine that the historical navigation information indicates that it is used to provide positioning for the mobile platform The number of satellites served. When the number of satellites is greater than a preset number threshold, the movable platform can send the historical navigation information to a satellite positioning receiver, and the satellite positioning receiver (such as GPS) receives the After the historical navigation information, multiple ephemeris data packets corresponding to the historical navigation information and the number of the ephemeris data packets can be determined.
  • the satellite positioning receiver such as GPS
  • the GPS may send the corresponding ephemeris data packet and the data of the ephemeris data packet to the mobile platform, so that the mobile platform can store the ephemeris data packet and the corresponding quantity to the local device
  • the mobile platform may also determine the acquisition time for the satellite receiver to acquire the historical navigation information, and store the acquisition time in the local storage device.
  • the preset operation includes at least one of the shutdown operation of the movable platform and the suspension positioning operation of the movable platform, wherein the movable platform detects that the user is shutting down
  • the button it is determined that the shutdown operation of the movable platform is detected; when the movable platform detects the selection of the stop positioning button, it can be determined that the suspension of the positioning operation on the movable platform is detected
  • the movable platform detects that the current lighting value of the movable platform is less than or equal to a preset lighting threshold, it may also be determined to detect the suspension of the positioning operation.
  • the movable platform After the movable platform detects the selection operation of the shutdown button, the movable platform will be in a static state.
  • the The mobile platform can obtain historical navigation information from the satellite positioning receiver, and store the historical navigation information in a local device, so that the mobile platform can be based on the historical navigation information when the mobile platform re-runs after a power failure.
  • the provided candidate satellites perform fast satellite search, so as to improve the search efficiency of the mobile platform after the power is cut off.
  • the movable platform when the movable platform detects that the positioning operation is suspended, the movable platform will lose the navigation signal during operation. After the movable platform loses the navigation signal, if the movable platform loses the navigation signal, if the The mobile platform is an unmanned aerial vehicle, which will fly in the attitude mode, and the aircraft that has been in the attitude mode for a long time cannot maintain the flight position based on GPS positioning and may drift and explode. Therefore, After the mobile platform loses the navigation signal, in order to avoid the possibility of the mobile platform being lost or crashed due to star loss, it is necessary to perform a fast star search and positioning, so that the mobile platform can quickly obtain the navigation signal during operation. .
  • the movable platform may obtain historical navigation information from the satellite positioning receiver when detecting the termination of the positioning operation, so as to store the historical navigation information in the local device, so that the movable platform is lost.
  • the satellite can quickly obtain historical navigation information from the local storage device, so as to quickly search for satellites based on the candidate satellites provided by the historical navigation information.
  • the movable platform may first The historical navigation information determines the number of satellites that provide positioning services for the mobile platform, wherein, according to the number of satellites that provide positioning services for the mobile platform, the number of the positioning services provided for the mobile platform can be determined Accuracy. If it is determined that the number of satellites providing positioning services for the mobile platform is less than or equal to the preset number threshold, it can be determined that the accuracy of the positioning service provided by the mobile platform is low, and the positioning service provided by the mobile platform has low accuracy.
  • the number of satellites that provide positioning services for the movable platform is determined.
  • the number is less than or equal to the preset number threshold, it can be determined that the historical navigation information obtained from the satellite positioning receiver is navigation information with no reference value. Therefore, the mobile platform can convert the acquired historical navigation information throw away.
  • the mobile platform after obtaining historical navigation information from the satellite positioning receiver, determines that the number of satellites that provide positioning services for the mobile platform indicated by the historical navigation information is greater than a preset When the number threshold is set, it means that the movable platform can accurately locate the movable platform based on the historical navigation information at the historical moment. Therefore, in order to quickly complete the satellite search operation in the future, the movable platform can obtain The historical navigation information of is stored in the local storage device, so that the mobile platform can subsequently perform a quick satellite search operation based on the satellites indicated by the historical navigation information, so as to improve the search efficiency of the mobile platform.
  • the mobile platform when it detects a power-on operation, it needs to perform a star search operation to determine the navigation signal corresponding to the mobile platform. As shown in FIG. 4, on the mobile platform After powering up, the satellite positioning receiver needs to be initialized first to determine the navigation signal of the movable platform at the current position.
  • the mobile platform may first determine the number of ephemeris data packets corresponding to the historical navigation information stored in the local storage device, and determine the acquisition time for the satellite positioning receiver to obtain the historical navigation information, and further, if The movable platform determines that there is a corresponding ephemeris data packet for the historical navigation information, and the time difference between the acquisition time and the current time indicated by the time system of the movable platform is less than or equal to a preset time difference threshold,
  • the mobile platform can refer to the historical navigation information to perform a star search operation, so as to realize a fast star search.
  • the mobile platform may first read one or more ephemeris data packets corresponding to the historical navigation information one by one from the local storage device, so as to determine the historical navigation according to the read ephemeris data packets
  • the historical navigation information determined by it can be sent to the satellite positioning receiver, so that the satellite positioning receiver can search for satellites based on the historical navigation information.
  • the satellite positioning receiver may send an Acknowledge character (ACK) to the movable platform to inform the movable platform that the satellite positioning
  • ACK Acknowledge character
  • the satellite positioning receiver receives the historical navigation information, and performs a star search operation based on the historical navigation information.
  • the satellite positioning receiver is a system or module for performing satellite search operations built in the movable platform.
  • S203 Control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
  • the mobile platform may first obtain the acquisition time of the historical navigation information from the local storage device before controlling the satellite positioning receiver to perform the satellite search operation based on the historical navigation information, and determine the acquisition time The time difference between the time and the time corresponding to the power-on operation, where the time corresponding to the power-on operation is the current time recorded by the time system of the movable platform, and further, the time difference When the value is less than or equal to the preset time difference threshold, the historical navigation information is executed, and the step of controlling the satellite positioning receiver to perform a satellite search operation.
  • the preset time difference threshold is obtained based on almanac data
  • the almanac data records the location range of all satellites that provide positioning services for the mobile platform, and according to the almanac data, it can be determined as The effective time of each satellite that the mobile platform provides positioning services, so that, according to each positioning satellite indicated by the historical navigation data, it can be determined that each satellite in the historical navigation information provides positioning services for the mobile platform.
  • the time is used as the preset time difference threshold.
  • the mobile platform Before the mobile platform controls the satellite positioning receiver to perform a star search operation based on the historical navigation information, the mobile platform also needs to obtain the at least one ephemeris data packet stored in the local storage device , And obtain the number of the at least one ephemeris data packet stored in the local storage device; further, the sum of the obtained ephemeris data packets may be combined with the at least one ephemeris data packet stored in the local storage device The number of data packets is compared to determine whether the mobile platform has acquired all the ephemeris data packets corresponding to the historical navigation information, and the mobile platform determines that the total number of the acquired ephemeris data packets is equal to all the ephemeris data packets.
  • the mobile platform According to the number of at least one ephemeris data package stored in the local storage device, it can be determined that the mobile platform has acquired all the ephemeris data packages corresponding to the historical navigation information, so that the search can be performed based on the historical ephemeris data.
  • the satellite operation can be executed to control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
  • the movable platform when it detects a preset operation for the movable platform, it can obtain historical navigation data from the satellite positioning receiver, and determine the historical navigation data on the movable platform.
  • the historical navigation information can be stored in a local device, so that the mobile platform can subsequently search for satellites based on the historical navigation information. Perform a quick star search.
  • the mobile platform After the mobile platform detects the power-on operation, historical navigation information can be obtained from the local storage device, so that the star search operation can be performed according to the historical navigation information, and the mobile platform is not added. On the basis of the hardware cost, the search efficiency of the mobile platform can be improved.
  • FIG. 5 is a positioning device 50 of a movable platform provided by an embodiment of the present invention.
  • the positioning device of the movable platform 50 includes a processor 501 and a local storage device 502.
  • the processor 501 and the local storage device 502 can be connected to each other via a bus.
  • the positioning device 50 of the movable platform may also include a satellite positioning receiver 503 for obtaining positioning and navigation information during the operation of the movable platform.
  • the local storage device 502 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), Or a portable read-only memory (compact disc read-only memory, CD-ROM), and the memory 502 is used for related instructions and data.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • CD-ROM compact disc read-only memory
  • the processor 501 may be one or more central processing units (CPU).
  • the CPU may be a single-core CPU or a multi-core CPU.
  • the processor 501 in the positioning device 50 of the movable platform is configured to read the program code stored in the local storage device 502, and perform the following operations:
  • the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
  • the satellite positioning receiver is controlled to perform a satellite search operation.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the historical navigation information is obtained from the satellite positioning receiver, and the historical navigation information is stored in the local storage device.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the historical navigation information is stored in the local storage device.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the acquisition time is stored in the local storage device.
  • the preset operation includes at least one of a shutdown operation of the movable platform and a positioning suspension operation of the movable platform.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • the processor 501 controls the satellite positioning receiver to perform a satellite search operation according to the historical navigation information, it is used to execute:
  • the preset time difference threshold is obtained according to almanac data.
  • the processor 501 when the program code is executed, the processor 501 is further configured to execute:
  • control the satellite positioning receiver to perform a star search operation according to the historical navigation information .
  • the movable platform provided by the embodiment of the present invention can execute the positioning method of the movable platform as shown in FIG. 1 or FIG. 2 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and details are not repeated here.
  • the embodiment of the present invention also provides a movable platform, which includes:
  • a power system installed on the fuselage and used to provide power for the control terminal

Abstract

Embodiments of the present invention provide a movable platform positioning method and device, and a movable platform. The method comprises: when a power-on operation of a movable platform is detected, obtaining historical navigation information of a satellite positioning receiver from a local storage means of the movable platform, wherein the historical navigation information is obtained by the satellite positioning receiver at a historical moment before the power-on operation; and according to the historical navigation information, controlling the satellite positioning receiver to execute a satellite search operation, so as to quickly position the movable platform.

Description

一种可移动平台的定位方法、设备及可移动平台Positioning method, equipment and movable platform of movable platform
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或该专利披露。The content disclosed in this patent document contains copyrighted material. The copyright belongs to the copyright owner. The copyright owner does not object to anyone copying the patent document or the patent disclosure in the official records and archives of the Patent and Trademark Office.
技术领域Technical field
本发明涉及控制技术领域，尤其涉及一种可移动平台的定位方法、设备及可移动平台。The present invention relates to the field of control technology, in particular to a positioning method, equipment and a movable platform of a movable platform.
背景技术Background technique
当前，可移动平台(如无人机)在上电运行时，需要先进行搜星定位，并在搜索到满足预设数量阈值的卫星时，即接收到满足预设数量阈值的卫星发送的导航信号时，卫星定位接收机才可以提供较为精准的定位，否则，可移动平台将持续等待直到搜索到满足预设数量阈值的卫星。可见，可移动平台在上电后，进行搜星定位所消耗的时间较长，如何实现快速定位是当前亟需解决的技术问题。At present, when mobile platforms (such as drones) are powered on, they need to search for satellites first, and when they search for satellites that meet the preset number of thresholds, they receive the navigation sent by the satellites that meet the preset number of thresholds. The satellite positioning receiver can provide more accurate positioning when the signal is received. Otherwise, the mobile platform will continue to wait until it searches for satellites that meet the preset number threshold. It can be seen that after the mobile platform is powered on, it takes a long time to search and locate the satellite, and how to achieve rapid positioning is a technical problem that needs to be solved urgently.
发明内容Summary of the invention
有鉴于此，本发明实施例提供一种可移动平台的定位方法、设备及可移动平台，可实现对可移动平台的快速定位。In view of this, the embodiments of the present invention provide a positioning method, equipment and a movable platform for a movable platform, which can realize rapid positioning of the movable platform.
本发明实施例第一方面提供了一种可移动平台的定位方法，所述可移动平台包括卫星定位接收机，该方法包括：The first aspect of the embodiments of the present invention provides a positioning method of a movable platform, the movable platform includes a satellite positioning receiver, and the method includes:
当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的；When the power-on operation of the mobile platform is detected, the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。According to the historical navigation information, the satellite positioning receiver is controlled to perform a satellite search operation.
本发明实施例第二方面提供了一种可移动平台的定位设备，该可移动平台的定位设备包括本地存储装置、处理器和卫星定位接收机；A second aspect of the embodiments of the present invention provides a positioning device of a movable platform, and the positioning device of the movable platform includes a local storage device, a processor, and a satellite positioning receiver;
所述卫星定位接收机用于获取历史导航数据；The satellite positioning receiver is used to obtain historical navigation data;
所述本地存储装置用于存储所述历史导航信息和程序代码；The local storage device is used to store the historical navigation information and program code;
所述处理器用于调用该程序指令来执行如下操作：The processor is used to call the program instructions to perform the following operations:
当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的；When the power-on operation of the mobile platform is detected, the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。According to the historical navigation information, the satellite positioning receiver is controlled to perform a satellite search operation.
本发明实施例第三方面提供了一种可移动平台，该可移动平台包括：A third aspect of the embodiments of the present invention provides a movable platform, which includes:
机身；body;
动力系统，安装在所述机身，用于为所述控制终端提供动力；A power system installed on the fuselage and used to provide power for the control terminal;
以及如第二方面所述的定位设备。And the positioning device as described in the second aspect.
在本发明实施例中，可移动平台在检测到所述可移动平台的上电操作时，可先从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，进一步地，可根据所述历史导航信息确定出用于对所述可移动平台进行定位的卫星，并在确定出的卫星的数量满足预设阈值时，确定所述可移动平台完成搜星操作，使得所述可移动平台在上电后可基于历史导航信息进行搜星，实现了基于历史导航信息对所述可移动平台的快速定位，可提升所述可移动平台的搜星效率。In the embodiment of the present invention, when the movable platform detects the power-on operation of the movable platform, it may first obtain the historical navigation information of the satellite positioning receiver from the local storage device of the movable platform. Further, The satellite used for positioning the movable platform can be determined according to the historical navigation information, and when the determined number of satellites meets a preset threshold, it is determined that the movable platform completes the satellite search operation, so that the The mobile platform can search for stars based on historical navigation information after being powered on, which realizes rapid positioning of the movable platform based on historical navigation information, and can improve the efficiency of searching for stars of the mobile platform.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.
图1是本发明实施例的一种可移动平台的定位方法的示意流程图；FIG. 1 is a schematic flowchart of a method for positioning a movable platform according to an embodiment of the present invention;
图2为本发明另一实施例的一种可移动平台的定位方法的示意流程图；2 is a schematic flowchart of a method for positioning a movable platform according to another embodiment of the present invention;
图3为本发明实施例的一种存储历史导航信息的示意流程图；3 is a schematic flowchart of storing historical navigation information according to an embodiment of the present invention;
图4为本发明实施例的一种获取历史导航信息的示意流程图；4 is a schematic flowchart of obtaining historical navigation information according to an embodiment of the present invention;
图5为本发明实施例的一种可移动平台的定位设备的结构示意图。Fig. 5 is a schematic structural diagram of a positioning device of a movable platform according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
在一个实施例中，在所述可移动平台为无人机时，无人机在飞行过程中，内置的卫星定位接收机可为所述无人机提供精准的定位服务，其中，所述卫星定位接收机的定位精度在1米以内，所述定位精度是指由所述卫星定位接收机确定的所述无人机的位置和所述无人机的实际位置之间的位置差值。而所述无人机在飞行过程如果遇到遮挡而导致导航信号变弱，或者卫星定位接收机突然关闭而导致的导航信号完全消失的情况时，为了避免无人机的快速下降而导致的坠毁问题，所述无人机可在导航信号变弱或者信号丢失时，保持姿态模式进行飞行，而所述无人机在处于姿态模式时，可能由于风力的影响而发生漂移，使得无人机脱离预先的飞行轨迹而发生炸机或者坠毁。In one embodiment, when the movable platform is a drone, the built-in satellite positioning receiver can provide accurate positioning services for the drone during the flight of the drone, wherein the satellite The positioning accuracy of the positioning receiver is within 1 meter, and the positioning accuracy refers to the position difference between the position of the drone determined by the satellite positioning receiver and the actual position of the drone. If the UAV encounters obstruction during the flight, the navigation signal becomes weak, or the navigation signal completely disappears due to the sudden turn off of the satellite positioning receiver, in order to avoid the crash caused by the rapid descent of the UAV The problem is that the UAV can maintain the attitude mode to fly when the navigation signal becomes weak or the signal is lost. When the UAV is in the attitude mode, it may drift due to the influence of the wind, causing the UAV to leave. The aircraft blows up or crashes due to the advance flight trajectory.
在一个实施例中，无人机在断电后重新上电飞行时，卫星定位接收机将进行初始化并执行搜星操作，如果无人机内置的卫星定位接收机的搜星操作较慢，所述无人机也将以姿态模式进行起飞，而以姿态模式进行起飞的无人机无法获得较准确的位置信息，使得无人机可能偏离用户设定的飞行航线而影响用户体验。为了避免无人机在重新上电飞行时或者无人机在丢失导航信号时能尽快重新获取到导航信号而保证无人机的正常飞行，本发明实施例提出了一种可移动平台的定位方法，可提升可移动平台的搜星定位速率，以使得可移动平台在断电重启后，可快速进行卫星定位，从而可实现所述可移动平台在断电重启后的快速启动。在一个实施例中，所述可移动平台在检测到上电操作时，都需要先对卫星定位接收机进行初始化，其中，所述卫星定位接收机例如可以是全球卫星定位接收机(Global Positioning System，GPS)等，在所述可移动平台对所述卫星定位接收机进行初始化时，可从本地存储装置中获取所述可移动平台的卫星定位接收机在历史时刻获取的历史导航信息，从而可根据所述历史导航信息对所述导航信号进行搜索。其中，所述本地存储装置例如可以是闪存(Flash)装置，或者存储硬盘等。In one embodiment, when the drone is powered on again after power failure, the satellite positioning receiver will initialize and perform the satellite search operation. If the satellite positioning receiver built in the drone has a slower satellite search operation, so The aforementioned drone will also take off in the attitude mode, and the drone that takes off in the attitude mode cannot obtain more accurate position information, so that the drone may deviate from the flight route set by the user and affect the user experience. In order to prevent the drone from re-acquiring the navigation signal as soon as possible when the drone is powered on again or when the drone loses the navigation signal, and to ensure the normal flight of the drone, an embodiment of the present invention provides a positioning method for a movable platform , Can improve the speed of searching and positioning the mobile platform, so that the mobile platform can quickly perform satellite positioning after power off and restart, so that the mobile platform can be quickly started after power off and restart. In one embodiment, when the mobile platform detects a power-on operation, it needs to initialize a satellite positioning receiver first, where the satellite positioning receiver may be, for example, a global positioning system (Global Positioning System) receiver. , GPS), etc., when the mobile platform initializes the satellite positioning receiver, the historical navigation information acquired by the satellite positioning receiver of the mobile platform at historical moments can be obtained from the local storage device, so that the Search for the navigation signal according to the historical navigation information. Wherein, the local storage device may be, for example, a flash memory (Flash) device or a storage hard disk.
在一个实施例中，可移动平台在运行过程中，可实时获取导航信息，从而可将获取到的导航信息存储到本地存储装置中(例如可以将获取到的导航信息 以先进先出的方式存储到本地存储装置)，在所述可移动平台将获取到的导航信息存储到本地存储装置中时，可将获取到的用于对所述可移动平台进行定位的定位数据按照数据包的形式进行存储，也就是说，可将所述定位数据存储到一个或多个星历数据包中，以便于所述可移动平台在从本地存储装置中获取卫星定位接收机的历史导航信息时，可从所述本地存储装置中获取存储的所有星历数据包，从而可基于获取的所有星历数据包确定出所述可移动平台的定位信息，也就确定出了所述可移动平台的历史导航信息。In one embodiment, the mobile platform can obtain navigation information in real time during operation, so that the obtained navigation information can be stored in a local storage device (for example, the obtained navigation information can be stored in a first-in first-out manner). To the local storage device), when the mobile platform stores the acquired navigation information in the local storage device, the acquired positioning data for positioning the mobile platform can be processed in the form of a data packet Storage, that is, the positioning data can be stored in one or more ephemeris data packets, so that the mobile platform can obtain the historical navigation information of the satellite positioning receiver from the local storage device. All the stored ephemeris data packages are acquired in the local storage device, so that the positioning information of the movable platform can be determined based on all the acquired ephemeris data packages, and the historical navigation information of the movable platform can also be determined .
在所述可移动平台在运行过程中获取导航信息，并将获取到的所述导航信息存储到所述本地存储装置之前，为了确定当前获取的导航信息是否有效，其中，所述导航信息有效是指根据该导航信息所确定出的可移动平台的定位位置和所述可移动平台实际位置之间的差值小于或等于预设位置差阈值，在一个实施例中，所述可移动平台可根据所述导航信息指示的为所述可移动平台提供定位服务的卫星数量，确定出所述导航信息是否有效，其中，在所述导航信息指示为所述可移动平台提供定位服务的卫星数量小于或等于预设数量阈值时，所述可移动平台确定当前获取的导航信息是无效的，而当所述导航信息指示为所述可移动平台提供定位服务的卫星数量大于预设数量阈值，则确定所述可移动平台当前获取的导航信息是有效的，所述预设数量阈值例如可以是6或者7等等。在所述预设数量阈值为7时，可移动平台只有在根据当前获取的导航信息确定为所述可移动平台提供定位服务的卫星数量为8及以上时，所述可移动平台确定当前获取的导航信息有效，并将当前获取的导航信息存储到本地存储装置中。Before the mobile platform acquires navigation information during operation and stores the acquired navigation information in the local storage device, in order to determine whether the currently acquired navigation information is valid, where the navigation information is valid is Means that the difference between the positioning position of the movable platform determined according to the navigation information and the actual position of the movable platform is less than or equal to the preset position difference threshold. In one embodiment, the movable platform can be determined according to The navigation information indicates the number of satellites that provide positioning services for the mobile platform to determine whether the navigation information is valid, wherein the navigation information indicates that the number of satellites that provide positioning services for the mobile platform is less than or When the number is equal to the preset number threshold, the mobile platform determines that the currently acquired navigation information is invalid, and when the navigation information indicates that the number of satellites providing positioning services for the mobile platform is greater than the preset number threshold, it determines that The navigation information currently acquired by the movable platform is valid, and the preset number threshold may be, for example, 6 or 7, and so on. When the preset number threshold is 7, the mobile platform only determines that the number of satellites that provide positioning services for the mobile platform is 8 or more based on the currently acquired navigation information, the mobile platform determines the currently acquired The navigation information is valid, and the currently acquired navigation information is stored in the local storage device.
在一个实施例中，所述可移动平台在将当前获取到的导航信息存储到本地存储装置中时，可将当前获取到的所述导航信息按照数据包的形式进行存储，其中，所述可移动平台可将导航信息分别存储在一个或多个数据包中，所述一个或多个用于存储所述导航信息的数据包可以称为星历数据包。在所述可移动平台从本地存储装置中获取历史导航信息时，即可从所述本地系统中获取存储的星历数据包，在所述可移动平台从所述本地存储系统中获取星历数据包后，所述可移动平台可先确定获取的所述星历数据包的数量，并将所述数量和所述可移动平台存储导航信息时对应的星历数据包的数量进行对比，若所述可移动平台获取的星历数据包的数量等于所述可移动平台存储导航信息时对应的星 历数据包的数量，说明所述可移动平台成功获取到历史导航信息，则可进一步地根据所述历史导航信息进行搜星操作。在所述可移动平台上电，并成功搜索到满足预设数量预设的卫星数量时，可控制所述可移动平台进行运行。In one embodiment, when the mobile platform stores the currently acquired navigation information in a local storage device, it may store the currently acquired navigation information in the form of a data packet, wherein the The mobile platform may separately store navigation information in one or more data packets, and the one or more data packets used to store the navigation information may be referred to as ephemeris data packets. When the mobile platform obtains historical navigation information from the local storage device, it can obtain the stored ephemeris data package from the local system, and obtain the ephemeris data from the local storage system on the mobile platform. After the package, the mobile platform may first determine the number of the ephemeris data packets acquired, and compare the number with the number of the ephemeris data packets corresponding to when the mobile platform stores navigation information. The number of ephemeris data packets obtained by the mobile platform is equal to the number of ephemeris data packets corresponding to when the mobile platform stores navigation information. The historical navigation information is used to search for satellites. When the mobile platform is powered on, and the number of satellites meeting the preset number is successfully searched, the mobile platform can be controlled to operate.
请参见图1，是本发明实施例提出的一种可移动平台的定位方法的流程示意图，如图1所示，该方法包括：Please refer to FIG. 1, which is a schematic flowchart of a method for positioning a movable platform according to an embodiment of the present invention. As shown in FIG. 1, the method includes:
S101，当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息。S101: When a power-on operation of a movable platform is detected, obtain historical navigation information of a satellite positioning receiver from a local storage device of the movable platform.
在一个实施例中，所述可移动平台上电是指所述可移动平台的卫星定位接收机上电，并可对所述可移动平台进行定位，所以，对所述可移动平台的上电操作包括：所述可移动平台在断电后，重新启动并开始运行的操作，如开机操作等，或者，所述上电操作还包括：所述可移动平台在运行过程中丢失导航信号后，重新获取到导航信号的操作。在所述可移动检测到所述上电操作之后，所述可移动平台需要进行搜星定位，以确定出所述可移动平台的运行位置，避免所述可移动平台的丢失，而且，在所述上电操作为所述可移动平台断电并重新启动运行的操作时，所述可移动平台在上电之后，需要先进行搜星定位确定出所述可移动平台的当前位置之后，才触发所述可移动平台的运行，以保障所述可移动平台在运行过程中的运行安全。在一个实施例中，所述可移动平台可以是无人机，无人驾驶汽车或者智能机器人等。In one embodiment, the power-on of the movable platform means that the satellite positioning receiver of the movable platform is powered on, and the movable platform can be positioned. Therefore, the power-on operation of the movable platform Including: after the mobile platform is powered off, restarting and starting operation, such as power-on operation, etc., or the power-on operation also includes: restarting the mobile platform after the navigation signal is lost during operation. Obtain the operation of the navigation signal. After the power-on operation is detected by the movable platform, the movable platform needs to perform satellite search and positioning to determine the operating position of the movable platform, so as to avoid the loss of the movable platform. When the power-on operation is an operation in which the movable platform is powered off and restarted, after the movable platform is powered on, it needs to perform satellite search and locate the current position of the movable platform before triggering The operation of the movable platform is to ensure the safety of the movable platform during operation. In an embodiment, the movable platform may be a drone, an unmanned car, or an intelligent robot, etc.
在一个实施例中，所述可移动平台在检测到上电操作后，为了使得所述可移动平台可快速进行搜星定位，以确定出所述可移动平台的当前位置，所述可移动平台可从本地存储装置中获取卫星定位接收机的历史导航信息，其中，所述历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的，所述历史导航信息是满足预设的搜星定位条件的有效导航信息，即所述历史导航信息所指示的用于为所述可移动平台提供定位服务的卫星数量大于预设数量阈值，所述数量阈值例如可以为7等，即所述历史导航信息为指示在历史时刻为所述可移动平台提供定位服务的卫星数量为8颗及以上的导航信息等。In one embodiment, after the mobile platform detects the power-on operation, in order to enable the mobile platform to quickly perform satellite search and positioning to determine the current position of the mobile platform, the mobile platform The historical navigation information of the satellite positioning receiver can be obtained from a local storage device, wherein the historical navigation information is obtained by the satellite positioning receiver at a historical moment before the power-on operation, and the historical navigation information is The effective navigation information that satisfies the preset search and positioning conditions, that is, the number of satellites used to provide positioning services for the mobile platform indicated by the historical navigation information is greater than a preset number threshold. The number threshold may be, for example, 7. Etc., that is, the historical navigation information is navigation information indicating that the number of satellites providing positioning services for the mobile platform at the historical moment is 8 or more.
若所述可移动平台包括的卫星定位接收机在历史时刻获取到的导航信息指示在所述历史时刻为所述可移动平台提供定位服务的卫星数量小于或等于 所述预设数量阈值，所述可移动平台将不将该历史时刻的导航信息存储在所述本地存储装置中。如，若所述可移动平台包括的卫星定位接收机在历史时刻获取到的导航信息指示，在该历史时刻为所述可移动平台提供定位服务的卫星数量为3颗，则所述可移动平台确定在该历史时刻下的定位并不准确，所以，所述可移动平台将不存储该历史时刻下的导航信息。If the navigation information acquired by the satellite positioning receiver included in the mobile platform at a historical moment indicates that the number of satellites providing positioning services for the mobile platform at the historical moment is less than or equal to the preset number threshold, the The mobile platform will not store the navigation information of the historical moment in the local storage device. For example, if the navigation information obtained by the satellite positioning receiver included in the mobile platform at a historical moment indicates that the number of satellites providing positioning services for the mobile platform at the historical moment is 3, the mobile platform It is determined that the positioning at this historical moment is not accurate, so the movable platform will not store navigation information at this historical moment.
在一个实施例中，在所述可移动平台的卫星定位接收机在历史时刻获取到有效的导航信息后，在存储所述导航信息时，所述可移动平台还可同时将获取所述导航信息的获取时间和所述历史导航信息进行一并存储，以使得所述可移动平台在存储有多个导航信息时，若检测到所述可移动平台的上电操作，所述可移动平台可根据存储的多个历史导航信息对应的获取时间，从所述本地存储装置中获取到距离当前时刻最近时刻的历史导航信息，以提升所述可移动平台的搜星效率。进一步的，所述可移动平台还可基于所述获取时间判断所述可移动平台获取的历史导航信息是否有效，并在确定所述历史导航信息有效时，确定从所述本地存储装置中获取所述历史导航信息。In one embodiment, after the satellite positioning receiver of the movable platform obtains valid navigation information at historical moments, when storing the navigation information, the movable platform may also acquire the navigation information at the same time. The acquisition time and the historical navigation information are stored together, so that when the mobile platform stores multiple navigation information, if a power-on operation of the mobile platform is detected, the mobile platform can be based on The acquisition time corresponding to the stored multiple pieces of historical navigation information is obtained from the local storage device at the time closest to the current time, so as to improve the star search efficiency of the mobile platform. Further, the mobile platform can also determine whether the historical navigation information acquired by the mobile platform is valid based on the acquisition time, and when determining that the historical navigation information is valid, determine to acquire the historical navigation information from the local storage device. Describe historical navigation information.
在一个实施例中，可移动平台在基于所述获取时间判断所述可移动平台获取的历史导航信息是否有效时，可确定当前时间，并确定所述获取时间和所述当前时间之间的时间差是否小于或等于预设的时间差阈值，在所述可移动平台确定所述获取时间和所述当前时间之间的时间差小于或等于所述预设的时间差阈值时，确定所述历史导航信息是有效的，并从所述本地存储装置中获取所述历史导航信息，再转而执行步骤S102，或者，在所述可移动平台确定所述获取时间和所述当前时间之间的时间差大于所述预设的时间差阈值时，确定所述历史导航信息是无效的，无效的历史导航信息是指所述历史导航信息对所述可移动平台进行当前的搜星操作没有参考价值，则所述可移动平台将不从所述本地存储装置中获取所述历史导航信息。In one embodiment, when the mobile platform determines whether the historical navigation information acquired by the mobile platform is valid based on the acquisition time, it can determine the current time and determine the time difference between the acquisition time and the current time Whether it is less than or equal to a preset time difference threshold, when the movable platform determines that the time difference between the acquisition time and the current time is less than or equal to the preset time difference threshold, it is determined that the historical navigation information is valid , And obtain the historical navigation information from the local storage device, and then proceed to step S102, or, on the mobile platform, it is determined that the time difference between the acquisition time and the current time is greater than the expected time. When the time difference threshold is set, it is determined that the historical navigation information is invalid. The invalid historical navigation information means that the historical navigation information has no reference value for the current star search operation of the mobile platform, then the mobile platform The historical navigation information will not be obtained from the local storage device.
S102，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。S102: Control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
在一个实施例中，所述可移动平台在从本地装置中获取到历史导航信息后，所述可移动平台则可基于所述历史导航信息进行搜星操作，由于所述可移动平台在下电并重新上电后的运行距离不长，所以，所述可移动平台可根据所述历史导航信息确定出当前为所述可移动平台提供定位服务的卫星。其中，所述可移动平台可先根据所述历史导航信息确定出在历史时刻为所述可移动平台提 供定位服务的卫星，并将在历史时刻为所述可移动平台提供定位服务的卫星作为当前可能为所述可移动平台提供定位服务的备选卫星集。In one embodiment, after the mobile platform obtains historical navigation information from a local device, the mobile platform can perform a star search operation based on the historical navigation information. The operating distance after power-on is not long. Therefore, the mobile platform can determine the satellite that currently provides positioning services for the mobile platform according to the historical navigation information. Wherein, the mobile platform may first determine the satellite that provides the positioning service for the mobile platform at the historical moment according to the historical navigation information, and use the satellite that provides the positioning service for the mobile platform at the historical moment as the current A set of candidate satellites that may provide positioning services for the mobile platform.
在所述可移动平台根据所述历史导航信息确定出备选卫星集后，可先控制所述卫星定位接收机对所述备选卫星集中的各卫星进行搜星操作，即判断所述卫星定位接收机是否能接收到所述备选卫星集中各卫星对应的导航信号，所述可移动平台在从所述备选卫星集中确定可接收的导航信号后，可将所述备选卫星集中所述卫星定位接收机可接收到导航信号的卫星作为目标卫星，进一步地，所述可移动平台可判断所述目标卫星对应的数量，若所述目标卫星对应的数量小于或等于预设数量阈值，表明所述可移动平台基于所述目标卫星对所述可移动平台的定位效果较差，所以，所述可移动平台可进一步对所述目标卫星的周围卫星进行判断，以确定卫星定位接收机是否能接收到所述目标卫星的周围卫星的导航信号。在所述可移动平台确定出预设数量阈值的卫星后，确定完成搜星操作。After the mobile platform determines the set of candidate satellites based on the historical navigation information, the satellite positioning receiver may be controlled to perform a satellite search operation on each satellite in the set of candidate satellites, that is, to determine the satellite positioning Whether the receiver can receive the navigation signals corresponding to each satellite in the candidate satellite set, the mobile platform may, after determining the receivable navigation signals from the candidate satellite set, collect the candidate satellites in the The satellite positioning receiver can receive the navigation signal as the target satellite. Further, the movable platform can determine the number corresponding to the target satellite. If the number corresponding to the target satellite is less than or equal to the preset number threshold, it indicates The mobile platform has a poor positioning effect on the mobile platform based on the target satellite. Therefore, the mobile platform can further judge the surrounding satellites of the target satellite to determine whether the satellite positioning receiver can Receive navigation signals from surrounding satellites of the target satellite. After the mobile platform determines the preset number of satellites, it is determined to complete the satellite search operation.
在本发明实施例中，可移动平台在检测到所述可移动平台的上电操作时，可先从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，进一步地，可根据所述历史导航信息确定出用于对所述可移动平台进行定位的卫星，并在确定出的卫星的数量满足预设阈值时，确定所述可移动平台完成搜星操作，使得所述可移动平台在上电后可基于历史导航信息进行搜星，实现了基于历史导航信息对所述可移动平台的快速定位，可提升所述可移动平台的搜星效率。In the embodiment of the present invention, when the movable platform detects the power-on operation of the movable platform, it may first obtain the historical navigation information of the satellite positioning receiver from the local storage device of the movable platform. Further, The satellite used for positioning the movable platform can be determined according to the historical navigation information, and when the determined number of satellites meets a preset threshold, it is determined that the movable platform completes the satellite search operation, so that the The mobile platform can search for stars based on historical navigation information after being powered on, which realizes rapid positioning of the movable platform based on historical navigation information, and can improve the efficiency of searching for stars of the mobile platform.
请参加图2，是本发明另一实施例提出的一种可移动平台的定位方法的示意流程图，如图2所示，该方法可包括：Please refer to FIG. 2, which is a schematic flowchart of a method for positioning a movable platform according to another embodiment of the present invention. As shown in FIG. 2, the method may include:
S201，当检测到所述可移动平台的预设操作时，从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中。S201: When a preset operation of the movable platform is detected, obtain the historical navigation information from the satellite positioning receiver, and store the historical navigation information in the local storage device.
在一个实施例中，如图3所示，在所述可移动平台检测到预设操作后，可获取历史导航信息，并判断所述历史导航信息指示的用于对所述可移动平台提供定位服务的卫星数量，在所述卫星数量大于预设数量阈值时，所述可移动平台可将所述历史导航信息发送卫星定位接收机，所述卫星定位接收机(如GPS)在接收到所述历史导航信息后，可确定所述历史导航信息对应的多个星历数据 包，以及所述星历数据包的数量。进一步地，GPS可将对应的星历数据包和该星历数据包的数据发送到所述可移动平台，以便于所述可移动平台将所述星历数据包以及对应的数量存储到本地装置中，此外，所述可移动平台还可确定所述卫星接收机获取所述历史导航信息的获取时间，并将所述获取时间存储到所述本地存储装置中。In one embodiment, as shown in FIG. 3, after the mobile platform detects a preset operation, it can obtain historical navigation information, and determine that the historical navigation information indicates that it is used to provide positioning for the mobile platform The number of satellites served. When the number of satellites is greater than a preset number threshold, the movable platform can send the historical navigation information to a satellite positioning receiver, and the satellite positioning receiver (such as GPS) receives the After the historical navigation information, multiple ephemeris data packets corresponding to the historical navigation information and the number of the ephemeris data packets can be determined. Further, the GPS may send the corresponding ephemeris data packet and the data of the ephemeris data packet to the mobile platform, so that the mobile platform can store the ephemeris data packet and the corresponding quantity to the local device In addition, the mobile platform may also determine the acquisition time for the satellite receiver to acquire the historical navigation information, and store the acquisition time in the local storage device.
在一个实施例中，所述预设操作包括所述可移动平台的关机操作和所述可移动平台的中止定位操作中的至少一种，其中，在所述可移动平台在检测到用户对关机按键的选择操作时，确定检测到对所述可移动平台的关机操作；在所述可移动平台检测到对中止定位按键的选择操作时，可确定检测到对所述可移动平台的中止定位操作，或者，在所述可移动平台检测到所述可移动平台当前的点亮值小于或等于预设点亮阈值时，也可确定检测到所述中止定位操作。在所述可移动平台检测到对关机按键的选择操作后，所述可移动平台将处于静止状态，为了使得所述可移动平台在断电操作后重新运行时能快速进行搜星定位，所述可移动平台可从所述卫星定位接收机中获取历史导航信息，并将该历史导航信息存储到本地装置中，以便于所述可移动平台在断电后重新运行时，能基于该历史导航信息提供的备选卫星进行快速搜星，以提升所述可移动平台在断电后重新运行的搜星效率。In one embodiment, the preset operation includes at least one of the shutdown operation of the movable platform and the suspension positioning operation of the movable platform, wherein the movable platform detects that the user is shutting down When the button is selected, it is determined that the shutdown operation of the movable platform is detected; when the movable platform detects the selection of the stop positioning button, it can be determined that the suspension of the positioning operation on the movable platform is detected Or, when the movable platform detects that the current lighting value of the movable platform is less than or equal to a preset lighting threshold, it may also be determined to detect the suspension of the positioning operation. After the movable platform detects the selection operation of the shutdown button, the movable platform will be in a static state. In order to enable the movable platform to quickly perform satellite search and positioning when it restarts after a power failure operation, the The mobile platform can obtain historical navigation information from the satellite positioning receiver, and store the historical navigation information in a local device, so that the mobile platform can be based on the historical navigation information when the mobile platform re-runs after a power failure. The provided candidate satellites perform fast satellite search, so as to improve the search efficiency of the mobile platform after the power is cut off.
在一个实施例中，在所述可移动平台检测到中止定位操作时，所述可移动平台将在运行过程中丢失导航信号，在所述可移动平台丢失所述导航信号后，如果所述可移动平台为无人机，所述无人机将处于姿态模式进行飞行，而长期处于姿态模式的飞行器，由于不能基于GPS的定位保持飞行位置，而可能发生漂移出现炸机的可能，所以，所述可移动平台在丢失导航信号后，为了避免可移动平台由于丢星出现的可移动平台丢失或者坠毁的可能，需要进行快速搜星定位，以使得可移动平台在运行过程中能快速获得导航信号。具体地，所述可移动平台可在检测到终止定位操作时，从所述卫星定位接收机中获取历史导航信息，从而将历史导航信息存储到本地装置中，以便于所述可移动平台在丢星后能快速从本地存储装置中获取到历史导航信息，从而基于历史导航信息提供的备选卫星进行快速搜星。In one embodiment, when the movable platform detects that the positioning operation is suspended, the movable platform will lose the navigation signal during operation. After the movable platform loses the navigation signal, if the movable platform loses the navigation signal, if the The mobile platform is an unmanned aerial vehicle, which will fly in the attitude mode, and the aircraft that has been in the attitude mode for a long time cannot maintain the flight position based on GPS positioning and may drift and explode. Therefore, After the mobile platform loses the navigation signal, in order to avoid the possibility of the mobile platform being lost or crashed due to star loss, it is necessary to perform a fast star search and positioning, so that the mobile platform can quickly obtain the navigation signal during operation. . Specifically, the movable platform may obtain historical navigation information from the satellite positioning receiver when detecting the termination of the positioning operation, so as to store the historical navigation information in the local device, so that the movable platform is lost. The satellite can quickly obtain historical navigation information from the local storage device, so as to quickly search for satellites based on the candidate satellites provided by the historical navigation information.
在一个实施例中，所述可移动平台在从所述卫星定位接收机获取到所述历史导航信息后，在将所述历史导航信息存储到本地存储装置之前，所述可移动 平台可先根据所述历史导航信息，确定为所述可移动平台提供定位服务的卫星数量，其中，根据为所述可移动平台提供定位服务的卫星数量，可确定出为所述可移动平台提供的定位服务的精准度，若确定的为所述可移动平台提供定位服务的卫星数量小于或等于预设数量阈值，则可确定为所述可移动平台提供的定位服务的精准度较低，而在较低定位精准度下，并不能触发断电后的可移动平台的重新运行，也不能保持在丢失导航信号的可移动平台的运行姿态，因此，在确定的为所述可移动平台提供定位服务的卫星数量小于或等于所述预设数量阈值时，可确定从所述卫星定位接收机获取的历史导航信息是不具备参考价值的导航信息，所以，所述可移动平台可将获取的所述历史导航信息丢弃。In one embodiment, after the movable platform obtains the historical navigation information from the satellite positioning receiver, before storing the historical navigation information in a local storage device, the movable platform may first The historical navigation information determines the number of satellites that provide positioning services for the mobile platform, wherein, according to the number of satellites that provide positioning services for the mobile platform, the number of the positioning services provided for the mobile platform can be determined Accuracy. If it is determined that the number of satellites providing positioning services for the mobile platform is less than or equal to the preset number threshold, it can be determined that the accuracy of the positioning service provided by the mobile platform is low, and the positioning service provided by the mobile platform has low accuracy. With accuracy, it cannot trigger the re-operation of the movable platform after a power failure, nor can it maintain the operating attitude of the movable platform that has lost the navigation signal. Therefore, the number of satellites that provide positioning services for the movable platform is determined. When the number is less than or equal to the preset number threshold, it can be determined that the historical navigation information obtained from the satellite positioning receiver is navigation information with no reference value. Therefore, the mobile platform can convert the acquired historical navigation information throw away.
在一个实施例中，若所述可移动平台在从所述卫星定位接收机获取到历史导航信息后，确定所述历史导航信息指示的为所述可移动平台提供定位服务的卫星数量大于预设数量阈值时，说明在历史时刻所述可移动平台可基于所述历史导航信息对所述可移动平台进行精准定位，所以，所述可移动平台为了后续能快速完成搜星操作，可将获取到的历史导航信息存储到所述本地存储装置中，以便于所述可移动平台后续可基于所述历史导航信息指示的卫星进行快速的搜星操作，提高所述可移动平台的搜星效率。In one embodiment, if the mobile platform, after obtaining historical navigation information from the satellite positioning receiver, determines that the number of satellites that provide positioning services for the mobile platform indicated by the historical navigation information is greater than a preset When the number threshold is set, it means that the movable platform can accurately locate the movable platform based on the historical navigation information at the historical moment. Therefore, in order to quickly complete the satellite search operation in the future, the movable platform can obtain The historical navigation information of is stored in the local storage device, so that the mobile platform can subsequently perform a quick satellite search operation based on the satellites indicated by the historical navigation information, so as to improve the search efficiency of the mobile platform.
S202，当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的。S202: When the power-on operation of the movable platform is detected, obtain historical navigation information of the satellite positioning receiver from the local storage device of the movable platform, where the historical navigation information is the history before the power-on operation. The time is obtained by the satellite positioning receiver.
在一个实施例中，所述可移动平台在检测到上电操作时，需要先进行搜星操作以确定所述可移动平台对应的导航信号，如图4所示，在所述可移动平台上电后，需要先对卫星定位接收机进行初始化，以确定所述可移动平台在当前位置的导航信号。其中，所述可移动平台可先确定本地存储装置中存储的历史导航信息对应的星历数据包数量，并确定所述卫星定位接收机获取所述历史导航信息的获取时间，进一步地，若所述可移动平台确定所述历史导航信息存在对应的星历数据包，且所述获取时间与所述可移动平台的时间系统所指示的当前时间之间的时间差小于或等于预设的时间差阈值，说明所述可移动平台在所述获取时间指示的历史时刻的位置和所述当前时间指示的当前时刻的位置的差值较小，也即所述可移动平台的位移变化较小，所以，所述可移动平台可参考所述历史导航信息进行搜星操作，以实现快速搜星。In one embodiment, when the mobile platform detects a power-on operation, it needs to perform a star search operation to determine the navigation signal corresponding to the mobile platform. As shown in FIG. 4, on the mobile platform After powering up, the satellite positioning receiver needs to be initialized first to determine the navigation signal of the movable platform at the current position. Wherein, the mobile platform may first determine the number of ephemeris data packets corresponding to the historical navigation information stored in the local storage device, and determine the acquisition time for the satellite positioning receiver to obtain the historical navigation information, and further, if The movable platform determines that there is a corresponding ephemeris data packet for the historical navigation information, and the time difference between the acquisition time and the current time indicated by the time system of the movable platform is less than or equal to a preset time difference threshold, Explain that the difference between the position of the movable platform at the historical moment indicated by the acquisition time and the position of the current moment indicated by the current time is small, that is, the displacement of the movable platform changes small, so, The mobile platform can refer to the historical navigation information to perform a star search operation, so as to realize a fast star search.
在一个实施例中，所述可移动平台可先从本地存储装置中逐条读取所述历史导航信息对应的一个或多个星历数据包，从而根据读取的星历数据包确定出历史导航信息，在所述可移动平台确定出历史导航信息后，可将其确定出的所述历史导航信息发送到卫星定位接收机，以便于所述卫星定位接收机根据所述历史导航信息进行搜星操作。其中，在所述卫星定位接收机接收到所述可移动平台发送的历史导航信息后，可向所述可移动平台发送确认字符(Acknowledge character，ACK)，以告知可移动平台，所述卫星定位接收机接收到所述历史导航信息，并基于所述历史导航信息进行搜星操作。在一个实施例中，所述卫星定位接收机是内置于所述可移动平台的用于进行搜星操作的系统或者模块。In one embodiment, the mobile platform may first read one or more ephemeris data packets corresponding to the historical navigation information one by one from the local storage device, so as to determine the historical navigation according to the read ephemeris data packets After the mobile platform determines the historical navigation information, the historical navigation information determined by it can be sent to the satellite positioning receiver, so that the satellite positioning receiver can search for satellites based on the historical navigation information. operating. Wherein, after the satellite positioning receiver receives the historical navigation information sent by the movable platform, it may send an Acknowledge character (ACK) to the movable platform to inform the movable platform that the satellite positioning The receiver receives the historical navigation information, and performs a star search operation based on the historical navigation information. In one embodiment, the satellite positioning receiver is a system or module for performing satellite search operations built in the movable platform.
S203，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。S203: Control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
在一个实施例中，所述可移动平台在根据历史导航信息，控制卫星定位接收机进行搜星操作之前，可先从本地存储装置中获取所述历史导航信息的获取时间，并确定所述获取时间与所述上电操作对应的时间之间的时间差值，其中，所述上电操作对应的时间即为所述可移动平台的时间系统记录的当前时间，进一步地，在所述时间差值小于或等于预设的时间差阈值时，才执行所述历史导航信息，控制所述卫星定位接收机执行搜星操作的步骤。其中，所述预设的时间差阈值是根据历书数据得到的，所述历书数据记录有所有为所述可移动平台提供定位服务的卫星所处的位置范围，根据所述历书数据，可确定出为所述可移动平台提供定位服务的各卫星的有效时间，从而可根据所述历史导航数据指示的各定位卫星，确定出所述历史导航信息中的各卫星为所述可移动平台提供定位服务的时间作为预设的时间差阈值。In one embodiment, the mobile platform may first obtain the acquisition time of the historical navigation information from the local storage device before controlling the satellite positioning receiver to perform the satellite search operation based on the historical navigation information, and determine the acquisition time The time difference between the time and the time corresponding to the power-on operation, where the time corresponding to the power-on operation is the current time recorded by the time system of the movable platform, and further, the time difference When the value is less than or equal to the preset time difference threshold, the historical navigation information is executed, and the step of controlling the satellite positioning receiver to perform a satellite search operation. Wherein, the preset time difference threshold is obtained based on almanac data, the almanac data records the location range of all satellites that provide positioning services for the mobile platform, and according to the almanac data, it can be determined as The effective time of each satellite that the mobile platform provides positioning services, so that, according to each positioning satellite indicated by the historical navigation data, it can be determined that each satellite in the historical navigation information provides positioning services for the mobile platform. The time is used as the preset time difference threshold.
在所述可移动平台根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作之前，所述可移动平台还需获取所述本地存储装置中存储的所述至少一个星历数据包，并获取所述本地存储装置中存储的所述至少一个星历数据包的数量；进一步地，可将获取到的星历数据包的数量总和与所述本地存储装置中存储的至少一个星历数据包的数量进行对比，以确定所述可移动平台是否获取到所述历史导航信息对应全部星历数据包，在所述可移动平台确定所述获取到的星历数据包的数量总和等于所述本地存储装置中存储的至少一个星历数据包的数量，则可确定所述可移动平台获取到所述历史导航信息对应的全部星历数据包，从而可基于所述历史星历数据进行搜星操作，即可执行根据所述历 史导航信息，控制所述卫星定位接收机执行搜星操作。Before the mobile platform controls the satellite positioning receiver to perform a star search operation based on the historical navigation information, the mobile platform also needs to obtain the at least one ephemeris data packet stored in the local storage device , And obtain the number of the at least one ephemeris data packet stored in the local storage device; further, the sum of the obtained ephemeris data packets may be combined with the at least one ephemeris data packet stored in the local storage device The number of data packets is compared to determine whether the mobile platform has acquired all the ephemeris data packets corresponding to the historical navigation information, and the mobile platform determines that the total number of the acquired ephemeris data packets is equal to all the ephemeris data packets. According to the number of at least one ephemeris data package stored in the local storage device, it can be determined that the mobile platform has acquired all the ephemeris data packages corresponding to the historical navigation information, so that the search can be performed based on the historical ephemeris data. The satellite operation can be executed to control the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
在本发明实施例中，可移动平台在检测到针对所述可移动平台的预设操作时，可从卫星定位接收机中获取历史导航数据，并在所述可移动平台确定所述历史导航数据可为所述可移动平台提供较为精准的定位服务时，可将所述历史导航信息存储在本地装置中，以便于所述可移动平台后续在进行搜星操作时，可基于所述历史导航信息进行快速搜星，在所述可移动平台检测到上电操作后，则可从本地存储装置中获取历史导航信息，从而根据所述历史导航信息进行搜星操作，实现了在不增加可移动平台的硬件成本的基础上，可实现对所述可移动平台的搜星效率的提升。In the embodiment of the present invention, when the movable platform detects a preset operation for the movable platform, it can obtain historical navigation data from the satellite positioning receiver, and determine the historical navigation data on the movable platform When a more accurate positioning service can be provided for the mobile platform, the historical navigation information can be stored in a local device, so that the mobile platform can subsequently search for satellites based on the historical navigation information. Perform a quick star search. After the mobile platform detects the power-on operation, historical navigation information can be obtained from the local storage device, so that the star search operation can be performed according to the historical navigation information, and the mobile platform is not added. On the basis of the hardware cost, the search efficiency of the mobile platform can be improved.
请参见图5，图5是本发明实施例提供的一种可移动平台的定位设备50，该可移动平台50的定位设备包括处理器501和本地存储装置502，该处理器501和本地存储装置502可通过总线相互连接。另外，该可移动平台的定位设备50还可以包括卫星定位接收机503，用于在可移动平台运行过程中获取定位导航信息。Please refer to FIG. 5, which is a positioning device 50 of a movable platform provided by an embodiment of the present invention. The positioning device of the movable platform 50 includes a processor 501 and a local storage device 502. The processor 501 and the local storage device 502 can be connected to each other via a bus. In addition, the positioning device 50 of the movable platform may also include a satellite positioning receiver 503 for obtaining positioning and navigation information during the operation of the movable platform.
本地存储装置502包括但不限于随机存储记忆体(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程只读存储器(erasable programmable read only memory，EPROM)、或便携式只读存储器(compact disc read-only memory，CD-ROM)，存储器502用于相关指令及数据。The local storage device 502 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), Or a portable read-only memory (compact disc read-only memory, CD-ROM), and the memory 502 is used for related instructions and data.
处理器501可以是一个或多个中央处理器(central processing unit，CPU)，在处理器501是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。The processor 501 may be one or more central processing units (CPU). In the case where the processor 501 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.
该可移动平台的定位设备50中的处理器501用于读取该本地存储装置502中存储的程序代码，执行以下操作：The processor 501 in the positioning device 50 of the movable platform is configured to read the program code stored in the local storage device 502, and perform the following operations:
当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的；When the power-on operation of the mobile platform is detected, the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。According to the historical navigation information, the satellite positioning receiver is controlled to perform a satellite search operation.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
当检测到所述可移动平台的预设操作时，从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中。When the preset operation of the movable platform is detected, the historical navigation information is obtained from the satellite positioning receiver, and the historical navigation information is stored in the local storage device.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
从所述卫星定位接收机获取所述历史导航信息；Acquiring the historical navigation information from the satellite positioning receiver;
根据所述历史导航信息，确定为所述可移动平台提供定位服务的卫星数量；Determine the number of satellites that provide positioning services for the mobile platform according to the historical navigation information;
在所述卫星数量大于预设数量阈值时，将所述历史导航信息存储到所述本地存储装置中。When the number of satellites is greater than a preset number threshold, the historical navigation information is stored in the local storage device.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
确定从所述卫星定位接收机获取所述历史导航信息的获取时间；Determining the acquisition time for acquiring the historical navigation information from the satellite positioning receiver;
将所述获取时间存储到所述本地存储装置中。The acquisition time is stored in the local storage device.
在一个实施例中，所述预设操作包括所述可移动平台的关机操作和所述可移动平台的中止定位操作中的至少一种。In one embodiment, the preset operation includes at least one of a shutdown operation of the movable platform and a positioning suspension operation of the movable platform.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
在检测到用户对所述可移动平台的中止定位模式的选取操作时，确定检测到所述中止定位操作。When the user's selection operation of the suspended positioning mode of the movable platform is detected, it is determined that the suspended positioning operation is detected.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
获取所述可移动平台的电量值；Obtaining the power value of the movable platform;
在所述电量值小于或等于预设电量阈值时，确定检测到所述中止定位操作。When the power value is less than or equal to a preset power threshold, it is determined that the positioning operation is suspended.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
从所述本地存储装置获取所述历史导航信息的获取时间；Acquiring the acquisition time of the historical navigation information from the local storage device;
确定所述获取时间与所述上电操作对应的时间之间的时间差值；Determine the time difference between the acquisition time and the time corresponding to the power-on operation;
当程序代码被执行时处理器501在根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作时，用于执行：When the program code is executed, when the processor 501 controls the satellite positioning receiver to perform a satellite search operation according to the historical navigation information, it is used to execute:
当所述时间差值小于或等于预设的时间差阈值时，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。When the time difference is less than or equal to the preset time difference threshold, controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
在一个实施例中，所述预设的时间差阈值是根据历书数据得到的。In one embodiment, the preset time difference threshold is obtained according to almanac data.
在一个实施例中，当程序代码被执行时，处理器501还用于执行：In an embodiment, when the program code is executed, the processor 501 is further configured to execute:
获取所述本地存储装置中存储的所述至少一个星历数据包，并获取所述本地存储装置中存储的所述至少一个星历数据包的数量；Acquiring the at least one ephemeris data packet stored in the local storage device, and acquiring the number of the at least one ephemeris data packet stored in the local storage device;
将获取到的星历数据包的数量总和与所述本地存储装置中存储的至少一 个星历数据包的数量进行对比；Comparing the sum of the obtained number of ephemeris data packets with the number of at least one ephemeris data packet stored in the local storage device;
若所述获取到的星历数据包的数量总和等于所述本地存储装置中存储的至少一个星历数据包的数量，则根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。If the sum of the number of acquired ephemeris data packets is equal to the number of at least one ephemeris data packet stored in the local storage device, control the satellite positioning receiver to perform a star search operation according to the historical navigation information .
本发明实施例提供的可移动平台能够执行前述实施例提供的如图1或者图2所示的可移动平台的定位方法，其执行方式和有益效果类似，在这里不再赘述。The movable platform provided by the embodiment of the present invention can execute the positioning method of the movable platform as shown in FIG. 1 or FIG. 2 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and details are not repeated here.
本发明实施例还提供了一种可移动平台，该可移动平台包括：The embodiment of the present invention also provides a movable platform, which includes:
机身；body;
动力系统，安装在所述机身，用于为所述控制终端提供动力；A power system installed on the fuselage and used to provide power for the control terminal;
以及如前任一实施例所述的定位设备。And the positioning device as described in any of the previous embodiments.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. range.

Claims (23)

  1. 一种可移动平台的定位方法，所述可移动平台包括卫星定位接收机，其特征在于，包括：A positioning method of a movable platform, the movable platform comprising a satellite positioning receiver, characterized in that it comprises:
    当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的；When the power-on operation of the mobile platform is detected, the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
    根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。According to the historical navigation information, the satellite positioning receiver is controlled to perform a satellite search operation.
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    当检测到所述可移动平台的预设操作时，从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中。When the preset operation of the movable platform is detected, the historical navigation information is obtained from the satellite positioning receiver, and the historical navigation information is stored in the local storage device.
  3. 根据权利要求2所述的方法，其特征在于，所述从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中，包括：The method according to claim 2, wherein the acquiring the historical navigation information from the satellite positioning receiver and storing the historical navigation information in the local storage device comprises:
    从所述卫星定位接收机获取所述历史导航信息；Acquiring the historical navigation information from the satellite positioning receiver;
    根据所述历史导航信息，确定为所述可移动平台提供定位服务的卫星数量；Determine the number of satellites that provide positioning services for the mobile platform according to the historical navigation information;
    在所述卫星数量大于预设数量阈值时，将所述历史导航信息存储到所述本地存储装置中。When the number of satellites is greater than a preset number threshold, the historical navigation information is stored in the local storage device.
  4. 根据权利要求1～3任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1 to 3, wherein the method further comprises:
    确定从所述卫星定位接收机获取所述历史导航信息的获取时间；Determining the acquisition time for acquiring the historical navigation information from the satellite positioning receiver;
    将所述获取时间存储到所述本地存储装置中。The acquisition time is stored in the local storage device.
  5. 根据权利要求2或3所述的方法，其特征在于，所述预设操作包括所述可移动平台的关机操作和所述可移动平台的中止定位操作中的至少一种。The method according to claim 2 or 3, wherein the preset operation includes at least one of a shutdown operation of the movable platform and a positioning suspension operation of the movable platform.
  6. 根据权利要求5所述的方法，其特征在于，所述检测到针对所述可移动平台的预设操作，包括：The method according to claim 5, wherein the detecting a preset operation for the movable platform comprises:
    在检测到用户对所述可移动平台的中止定位模式的选取操作时，确定检测到所述中止定位操作。When the user's selection operation of the suspended positioning mode of the movable platform is detected, it is determined that the suspended positioning operation is detected.
  7. 根据权利要求5所述的方法，其特征在于，所述检测到针对所述可移动平台的预设操作，包括：The method according to claim 5, wherein the detecting a preset operation for the movable platform comprises:
    获取所述可移动平台的电量值；Obtaining the power value of the movable platform;
    在所述电量值小于或等于预设电量阈值时，确定检测到所述中止定位操作。When the power value is less than or equal to a preset power threshold, it is determined that the positioning operation is suspended.
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:
    从所述本地存储装置获取所述历史导航信息的获取时间；Acquiring the acquisition time of the historical navigation information from the local storage device;
    确定所述获取时间与所述上电操作对应的时间之间的时间差值；Determine the time difference between the acquisition time and the time corresponding to the power-on operation;
    所述根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作，包括：The controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information includes:
    当所述时间差值小于或等于预设的时间差阈值时，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。When the time difference is less than or equal to the preset time difference threshold, controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
  9. 根据权利要求8所述的方法，其特征在于，所述预设的时间差阈值是根据历书数据得到的。The method according to claim 8, wherein the preset time difference threshold is obtained according to almanac data.
  10. 根据权利要求8所述的方法，其特征在在于，所述根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作之前，所述方法还包括：The method according to claim 8, characterized in that, before the controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information, the method further comprises:
    获取所述本地存储装置中存储的所述至少一个星历数据包，并获取所述本地存储装置中存储的所述至少一个星历数据包的数量；Acquiring the at least one ephemeris data packet stored in the local storage device, and acquiring the number of the at least one ephemeris data packet stored in the local storage device;
    将获取到的星历数据包的数量总和与所述本地存储装置中存储的至少一个星历数据包的数量进行对比；Comparing the sum of the obtained number of ephemeris data packets with the number of at least one ephemeris data packet stored in the local storage device;
    若所述获取到的星历数据包的数量总和等于所述本地存储装置中存储的至少一个星历数据包的数量，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。If the total number of the acquired ephemeris data packets is equal to the number of at least one ephemeris data packet stored in the local storage device, the satellite positioning receiver is controlled to perform a star search operation according to the historical navigation information.
  11. 一种可移动平台的定位设备，其特征在于，包括本地存储装置、处理 器和卫星定位接收机，A positioning equipment of a movable platform, which is characterized in that it comprises a local storage device, a processor and a satellite positioning receiver,
    所述本地存储装置用于存储所述历史导航信息和程序代码；The local storage device is used to store the historical navigation information and program code;
    所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行如下操作：The processor calls the program code, and when the program code is executed, is used to perform the following operations:
    当检测到可移动平台的上电操作时，从所述可移动平台的本地存储装置中获取卫星定位接收机的历史导航信息，其中，历史导航信息是在所述上电操作之前的历史时刻由所述卫星定位接收机获取的；When the power-on operation of the mobile platform is detected, the historical navigation information of the satellite positioning receiver is obtained from the local storage device of the mobile platform, where the historical navigation information is the historical time before the power-on operation. Obtained by the satellite positioning receiver;
    根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。According to the historical navigation information, the satellite positioning receiver is controlled to perform a satellite search operation.
  12. 根据权利要求11所述的定位设备，其特征在于，所述处理器还用于执行：The positioning device according to claim 11, wherein the processor is further configured to execute:
    当检测到所述可移动平台的预设操作时，从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中。When the preset operation of the movable platform is detected, the historical navigation information is obtained from the satellite positioning receiver, and the historical navigation information is stored in the local storage device.
  13. 根据权利要求12所述的定位设备，其特征在于，所述处理器从所述卫星定位接收机获取所述历史导航信息，并将所述历史导航信息存储到所述本地存储装置中时，执行如下操作：The positioning device according to claim 12, wherein when the processor obtains the historical navigation information from the satellite positioning receiver, and stores the historical navigation information in the local storage device, executes Do as follows:
    从所述卫星定位接收机获取所述历史导航信息；Acquiring the historical navigation information from the satellite positioning receiver;
    根据所述历史导航信息，确定为所述可移动平台提供定位服务的卫星数量；Determine the number of satellites that provide positioning services for the mobile platform according to the historical navigation information;
    在所述卫星数量大于预设数量阈值时，将所述历史导航信息存储到所述本地存储装置中。When the number of satellites is greater than a preset number threshold, the historical navigation information is stored in the local storage device.
  14. 根据权利要求11～13任一项所述的定位设备，其特征在于，所述处理器还用于执行：The positioning device according to any one of claims 11-13, wherein the processor is further configured to execute:
    确定从所述卫星定位接收机获取所述历史导航信息的获取时间；Determining the acquisition time for acquiring the historical navigation information from the satellite positioning receiver;
    将所述获取时间存储到所述本地存储装置中。The acquisition time is stored in the local storage device.
  15. 根据权利要求12或13所述的定位设备，其特征在于，所述预设操作包括所述可移动平台的关机操作和所述可移动平台的中止定位操作中的至少一种。The positioning device according to claim 12 or 13, wherein the preset operation includes at least one of a shutdown operation of the movable platform and a positioning suspension operation of the movable platform.
  16. 根据权利要求15所述的定位设备，其特征在于，所述处理器检测到针对所述可移动平台的预设操作时，执行如下操作：The positioning device according to claim 15, wherein the processor performs the following operations when detecting a preset operation for the movable platform:
    在检测到用户对所述可移动平台的中止定位模式的选取操作时，确定检测到所述中止定位操作。When the user's selection operation of the suspended positioning mode of the movable platform is detected, it is determined that the suspended positioning operation is detected.
  17. 根据权利要求15所述的定位设备，其特征在于，所述处理器检测到针对所述可移动平台的预设操作时，执行如下操作：The positioning device according to claim 15, wherein the processor performs the following operations when detecting a preset operation for the movable platform:
    获取所述可移动平台的电量值；Obtaining the power value of the movable platform;
    在所述电量值小于或等于预设电量阈值时，确定检测到所述中止定位操作。When the power value is less than or equal to a preset power threshold, it is determined that the positioning operation is suspended.
  18. 根据权利要求11-17任一项所述的定位设备，其特征在于，所述处理器还用于执行：The positioning device according to any one of claims 11-17, wherein the processor is further configured to execute:
    从所述本地存储装置获取所述历史导航信息的获取时间；Acquiring the acquisition time of the historical navigation information from the local storage device;
    确定所述获取时间与所述上电操作对应的时间之间的时间差值；Determine the time difference between the acquisition time and the time corresponding to the power-on operation;
    所述处理器根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作时，执行如下操作：When the processor controls the satellite positioning receiver to perform a satellite search operation according to the historical navigation information, the following operations are performed:
    当所述时间差值小于或等于预设的时间差阈值时，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。When the time difference is less than or equal to the preset time difference threshold, controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information.
  19. 根据权利要求18所述的定位设备，其特征在于，所述预设的时间差阈值是根据历书数据得到的。The positioning device according to claim 18, wherein the preset time difference threshold is obtained according to almanac data.
  20. 根据权利要求18所述的定位设备，其特征在在于，所述处理器根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作之前，还执行如下操作：The positioning device according to claim 18, wherein the processor further performs the following operations before controlling the satellite positioning receiver to perform a satellite search operation according to the historical navigation information:
    获取所述本地存储装置中存储的所述至少一个星历数据包，并获取所述本地存储装置中存储的所述至少一个星历数据包的数量；Acquiring the at least one ephemeris data packet stored in the local storage device, and acquiring the number of the at least one ephemeris data packet stored in the local storage device;
    将获取到的星历数据包的数量总和与所述本地存储装置中存储的至少一 个星历数据包的数量进行对比；Comparing the sum of the obtained number of ephemeris data packets with the number of at least one ephemeris data packet stored in the local storage device;
    若所述获取到的星历数据包的数量总和等于所述本地存储装置中存储的至少一个星历数据包的数量，根据所述历史导航信息，控制所述卫星定位接收机执行搜星操作。If the total number of the acquired ephemeris data packets is equal to the number of at least one ephemeris data packet stored in the local storage device, the satellite positioning receiver is controlled to perform a star search operation according to the historical navigation information.
  21. 一种可移动平台，其特征在于，包括：A movable platform, characterized in that it comprises:
    机身；body;
    动力系统，安装在所述机身，用于为所述控制终端提供动力；A power system installed on the fuselage and used to provide power for the control terminal;
    以及如权利要求11～20中任一项所述的定位设备。And the positioning device according to any one of claims 11-20.
  22. 根据权利要求21所述的可移动平台，其特征在于，所述可移动平台至少包括如下的一种：无人机、汽车和智能机器人。The movable platform according to claim 21, wherein the movable platform includes at least one of the following: unmanned aerial vehicle, automobile, and intelligent robot.
  23. 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中存储有程序指令，当所述程序指令在处理器上运行时，实现权利要求1-10任一所述的方法。A computer-readable storage medium, wherein program instructions are stored in the computer-readable storage medium, and when the program instructions run on a processor, the method according to any one of claims 1-10 is implemented.
PCT/CN2019/114097 2019-10-29 2019-10-29 Movable platform positioning method and device, and movable platform WO2021081773A1 (en)

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