WO2022094898A1 - 无人飞行器定位方法、定位装置以及无人飞行器和移动平台 - Google Patents
无人飞行器定位方法、定位装置以及无人飞行器和移动平台 Download PDFInfo
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- ephemeris data
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- the present disclosure relates to the field of positioning technology, and more particularly, to a positioning method for an unmanned aerial vehicle, a positioning device, an unmanned aerial vehicle and a mobile platform including the positioning device.
- a mobile platform such as an unmanned aerial vehicle
- the present disclosure aims to solve at least one of the technical problems existing in the prior art.
- an embodiment of the present disclosure provides a method for positioning an unmanned aerial vehicle, and the positioning method includes:
- a positioning operation is performed according to the positioning ephemeris data.
- an embodiment of the present disclosure provides a computer-readable storage medium, where the computer-readable storage medium stores executable instructions, wherein,
- the executable instructions are executed to implement the UAV positioning method as described above.
- an embodiment of the present disclosure provides a positioning device for an unmanned aerial vehicle, and the positioning device includes:
- a storage unit for storing ephemeris data to obtain a local ephemeris data group
- the obtaining unit is further configured to access the local ephemeris data group to obtain positioning ephemeris data when the unmanned aerial vehicle needs to perform a positioning operation;
- a positioning unit configured to perform a positioning operation according to the positioning ephemeris data.
- the motor includes the above.
- an embodiment of the present disclosure provides an unmanned aerial vehicle, where the unmanned aerial vehicle includes the positioning device as described above.
- an embodiment of the present disclosure provides a mobile platform, where the mobile platform includes the positioning device as described above.
- an embodiment of the present disclosure provides an unmanned aerial vehicle positioning device, the positioning device includes a processor and a memory, the memory stores an executable program, and the processor implements the above when executing the executable program. The method for positioning the unmanned aerial vehicle.
- the UAV positioning method and the positioning device By storing the acquired ephemeris data in the local memory, the UAV positioning method and the positioning device according to the present disclosure enable the UAV to quickly read the locally stored ephemeris data after restarting, so as to fully Using the stored ephemeris data, in the presence of ephemeris data that meets the requirements, the initial positioning time after restarting the unmanned aerial vehicle is shortened, thereby optimizing the user experience of the unmanned aerial vehicle.
- FIG. 1 shows a flowchart of a method for positioning an unmanned aerial vehicle according to the present disclosure.
- FIG. 2 shows a flow chart of accessing a local ephemeris data set in the method for positioning an unmanned aerial vehicle according to the present disclosure.
- FIG. 3 shows a schematic structural diagram of a computer-readable storage medium according to the present disclosure.
- FIG. 4 shows a structural block diagram of a computing device according to the present disclosure.
- FIG. 5 shows a structural block diagram of an unmanned aerial vehicle positioning apparatus according to the present disclosure.
- FIG. 6 shows a structural block diagram of another embodiment of an unmanned aerial vehicle positioning apparatus according to the present disclosure.
- FIG. 7 shows a structural block diagram of an unmanned aerial vehicle according to the present disclosure.
- FIG. 8 shows a structural block diagram of a mobile platform according to the present disclosure.
- first and second are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, features defined as “first”, “second” may expressly or implicitly include one or more of said features.
- “plurality” means two or more, unless expressly and specifically defined otherwise.
- the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
- installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
- the present disclosure relates to a positioning method, which can be used in UAV products for positioning the UAV.
- drones are not equipped with cellular mobile network equipment, so their access to the Internet needs to rely on terminal devices such as mobile phones.
- terminal devices such as mobile phones.
- it in the process of just starting the drone, if it is connected to the terminal, it will take a certain amount of time, which will be detrimental to the experience of using the drone.
- the positioning information used during the use of the drone is stored in the local memory, and after restarting the drone, the locally stored positioning information is read, and its validity is judged, When the relevant positioning data is within the validity period, the relevant positioning data is used to locate the UAV, which can greatly shorten the positioning time after the UAV is started, thereby improving the user experience.
- the method for positioning an unmanned aerial vehicle includes: S1, obtaining ephemeris data; S2, storing the ephemeris data in a local memory to obtain a local ephemeris data group; S3, when all When the unmanned aerial vehicle needs to perform a positioning operation, access the local ephemeris data set to obtain positioning ephemeris data; and S4, perform a positioning operation according to the positioning ephemeris data. Since the ephemeris data received by the position receiver during the operation of the UAV is stored locally, the locally stored ephemeris data can be quickly read when the UAV starts again, and the ephemeris data can be read when judging the read data.
- the local ephemeris data set stored in the local memory may include at least one piece of ephemeris data, for example, it may include first ephemeris data and/or second ephemeris data as described below, wherein the first ephemeris data
- the first ephemeris data and the second ephemeris data are the latest ephemeris data updated in real time, that is to say, the local ephemeris data group may further include two ephemeris data.
- the ephemeris data group may also include more pieces of ephemeris data.
- the unmanned aerial vehicle needs to perform a positioning operation, it refers to the situation that the unmanned aerial vehicle needs to be powered on and started again after the unmanned aerial vehicle is powered off and stopped, and the unmanned aerial vehicle needs to be repositioned at this time. ; Another common situation is that the unmanned aerial vehicle loses its positioning in some cases and needs to be repositioned. In this case, the unmanned aerial vehicle also needs to be repositioned in order to obtain accurate Location. Of course, there may also be other situations where positioning of the UAV is required.
- acquiring ephemeris data includes acquiring first ephemeris data from a server through a network.
- the ephemeris data can be obtained in different ways.
- the ephemeris data is obtained from the server through the Internet.
- the drone can be connected to the drone through a terminal such as a mobile phone, and a corresponding application can be installed on the mobile phone to connect with the drone, so that the position receiver of the drone is connected to the server through the wireless network of the mobile phone, In order to download the relevant ephemeris data from the server and store it in the local memory of the UAV, it is convenient to query and utilize the ephemeris data.
- the first ephemeris data stored in the local memory needs to be updated in time. Therefore, it is necessary to obtain the first ephemeris data from the server regularly, and update the first ephemeris data stored in the local memory.
- the update period of the local storage can be set according to the update period of the ephemeris data in the server, so that when the ephemeris data in the server is updated, the ephemeris data in the local storage can be updated accordingly to keep the Timeliness of ephemeris data.
- the acquisition of the ephemeris data also includes another method, that is, in S1, the acquisition of the ephemeris data may further include obtaining the second ephemeris data by calculating the real-time broadcast ephemeris transmitted by the satellite.
- Unmanned aerial vehicles can obtain relevant ephemeris data by saving real-time broadcast ephemerides that have completed satellite signal resolution.
- the second time at which the second ephemeris data is obtained is recorded, and the second time and the second ephemeris data are associated and stored. According to the recorded second time, the timeliness of the second ephemeris data can be judged to prevent the use of expired ephemeris data.
- the operation of acquiring the second ephemeris data may be performed under the condition that the power-off signal is detected.
- the positioning receiver for the real-time broadcast ephemeris data that has been settled during the power-on process, then save it, and record and save the relevant ephemeris data at the same time.
- Time information the obtained broadcast ephemeris data is stored in association with the corresponding time information, so that the timeliness can be judged in the subsequent use process.
- accessing the local ephemeris data group in the UAV positioning method may include: S31, judging that the ephemeris data in the local ephemeris data group belongs to the first ephemeris data from the server or belongs to From the second ephemeris data obtained by solving the real-time broadcast ephemeris transmitted by the satellite; S32, determine whether the first time for obtaining the first ephemeris data exceeds a predetermined time limit, and determine whether the second ephemeris data is obtained. Whether the second time exceeds a predetermined time limit; and S33, select positioning ephemeris data according to the judgment result.
- the source of the ephemeris data is judged, that is, whether the ephemeris data comes from the server or the calculation of the broadcast ephemeris is judged.
- the first ephemeris data obtained through the server can support more satellites than the second ephemeris data obtained by solving the broadcast ephemeris from the satellites.
- the first ephemeris data obtained through the server is stored, and if the first ephemeris data exists, it is determined whether the acquisition time of the first ephemeris data, that is, the first time, exceeds a predetermined time limit.
- the first ephemeris data meets the relevant requirements, the first ephemeris data is preferentially used as the positioning basis.
- the second ephemeris data can be judged, and in the case that the first ephemeris data does not meet the relevant requirements, the second ephemeris data is used as the positioning basis. The following is a detailed description.
- the first ephemeris data In the case of judging that the ephemeris data belongs to the first ephemeris data, it is necessary to judge whether the first time for acquiring the first ephemeris data exceeds the predetermined time limit. If it is determined that the first time does not exceed the predetermined time limit, then The first ephemeris data may be selected as the positioning ephemeris data. Since the first ephemeris data is preferentially used when both the first ephemeris data and the second ephemeris data meet the relevant requirements, it is not necessary to further analyze the second ephemeris data when it is determined that the first ephemeris data meets the relevant requirements. Ephemeris data for judgment.
- the acquisition time of the first ephemeris data read at this time is relatively far from the current time, causing the first ephemeris data to lose its timeliness, so it cannot be used. Use this as positioning ephemeris data.
- the real-time first ephemeris data from the server can be obtained through the network, and the real-time first ephemeris data can be used as the positioning ephemeris data. That is to say, when it is determined that both the first ephemeris data and the second ephemeris data stored in the local memory are out of time, wait for the unmanned aerial vehicle to connect with the terminal, and obtain the real-time first ephemeris stored in the server through the terminal. One ephemeris data, and the newly acquired real-time first ephemeris data is used as positioning ephemeris data.
- the UAV positioning method By storing the acquired ephemeris data in the local memory, the UAV positioning method according to the present disclosure enables the UAV to quickly read the locally stored ephemeris data after restarting, so as to make full use of the stored ephemeris data. If there is ephemeris data that meets the requirements, the initial positioning time after the UAV is restarted is shortened, thereby optimizing the user experience of the UAV.
- the present disclosure also relates to a computer-readable storage medium 100, as shown in FIG. 3, the computer-readable storage medium 100 stores executable instructions 120, and the executable instructions 120 are executed to realize the unmanned aerial vehicle as described above positioning method.
- the present disclosure further relates to an unmanned aerial vehicle positioning apparatus 200.
- the positioning apparatus 200 includes a processor 220 and a memory 240.
- An executable program 260 is stored in the memory 240, and the processor 220 executes the When the program 260 is executed, the UAV positioning method as described above is implemented.
- the present disclosure also relates to an unmanned aerial vehicle positioning device 10 , as shown in FIG. 5 .
- the unmanned aerial vehicle positioning device 10 includes: an acquisition unit 12 for acquiring ephemeris data; a storage unit 14 for storing ephemeris data to acquire a local ephemeris data set; the acquiring unit 12 is also used for When the aircraft needs to perform a positioning operation, the local ephemeris data group is accessed to obtain the positioning ephemeris data; and the positioning unit 16 is configured to perform the positioning operation according to the positioning ephemeris data.
- the acquiring unit 12 may acquire the ephemeris data in different ways, which are not limited here.
- the storage unit 14 can locally store the ephemeris data acquired by the acquisition unit 12, so that the acquisition unit 12 can quickly read the ephemeris data subsequently.
- the positioning unit 16 can perform the positioning operation of the UAV according to the valid ephemeris data. Here, after the UAV is restarted, it is not necessary to obtain ephemeris data through a network connection, thereby shortening the initial positioning time after the UAV is restarted.
- the positioning device 10 further includes a communication unit 18.
- the obtaining unit 12 obtains the first ephemeris data from the server through the communication unit 18, And the first ephemeris data is stored in the storage unit 14 .
- the communication unit 18 here can be a short-range communication unit, which only needs to meet the short-range communication between the UAV and a terminal such as a mobile phone.
- the unmanned aerial vehicle positioning device 10 described in the present disclosure may further include a first timing unit 20, and the first timing unit 20 is configured to record the first time when the first ephemeris data is obtained, and compare the first time with the first time.
- Ephemeris data is stored associatively.
- the time when the first ephemeris data is acquired is recorded by the first timing unit 20 to facilitate subsequent inquiries, and the timeliness of the first ephemeris data Judge.
- the obtaining unit 12 may obtain the first ephemeris data from the server periodically, and update the first ephemeris data stored in the storage unit 14 . In order to ensure the timeliness of the first ephemeris data in the storage unit 14, the first ephemeris data therein is regularly updated.
- the UAV positioning device 10 of the present disclosure may further include a calculation unit 22, the calculation unit 22 obtains second ephemeris data by calculating the real-time broadcast ephemeris transmitted by the satellite, and stores the second ephemeris data in the storage unit 14.
- the second method of obtaining ephemeris data of the UAV positioning device 10 that is, obtaining the real-time broadcast ephemeris by directly calculating the signal transmitted by the satellite, and storing the solved real-time broadcast ephemeris data, for subsequent use.
- the unmanned aerial vehicle positioning device 10 includes a second timing unit 24, and the second timing unit 24 records the second time at which the second ephemeris data is obtained, and stores the second time in association with the second ephemeris data.
- the timeliness of the second ephemeris data can be determined according to the second time, and the second ephemeris data within the predetermined period of time can meet the conditions of being used. If the second ephemeris data is out of time, the positioning operation cannot be performed using the second ephemeris data.
- the unmanned aerial vehicle positioning device 10 further includes a power-off signal detection unit 26 , which acquires the latest second ephemeris data from the resolving unit 22 in the case of detecting the power-off signal. That is to say, when the power-off signal detection unit 26 detects that the UAV is powered off, the acquisition unit 12 asks the positioning receiver for the real-time broadcast ephemeris data that has been settled during the power-on process, and then performs Save, and record and save the time information of the relevant ephemeris data at the same time, and associate and store the acquired broadcast ephemeris data with the corresponding time information, so as to judge the timeliness in the subsequent use process.
- a power-off signal detection unit 26 detects that the UAV is powered off
- the acquisition unit 12 asks the positioning receiver for the real-time broadcast ephemeris data that has been settled during the power-on process, and then performs Save, and record and save the time information of the relevant ephemeris data at the
- the positioning device 10 may further include a judgment unit 28 for judging whether the ephemeris data belongs to the first ephemeris data from the server or to the second ephemeris obtained by solving the real-time broadcast ephemeris transmitted by the satellite Next, determine whether the first time for acquiring the first ephemeris data exceeds the predetermined time limit, and whether the second time for acquiring the second ephemeris data exceeds the predetermined time limit; and finally select the positioning ephemeris data according to the judgment result.
- a judgment unit 28 for judging whether the ephemeris data belongs to the first ephemeris data from the server or to the second ephemeris obtained by solving the real-time broadcast ephemeris transmitted by the satellite Next, determine whether the first time for acquiring the first ephemeris data exceeds the predetermined time limit, and whether the second time for acquiring the second ephemeris data exceeds the predetermined time limit; and finally select the positioning
- the first ephemeris data is preferred here, that is, in the case that it is judged that the first ephemeris data exists and the first time corresponding to the acquisition of the first ephemeris data satisfies the failure requirement, there is no need for the second ephemeris data and the The second time is judged, and the first ephemeris data is directly used as the positioning ephemeris data to perform the positioning operation.
- the first ephemeris data is selected as the positioning ephemeris data.
- the second ephemeris data is selected as the positioning ephemeris data.
- the priority of the first ephemeris data and the second ephemeris data is described here, and only when the first ephemeris data does not meet the usage conditions, the second ephemeris data is used. Further, when it is judged that both the first time and the second time exceed the predetermined time limit, that is, when the first ephemeris data and the second ephemeris data are both out of time, the real-time first ephemeris data from the server can be obtained through the communication unit. One ephemeris data, and the real-time first ephemeris data is used as positioning ephemeris data.
- the present disclosure also relates to an unmanned aerial vehicle 300, as shown in FIG. 7, the unmanned aerial vehicle 300 includes the positioning device 10 as described above.
- the mobile platform 400 includes the positioning device 10 as described above.
- the mobile platform may be an unmanned vehicle, an unmanned ship, an unmanned aircraft, a robot, and the like.
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Abstract
一种无人飞行器（300）定位方法、定位装置（10, 200）、包含定位装置（10, 200）的无人飞行器（300）和移动平台（400）。无人飞行器（300）定位方法包括：获取星历数据（S1）；将星历数据存储在本地存储器中，以获得本地星历数据组（S2）；当无人飞行器（300）需要进行定位操作时，访问本地星历数据组以获取定位星历数据（S3）；以及根据定位星历数据执行定位操作（S4）。通过将获取的星历数据存储在本地存储器中，使得无人飞行器（300）在重新启动后能够快速地对存储在本地的星历数据进行读取，从而充分利用所存储的星历数据，在存在满足要求的星历数据的情况下，缩短了无人飞行器（300）重启后的初始定位时间，从而优化了无人飞行器（300）的用户使用体验。
Description
本公开涉及定位技术领域，更具体地，涉及一种无人飞行器的定位方法、定位装置、包含该定位装置的无人飞行器和移动平台。
当前，移动平台(如无人飞行器)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，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。
发明内容
本公开旨在至少解决现有技术中存在的技术问题之一。
第一方面，本公开实施例提供了一种无人飞行器定位方法，该定位方法包括：
获取星历数据；
将所述星历数据存储在本地存储器中，以获得本地星历数据组；
当所述无人飞行器需要进行定位操作时，访问所述本地星历数据组以获取定位星历数据；以及
根据所述定位星历数据执行定位操作。
第二方面，本公开实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有可执行指令，其中，
执行所述可执行指令以实现如上所述的无人飞行器定位方法。
第三方面，本公开实施例提供一种无人飞行器定位装置，该定位装置包括：
获取单元，用于获取星历数据；
存储单元，用于存储星历数据，以获得本地星历数据组；
所述获取单元，还用于当无人飞行器需要进行定位操作时访问所述本地星历数据组以获取定位星历数据；以及
定位单元，用于根据所述定位星历数据执行定位操作。，所述电机包括如上所述的。
第四方面，本公开实施例提供一种无人飞行器，所述无人飞行器包括如上所述的定位装置。
第五方面，本公开实施例提供一种移动平台，所述移动平台包括如上所述的定位装置。
第六方面，本公开实施例提供一种无人飞行器定位装置，该定位装置包括处理器和存储器，所述存储器中存储有可执行程序，所述处理器在执行所述可执行程序时实现如上所述的无人飞行器定位方法。
根据本公开的无人飞行器定位方法及定位装置通过将获取的星历数据存储在本地存储器中，使得无人飞行器在重新启动后能够快速地对存储在本地的星历数据进行读取，从而充分利用所存储的星历数据，在存在满足要求的星历数据的情况下，缩短了无人飞行器重启后的初始定位时间，从而优化了无人飞行器的用户使用体验。
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。
图1示出根据本公开的无人飞行器定位方法的流程图。
图2示出根据本公开的无人飞行器定位方法中的访问本地星历数据组的流程图。
图3示出根据本公开的计算机可读存储介质的结构示意图。
图4示出根据本公开的计算设备的结构框图。
图5示出根据本公开的无人飞行器定位装置的结构框图。
图6示出根据本公开的无人飞行器定位装置的另一实施例的结构框图。
图7示出根据本公开的无人飞行器的结构框图。
图8示出根据本公开的移动平台的结构框图。
下面详细描述本公开的实施方式，所述实施方式的示例在附图中示出，其中自始 至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本公开，而不能理解为对本公开的限制。
在本公开的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本公开的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本公开的不同结构。为了简化本公开的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本公开。此外，本公开可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本公开提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
下面详细描述本公开的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本公开，而不能理解为对本公开的限制。
本公开涉及一种定位方法，该定位方法可以用于无人机产品中，用于对无人机进行定位。通常情况下，无人机没有配备蜂窝移动网络设备，因此其对互联网的访问需要依赖手机等终端设备。然而在无人机刚刚启动的过程中，如果与终端进行连接，则需要消耗一定的时间，这将不利于无人机的使用体验。为此，根据本公开的定位方法将无人机使用过程中所采用的定位信息存储在本地存储器中，并在重启无人机之后对本地存储的定位信息进行读取，并判断其有效性，在相关定位数据处于有效期内的情况下，采用相关定位数据对无人机进行定位，由此可以大大缩短无人机启动后的定位 时间，从而提升用户体验。
如图1所示，根据本公开的无人飞行器定位方法包括：S1，获取星历数据；S2，将所述星历数据存储在本地存储器中，以获得本地星历数据组；S3，当所述无人飞行器需要进行定位操作时，访问所述本地星历数据组以获取定位星历数据；以及S4，根据所述定位星历数据执行定位操作。由于将无人飞行器操作过程中由位置接收机所接收的星历数据存储在了本地，因此可以在无人飞行器再次启动时快速地对本地存储的星历数据进行读取，并在判断所读取的星历数据有效的前提下，利用该星历数据对无人飞行器进行定位，由此能够提高无人飞行器启动时的定位效率，以提升无人机的用户使用体验。在此需要说明的，存储在本地存储器中的本地星历数据组可以包括至少一条星历数据，比如其可以包括如下所述的第一星历数据和/或第二星历数据，其中，第一星历数据和第二星历数据均为实时更新的最新星历数据，也就是说，本地星历数据组还可以包括两条星历数据。当然，如果还可以通过其他方式获得星历数据，则该星历数据组还可以包括更多条星历数据。此外，当所述无人飞行器需要进行定位操作时，指的是无人飞行器在断电停机之后，需要对无人飞行器进行再次上电启动的情况下，此时需要对无人飞行器进行重新定位；另一种常见的情况是无人飞行器在某些情况下失去定位，需要对其进行重新定位的状态，这种情况下，也需要对无人飞行器进行再次定位，以便获得无人飞行器的准确位置。当然，也可能存在其他需要对无人飞行器进行定位的情况。
在S1中，获取星历数据包括通过网络获取来自服务器的第一星历数据。在此，星历数据可以有不同的获取方式，该实施例中通过互联网从服务器获取星历数据。比如可以通过例如为手机的终端与无人机进行连接，可以在手机上安装相应的应用，以便与无人机进行连接，由此无人机的位置接收机通过手机的无线网络连接至服务器，以便从服务器下载相关的星历数据，并存储在无人机的本地存储器中，由此便于对星历数据进行查询和利用。在从服务器获取第一星历数据的同时，对获取第一星历数据的第一时间进行记录，并将第一时间与第一星历数据进行关联存储，由此可以基于所记录的第一时间对第一星历数据的时效性进行判断。
为了使从服务器获取的第一星历数据具有实时时效，需要对存储在本地存储器中的第一星历数据进行及时更新。因此，需要定时从服务器获取第一星历数据，并对存储在本地存储器中的第一星历数据进行更新。在此可以根据服务器中的星历数据的更新周期设置本地存储器的更新周期，由此，可以在服务器中的星历数据更新的情况下， 对本地存储器中的星历数据进行相应更新，以保持星历数据的时效性。
进一步地，星历数据的获取还包括另外一种方式，也就是说，在S1中，获取星历数据还可以包括通过解算由卫星发射的实时广播星历来获得第二星历数据。无人飞行器可以通过保存已完成卫星信号解算的实时广播星历来获取相关的星历数据。同时，对获取第二星历数据的第二时间进行记录，并将第二时间与第二星历数据进行关联存储。通过所记录的第二时间能够对第二星历数据的时效性进行判断，以防采用了过期的星历数据。在此，可以在检测到断电信号的情况下，执行获取第二星历数据的操作。比如在收到无人飞行器的关机命令的情况下，向定位接收机索取本次上电过程中已经完成结算了的实时播发的广播星历数据，随后进行保存，同时记录保存相关星历数据的时间信息，将所获取的广播星历数据与相应的时间信息进行关联存储，以便后续使用过程中进行时效性的判断。
如图2所示，根据本公开的无人飞行器定位方法中的访问本地星历数据组可以包括：S31，判断本地星历数据组中的星历数据属于来自服务器的第一星历数据或属于来自通过解算由卫星发射的实时广播星历而获得的第二星历数据；S32，判断获取所述第一星历数据的第一时间是否超过预定期限，并且判断获取第二星历数据的第二时间是否超过预定期限；以及S33，根据判断结果选择定位星历数据。在此，首先对星历数据的来源进行判断，即判断星历数据是来源于服务器还是来源于对广播星历的解算。通常情况下，通过服务器获取的第一星历数据相比通过解算来自卫星的广播星历而获得的第二星历数据所能支持的卫星更多，因此，首先会优先搜索本地存储器中是否存储有通过服务器而获取的第一星历数据，如果存在第一星历数据，则判断第一星历数据的获取时间即第一时间是否超过预定期限。如果第一星历数据符合相关要求，则优先采用第一星历数据作为定位依据。同时可以对第二星历数据进行判断，在第一星历数据不满足相关要求的情况下，采用第二星历数据作为定位依据。以下具体说明。
在判断星历数据属于第一星历数据的情况下，则需要对获取所述第一星历数据的第一时间是否超过预定期限进行判断，如果判定所述第一时间没有超过预定期限，则可以选择第一星历数据作为定位星历数据。由于在第一星历数据和第二星历数据均满足相关要求的情况下，优先采用第一星历数据，因此，在判定第一星历数据满足相关要求的情况下，无需进一步对第二星历数据进行判断。
进一步地，在判断第一时间超过预定期限时，也就是说，此时所读取的第一星历数据的获取时间距离当前时间较为久远，导致该第一星历数据失去时效性，因此不能 将其作为定位星历数据。此时需要进一步判定第二星历数据的第二时间是否超过预定期限，如果判断所读取的第二星历数据的第二时间未超出预定期限，则选择第二星历数据作为定位星历数据。
在判断第一时间和第二时间均超过预定期限时，则可以通过网络获取来自服务器的实时第一星历数据，并将该实时第一星历数据作为定位星历数据。也就是说，在确定存储在本地存储器中的第一星历数据和第二星历数据均失去时效性的情况下，等待无人飞行器与终端进行连接，通过终端获取服务器中所存储的实时第一星历数据，并将该最新获取的实时第一星历数据作为定位星历数据。
根据本公开的无人飞行器定位方法通过将获取的星历数据存储在本地存储器中，使得无人飞行器在重新启动后能够快速地对存储在本地的星历数据进行读取，从而充分利用所存储的星历数据，在存在满足要求的星历数据的情况下，缩短了无人飞行器重启后的初始定位时间，从而优化了无人飞行器的用户使用体验。
本公开还涉及一种计算机可读存储介质100，如图3所示，所述计算机可读存储介质100存储有可执行指令120，执行所述可执行指令120以实现如上所述的无人飞行器定位方法。
本公开进一步涉及一种无人飞行器定位装置200，如图4所示，该定位装置200包括处理器220和存储器240，存储器240中存储有可执行程序260，所述处理器220在执行所述可执行程序260时实现如上所述的无人飞行器定位方法。
另外，本公开还涉及一种无人飞行器定位装置10，如图5所示。该无人飞行器定位装置10包括：获取单元12，用于获取星历数据；存储单元14，用于存储星历数据，以获得本地星历数据组；所述获取单元12还用于当无人飞行器需要进行定位操作时访问所述本地星历数据组以获取定位星历数据；以及定位单元16，用于根据所述定位星历数据执行定位操作。获取单元12可以通过不同的方式对星历数据进行获取，在此不做限定。存储单元14可以对由获取单元12获取的星历数据进行本地存储，以便于获取单元12后续对星历数据进行快速读取。定位单元16则可以根据有效星历数据执行无人飞行器的定位操作。在此，在无人飞行器重启之后无需通过网络连接来获取星历数据，从而缩短了无人飞行器重启后的初始定位时间。
在根据本公开的无人飞行器定位装置10的一个实施例中，该定位装置10还包括通信单元18，如图6所示，获取单元12通过通信单元18获取来自服务器的第一星历数据，并将第一星历数据存储在存储单元14中。这里的通信单元18可以是近程通信 单元，只需满足无人飞行器与手机等终端之间的近程通信即可。
进一步地，本公开所述的无人飞行器定位装置10还可以包括第一计时单元20，第一计时单元20用于记录获取第一星历数据的第一时间，并将第一时间与第一星历数据进行关联存储。在此，为了便于对第一星历数据的时效性进行检测，通过第一计时单元20对获取第一星历数据的时间进行记录，以便于后续查询，并对第一星历数据的时效性做出判断。
进一步地，获取单元12可以定时地从服务器获取第一星历数据，并对存储在存储单元14中的第一星历数据进行更新。为了确保存储单元14中的第一星历数据的时效性，定期对其中的第一星历数据进行更新。
本公开的无人飞行器定位装置10还可以包括解算单元22，解算单元22通过解算由卫星发射的实时广播星历来获得第二星历数据，并将第二星历数据存储在存储单元14中。这里是无人飞行器定位装置10的第二种获取星历数据的方式，即通过直接解算卫星所发射的信号来获取实时广播星历，并将所解算的实时广播星历数据进行存储，以备后续使用。有利地，该无人飞行器定位装置10包括第二计时单元24，第二计时单元24记录获取第二星历数据的第二时间，并将第二时间与第二星历数据进行关联存储。由此可以根据第二时间判断第二星历数据的时效性，在预定时效期内的第二星历数据才满足被采用的条件。如果第二星历数据失去时效性，则不能利用第二星历数据进行定位操作。
根据本公开的无人飞行器定位装置10还包括断电信号检测单元26，在检测到断电信号的情况下，从解算单元22获取最新的第二星历数据。也就是说，当断电信号检测单元26检测到无人飞行器关机的情况下，获取单元12向定位接收机索取本次上电过程中已经完成结算了的实时播发的广播星历数据，随后进行保存，同时记录保存相关星历数据的时间信息，将所获取的广播星历数据与相应的时间信息进行关联存储，以便后续使用过程中进行时效性的判断。
该定位装置10还可以包括判断单元28，该判断单元28用于判断星历数据属于来自服务器的第一星历数据或者属于通过解算由卫星发射的实时广播星历而获得的第二星历数据；接着判断获取第一星历数据的第一时间是否超过预定期限，并且判断获取第二星历数据的第二时间是否超过预定期限；最后根据判断结果选择定位星历数据。在此优先选用第一星历数据，也就是说，在判断存在第一星历数据且获取第一星历数据所对应的第一时间满足失效要求的情况下，无需对第二星历数据及其第二时间进行 判断，直接利用第一星历数据作为定位星历数据进行定位操作。
在判断星历数据属于第一星历数据，并且判断第一时间未超过预定期限时，选择第一星历数据作为定位星历数据。在判断第一时间超过预定期限时，并且判定星历数据属于第二星历数据且第二时间未超过预定期限，则选择第二星历数据作为定位星历数据。在此描述了第一星历数据和第二星历数据的优先级，在第一星历数据不满足使用条件的情况下，才采用第二星历数据。进一步地，在判断第一时间和第二时间均超过预定期限时，也就是第一星历数据和第二星历数据均失去时效性的情况下，则可以通过通信单元获取来自服务器的实时第一星历数据，并将实时第一星历数据作为定位星历数据。在第一星历数据和第二星历数据均不满足使用条件的情况下，则等待无人飞行器与终端进行数据连接，通过终端的无线网络从服务器获取实时第一星历数据。
本公开还涉及一种无人飞行器300，如图7所示，该无人飞行器300包括如上所述的定位装置10。
本公开的另一个方面还涉及一种移动平台400，如图8所示，该移动平台400包括如上所述的定位装置10。在此，移动平台可以是无人车、无人船、无人飞机、机器人等等。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，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公开各实施例技术方案的范围。
Claims (25)
- 一种无人飞行器定位方法，包括：获取星历数据；将所述星历数据存储在本地存储器中，以获得本地星历数据组；当所述无人飞行器需要进行定位操作时，访问所述本地星历数据组以获取定位星历数据；以及根据所述定位星历数据执行定位操作。
- 根据权利要求1所述的无人飞行器定位方法，其特征在于，所述获取星历数据包括通过网络获取来自服务器的第一星历数据。
- 根据权利要求2所述的无人飞行器定位方法，其特征在于，记录获取所述第一星历数据的第一时间，并将所述第一时间与所述第一星历数据进行关联存储。
- 根据权利要求2所述的无人飞行器定位方法，其特征在于，定时从所述服务器获取第一星历数据，并对存储在本地存储器中的所述第一星历数据进行更新。
- 根据权利要求1-4中的任一项所述的无人飞行器定位方法，其特征在于，所述获取星历数据包括通过解算由卫星发射的实时广播星历来获得第二星历数据。
- 根据权利要求5所述的无人飞行器定位方法，其特征在于，记录获取所述第二星历数据的第二时间，并将所述第二时间与所述第二星历数据进行关联存储。
- 根据权利要求5所述的无人飞行器定位方法，其特征在于，在检测到断电信号的情况下，执行获取所述第二星历数据的操作。
- 根据权利要求1所述的无人飞行器定位方法，其特征在于，所述访问所述本地星历数据组包括：判断所述本地星历数据组中的星历数据属于来自服务器的第一星历数据或者来自通过解算由卫星发射的实时广播星历而获得的第二星历数据；判断获取所述第一星历数据的第一时间是否超过预定期限，并且判断获取所述第二星历数据的第二时间是否超过预定期限；以及根据判断结果选择所述定位星历数据。
- 根据权利要求8所述的无人飞行器定位方法，其特征在于，在判断所述星历数据属于第一星历数据，并且判断所述第一时间未超过预定期限时，选择所述第一星历数据作为所述定位星历数据。
- 根据权利要求8所述的无人飞行器定位方法，其特征在于，在判断所述第一时间超过预定期限时，并且判定所述星历数据属于第二星历数据且所述第二时间未超过预定期限，则选择所述第二星历数据作为所述定位星历数据。
- 根据权利要求8所述的无人飞行器定位方法，其特征在于，在判断所述第一时间和所述第二时间均超过预定期限时，通过网络获取来自服务器的实时第一星历数据，并将所述实时第一星历数据作为所述定位星历数据。
- 一种计算机可读存储介质，所述计算机可读存储介质存储有可执行指令，其特征在于，执行所述可执行指令以实现根据权利要求1至11中任一项所述的定位方法。
- 一种无人飞行器定位装置，包括：获取单元，用于获取星历数据；存储单元，用于存储星历数据，以获得本地星历数据组；所述获取单元，还用于当无人飞行器需要进行定位操作时访问所述本地星历数据组以获取定位星历数据；以及定位单元，用于根据所述定位星历数据执行定位操作。
- 根据权利要求13所述的无人飞行器定位装置，其特征在于，还包括通信单元，所述获取单元通过所述通信单元获取来自服务器的第一星历数据，并将所述第一星历数据存储在所述存储单元中。
- 根据权利要求14所述的无人飞行器定位装置，其特征在于，还包括第一计时单元，所述第一计时单元记录获取所述第一星历数据的第一时间，并将所述第一时间与所述第一星历数据进行关联存储。
- 根据权利要求14所述的无人飞行器定位装置，其特征在于，所述获取单元定时从所述服务器获取第一星历数据，并对存储在所述存储单元中的所述第一星历数据进行更新。
- 根据权利要求13-16中的任一项所述的无人飞行器定位装置，其特征在于，包括解算单元，所述解算单元通过解算由卫星发射的实时广播星历来获得第二星历数据，并将所述第二星历数据存储在所述存储单元中。
- 根据权利要求17所述的无人飞行器定位装置，其特征在于，包括第二计时单元，所述第二计时单元记录获取所述第二星历数据的第二时间，并将所述第二时间与所述第二星历数据进行关联存储。
- 根据权利要求18述的无人飞行器定位装置，其特征在于，包括断电信号检测单元，在检测到断电信号的情况下，从所述解算单元获取最新的第二星历数据。
- 根据权利要求13所述的无人飞行器定位装置，其特征在于，还包括判断单元，所述判断单元：判断所述星历数据属于来自服务器的第一星历数据或者属于通过解算由卫星发射的实时广播星历而获得的第二星历数据；判断获取所述第一星历数据的第一时间是否超过预定期限，并且判断获取所述第二星历数据的第二时间是否超过预定期限；以及根据判断结果选择所述定位星历数据。
- 根据权利要求20所述的无人飞行器定位装置，其特征在于，在判断所述星历数据属于第一星历数据，并且判断所述第一时间未超过预定期限时，选择所述第一星历数据作为所述定位星历数据。
- 根据权利要求20所述的无人飞行器定位装置，其特征在于，在判断所述第一时间超过预定期限时，并且判定所述星历数据属于第二星历数据且所述第二时间未超过预定期限，则选择所述第二星历数据作为所述定位星历数据。
- 根据权利要求20所述的无人飞行器定位装置，其特征在于，在判断所述第一时间和所述第二时间均超过预定期限时，则通过所述通信单元获取来自服务器的实时第一星历数据，并将所述实时第一星历数据作为所述定位星历数据。
- 一种无人飞行器，其特征在于，所述无人飞行器包括根据权利要求13-23中任一项所述的定位装置。
- 一种移动平台，其特征在于，所述移动平台包括根据权利要求13-23中任一项所述的定位装置。
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