WO2022213267A1

WO2022213267A1 - Positioning processing method and related device

Info

Publication number: WO2022213267A1
Application number: PCT/CN2021/085675
Authority: WO
Inventors: 魏建平
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2022-10-13

Abstract

Embodiments of the present invention provide a positioning processing method, a positioning processing apparatus, and a movable platform. The positioning processing method comprises: acquiring first indication information, and determining a working state of a first antenna according to the first indication information; and when it is determined that the first antenna is in a first state, controlling to establish a connection between a positioning module and a second antenna, so that the positioning module receives a signal transmitted by the second antenna. In view of the above, the embodiments of the present invention provide a positioning processing method based on multiple antennas. A positioning strategy can be switched depending on an antenna state, thereby better ensuring the precision of positioning for the movable platform in various environments.

Description

A positioning processing method and related equipment

technical field

The invention relates to the field of signal detection, in particular to a positioning processing method, a positioning processing device and a movable platform.

Background technique

Movable platforms (such as unmanned aerial vehicles, robots, etc.) are widely used in image shooting, security inspection, agricultural plant protection and other fields due to their flexible operation and ability to work in complex terrain. Due to the complex working environment of the movable platform, there may be situations where the positioning accuracy is low in some environments; for example, the radio equipment fails due to jitter, scratching or collision during the movement of the movable platform, which will seriously affect the availability of mobile platforms. The positioning accuracy of the mobile platform leads to the loss of control or even damage of the mobile platform during work.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a positioning processing method, a positioning processing device, and a movable platform, which can switch positioning strategies according to antenna states, thereby better ensuring the positioning accuracy of the movable platform in various environments.

A first aspect of the embodiments of the present invention provides a positioning device, the positioning device includes a first positioning module, a second positioning module and a switch, the first positioning module is connected to the first antenna and the second antenna, the The second positioning module is connected to one end of the switch, and the other end of the switch is connected to the first antenna and the second antenna.

The second aspect of the embodiments of the present invention is to provide a positioning processing method on a movable platform, which is applied to a control module, the control module is mounted on the movable platform, and the movable platform is also equipped with an antenna module and a positioning method. module, the antenna module includes a first antenna and a second antenna, and the method includes:

acquiring first indication information, and determining the working state of the first antenna according to the first indication information;

When it is determined that the first antenna is in the first state, the connection between the positioning module and the second antenna is controlled to be established, so that the positioning module receives the signal transmitted by the second antenna.

A third aspect of the embodiments of the present invention is to provide a positioning processing device on a movable platform, the positioning processing device is mounted on the movable platform, and the movable platform is further equipped with an antenna module and a positioning module, the The antenna module includes a first antenna and a second antenna, and the positioning processing device includes:

an acquisition unit, configured to acquire first indication information, and determine the working state of the first antenna according to the first indication information;

The processor is configured to, when it is determined that the first antenna is in the first state, control to establish the connection between the positioning module and the second antenna, so that the positioning module receives the signal transmitted by the second antenna.

A fourth aspect of the embodiments of the present invention is to provide a movable platform, the movable platform is further equipped with an antenna module and a positioning module, the antenna module includes a first antenna and a second antenna, and the movable platform includes a processing device and memory:

the memory for storing computer program code;

The processor invokes the computer program code, when the computer program code is executed, for:

A fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores computer program codes, and when the computer program codes are executed by a processor, causes the The processor executes the above positioning processing method.

In the embodiment of the present invention, the first indication information is acquired, and the working state of the first antenna is determined according to the first indication information, and when it is determined that the first antenna is in the first state, the connection between the positioning module and the second antenna is controlled to be established, so that the positioning The module receives the signal transmitted by the second antenna. It can be seen that the embodiment of the present invention provides a multi-antenna-based positioning processing method, which can switch the positioning strategy according to the antenna state, thereby better ensuring the positioning accuracy of the movable platform in various environments.

Description of drawings

FIG. 1 is a schematic diagram of a location processing scenario disclosed in an embodiment of the present invention;

2 is a schematic flowchart of a positioning processing method disclosed in an embodiment of the present invention;

3 is a schematic flowchart of another positioning processing method disclosed in an embodiment of the present invention;

4 is a structural diagram of a positioning device disclosed in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a switching positioning method according to an embodiment of the present invention;

6 is a structural diagram of a positioning processing apparatus provided by an embodiment of the present invention;

FIG. 7 is a structural diagram of a movable platform provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below with reference to 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 efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Embodiments of the present invention provide a positioning processing method, a positioning processing device and a movable platform that can switch positioning strategies according to antenna states, thereby better ensuring the positioning accuracy of the movable platform in various environments. FIG. 1 is a schematic diagram of a location processing scenario disclosed in an embodiment of the present invention. As shown in FIG. 1 , the scene includes a communication object 101 and a movable platform 102 . The communication object 101 is a device that provides positioning parameters for the mobile platform. The shape of the communication object 101 is only used for example. The communication object 101 may include but is not limited to: a remote control, a smart phone, a portable personal computer, a mobile Internet device (Mobile Internet Devices, MID), real-time differential (Real-time kinematic, RTK) base stations, satellites, ground control stations and other equipment with wireless communication functions. The movable platform 102 is a device equipped with at least two antennas, and any one of the at least two antennas can communicate with the communication object 101. The shape of the movable platform 102 is only for example, and the movable platform 102 may include However, it is not limited to mobile smart devices such as unmanned aerial vehicles, unmanned marine vehicles, unmanned vehicles, and robots.

In the positioning processing scenario shown in FIG. 1 , the movable platform is equipped with a control module, an antenna module and a positioning module, and the antenna module includes a first antenna and a second antenna. The positioning processing flow mainly includes: the movable platform 102 obtains the first indication information, And determine the working state of the first antenna according to the first indication information; wherein, the first indication information is used to indicate the working state of the first antenna, and the first indication information may include but not limited to power supply voltage, positioning accuracy, satellite search (that is, the current Parameters such as the number of satellites that can be searched can be used to judge the working state of the first antenna. When the movable platform 102 determines according to the first indication information that the first antenna is in the first state (eg, the failure state), it controls to establish a connection between the positioning module and the second antenna, so that the positioning module receives the signal transmitted by the second antenna; for example, set The movable platform is currently positioned according to the signal transmitted by the first antenna. If the movable platform determines that the first antenna is in a failed state according to the first indication information (for example, the positioning accuracy is greater than the error threshold), it controls the establishment of the connection between the positioning module and the second antenna. , so that the positioning module receives the signal transmitted by the second antenna (ie, performs positioning according to the signal transmitted by the second antenna).

Please refer to FIG. 2 , which is a schematic flowchart of a positioning processing method disclosed in an embodiment of the present invention. The positioning method is used for a control module, which can be mounted on the movable platform 102 shown in FIG. 1 . The movable platform 102 is also equipped with an antenna module and a positioning module, and the antenna module includes a first antenna and a second antenna. As shown in FIG. 2 , the positioning processing method may include S201 and S202. in:

S201. Acquire first indication information, and determine the working state of the first antenna according to the first indication information.

The first indication information is used to directly or indirectly indicate the working state of the first antenna, and the working state may include a normal working state and a failure state. In one embodiment, the first indication information carries a state identifier used to indicate the working state of the first antenna. If the state identifier is a valid value (such as 1), it means that the first antenna is currently in a normal working state; accordingly, If the status flag is an invalid value (eg, 0), it means that the first antenna is currently in an invalid state.

In another implementation manner, the first indication information may include, but is not limited to, the current power supply voltage value of the first antenna, the positioning accuracy, the number of searched satellites (that is, the number of satellites that can be currently searched), etc., which can be used to determine the quality of the first antenna. Parameters of the working state. For example, if the first indication information indicates that the current power supply voltage value of the first antenna is 0, it means that the first antenna is currently in an invalid (disconnected) state; for another example, if the error threshold is set to 1 meter, if the first indication information indicates that the first antenna is currently in an invalid (disconnected) state; If the current positioning accuracy of an antenna is 10 meters, it means that the first antenna is currently in an invalid state; for another example, if the number threshold is set to 3, if the first indication information indicates that the current number of satellites searched by the first antenna is 1, it means that the first antenna is in an invalid state. An antenna is currently inactive.

S202. When it is determined that the first antenna is in the first state, control to establish a connection between the positioning module and the second antenna, so that the positioning module receives the signal transmitted by the second antenna.

The first state is an abnormal working state, such as an invalid state. The positioning module is used for determining the current position information of the movable platform according to the received signal transmitted by the antenna. In one embodiment, when the movable platform determines that the first antenna is in the first state according to the first indication information, it controls to establish the connection between the positioning module and the second antenna (for example, disconnect the connection between the first antenna and the positioning module, and Establish the connection between the second antenna and the positioning module; or maintain the connection between the first antenna and the positioning module, and establish the connection between the second antenna and the positioning module), so that the positioning module receives the signal transmitted by the second antenna (that is, according to the second antenna transmission It should be noted that the connection may refer to a direct connection or an indirect connection; for example, establishing a connection between the positioning module and the second antenna may include establishing a direct connection between the positioning module and the second antenna, or This includes establishing an indirect connection between the positioning module and the second antenna (eg, an active power divider is also connected between the positioning module and the second antenna).

Please refer to FIG. 3 , which is a schematic flowchart of another positioning processing method disclosed in an embodiment of the present invention. The positioning method is used for a control module, and the control module may be mounted on the positioning device shown in FIG. 4 , and the positioning device may be the movable platform 102 shown in FIG. 1 . Please refer to FIG. 4 , which is a structural diagram of a positioning device disclosed in an embodiment of the present invention. As shown in FIG. 4 , the positioning device includes a first positioning module, a second positioning module and a switch. The first positioning module is connected to the first antenna and the second antenna, the second positioning module is connected to one end of the switch, and the other end of the switch is connected to the switch. The first antenna and the second antenna are connected. Further, the positioning device also includes a control module, and the control module is connected to the switch, such as a microcontroller (Micro Control Unit, MCU), for controlling the second positioning module to receive the first antenna and/or the second antenna through the switch. Signal. Still further, the positioning device also includes a first power divider and a second power divider, the first positioning module and the switch are connected to the first antenna through the first power divider; the first positioning module and the switch pass through the second power divider. Connected to the second antenna; wherein, the power divider is a power divider, and the first power divider is used to divide the signal energy input by the first antenna into two channels to output equal or unequal signal energy; the second power divider The device is used to divide the signal energy input by the second antenna into two channels and output equal or unequal signal energy. Further, the first positioning module and the second positioning module are connected with a mobile controller (such as a remote control, an intelligent terminal, etc.); the first positioning module is used to process the signals of the first antenna and/or the second antenna to obtain positioning data, and output the positioning data to the mobile controller; the second positioning module is used to process the signals of the first antenna and/or the second antenna to obtain the positioning data, and output the positioning data to the mobile controller. As shown in FIG. 3 , the positioning processing method may include S301-S305. in:

S301. Acquire second indication information sent by a first positioning module.

In one embodiment, the movable platform uses the first positioning module for positioning by default. Specifically, the first positioning module obtains the signal transmitted by the first antenna, the signal transmitted by the second antenna, and the data of the base station, and orients the signal transmitted by the first antenna and the signal transmitted by the second antenna (that is, determines the current direction), through the signal transmitted by the first antenna (or the second antenna) and base station data for positioning (ie, determining the current position of the movable platform). In one embodiment, the first positioning module may be a real-time kinematic (RTK) positioning module.

The second indication information is used to indicate the receiving status of each parameter acquired by the first positioning module (including at least one of the following: the signal transmitted by the first antenna, the signal transmitted by the second antenna, and the base station data) and/or the current status of the mobile platform. positioning accuracy. The control module can judge the working state of the first positioning module (that is, whether the current positioning/orientation is normal) through the second indication information. In one embodiment, the second indication information includes a flag bit of the base station data. If the flag is a valid value, it means that the first positioning module can obtain the base station data; if the flag is an invalid value, it means that the first positioning module The base station data cannot be obtained (that is, the base station data is lost, and the positioning result may be inaccurate).

S302. If the second indication information indicates that the duration of not receiving base station data is greater than the first duration threshold, control to establish a connection between the second positioning module and the first antenna.

In one embodiment, if the first positioning module does not receive base station data for a period longer than a certain period (such as 30 seconds, 1 minute, etc.), the positioning accuracy of the movable platform will be affected, and even the position of the movable platform will be lost. . Therefore, if the second indication information indicates that the duration of not receiving base station data is greater than the first duration threshold, the control module controls the establishment of the connection between the second positioning module and the first antenna (for example, establishing the second positioning module through the switch shown in FIG. 4 ) connection with the first antenna); for example, set the first duration threshold to 30 seconds, if the second indication information indicates that the base station data has not been received within 30 seconds, the control module controls the establishment of the second positioning module and the first antenna. Connection. In one embodiment, the second positioning module may be a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) positioning module.

S303: Acquire the first indication information sent by the second positioning module, and determine the working state of the first antenna according to the first indication information.

After controlling and establishing the connection between the second positioning module and the first antenna, the control module judges the working state of the second positioning module through the first indication information. The first indication information is used to indicate the receiving state of each parameter (including the signal transmitted by the first antenna) acquired by the second positioning module and/or the current positioning accuracy of the movable platform. The control module can judge the working state of the second positioning module through the first indication information.

In an embodiment, the parameters carried by the first indication information include at least one of the following: voltage information of the first antenna, and positioning accuracy information (the positioning accuracy information is obtained by the second positioning module according to the signal transmitted by the first antenna) . The control module judges whether the parameter carried by the first indication information satisfies the antenna switching condition, and if the parameter carried by the first indication information satisfies the antenna switching condition, judges that the working state of the first antenna is the first state. The parameters carried in the first indication information satisfying the antenna switching condition include: the voltage information indicates that the current voltage belongs to the first voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is lower than the first accuracy threshold. For example, if the first voltage range is 0-5V, and the first indication information indicates that the current voltage of the first antenna is 1V, that is, the current voltage of the first antenna belongs to the first voltage range, the control module determines that the first antenna is in the first state For another example, set the first accuracy threshold to be 10m, and the positioning accuracy information carried in the first indication information indicates that the current positioning accuracy is 50m, that is, the current positioning accuracy is lower than the first accuracy threshold, and the control module determines that the first antenna is in the first position. state.

In another implementation manner, the parameters carried by the first indication information include at least one of the following: voltage information of the first antenna, positioning accuracy information, and information on the number of satellites (ie, search satellites). The control module judges whether the parameter carried by the first indication information satisfies the mode switching condition, and if the parameter carried by the first indication information satisfies the mode switching condition, judges that the working state of the first antenna is the second state. The parameters carried in the first indication information satisfy the mode switching condition including: the current number of satellites is less than the satellite threshold, and/or the voltage information indicates that the current voltage belongs to the second voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is higher than the first accuracy threshold , and is lower than the second precision threshold. For example, if the second voltage range is 5V-20V, and the first indication information indicates that the current voltage of the first antenna is 15V, that is, the current voltage of the first antenna belongs to the second voltage range, the control module determines that the first antenna is in the second state For another example, set the first accuracy threshold to be 10m, the second accuracy threshold to be 5m, and the positioning accuracy information carried in the first indication information indicates that the current positioning accuracy is 8m, that is, the current positioning accuracy is higher than the first accuracy threshold and lower than the first accuracy threshold. If the accuracy threshold is 2, the control module determines that the first antenna is in the second state; for another example, if the satellite threshold is set to 5, the satellite quantity information carried in the first indication information indicates that the current satellite quantity is 3, that is, the current satellite quantity is less than the satellite threshold. , the control module determines that the first antenna is in the second state.

S304, when it is determined that the first antenna is in the first state, control to establish a connection between the second positioning module and the second antenna.

In one embodiment, the control module establishes the connection between the second positioning module and the second antenna by controlling the switch shown in FIG. 4 . Specifically, the control device can disconnect the connection between the first antenna and the second positioning module, and establish the connection between the second antenna and the second positioning module; or maintain the connection between the first antenna and the second positioning module, and establish the second antenna Connection to the second positioning module. The second positioning module is made to receive the signal transmitted by the second antenna (that is, to perform positioning according to the signal transmitted by the second antenna).

Optionally, if the control module detects that the flag bit of the base station data in the second indication information indicates that the duration of receiving the base station data is greater than the second duration threshold (such as 10 seconds, 1 minute, etc.), then disconnect the second positioning module from the first location module. The connection of an antenna enables the movable platform to be positioned through the first positioning module; for example, if the second time duration threshold is set to 30 seconds, the control module detects the flag bit of the base station data in the second indication information when the movable platform is traveling. If the duration indicating that the base station data is received is greater than 30 seconds, the connection between the second positioning module and the first antenna is disconnected through the switch as shown in FIG. 4 , so that the movable platform can be positioned through the first positioning module. That is, when the base station data can be received stably, switch back to the first positioning module for positioning.

S305. When it is determined that the first antenna is in the second state, disconnect the connection between the second positioning module and the first antenna.

In one embodiment, the second state includes a state that has not failed, but has poor star search.

In an embodiment, the control module disconnects the connection between the second positioning module and the first antenna by controlling the switch shown in FIG. 4 . The movable platform is positioned by the first positioning module (that is, the first positioning module performs positioning according to the signals transmitted by the first antenna and/or the second antenna).

The following describes a positioning processing method provided by the present invention through a complete example. Please refer to FIG. 4 and FIG. 5 , wherein, the first positioning module is an RTK positioning module, and the RTK positioning module can realize both RTK positioning and single-point positioning. It should be noted that the positioning accuracy of RTK positioning is higher than that of GNSS single-point positioning, and the positioning accuracy of GNSS single-point positioning is higher than that of RTK single-point positioning. Therefore, by default, RTK positioning is used for positioning. In the case of RTK base station data loss, RTK positioning is switched to GNSS single-point positioning. When the first antenna fails, GNSS based on the first antenna can be used. Single point positioning is switched to GNSS single point positioning based on the second antenna. In addition, RTK positioning modules (such as Hexinxing UM482) can support GPS, Beidou, GLONASS, Galileo four systems dual-band; GNSS positioning modules (such as UBLOX M8N) can support GPS, GLONASS dual systems. That is, RTK single point positioning supports more (system) frequency bands than GNSS single point positioning supports (system) frequency bands. Therefore, when the first antenna does not fail but the satellite search is poor, it is possible to switch from GNSS single-point positioning to RTK single-point positioning.

During the operation of the movable platform, the control module receives the second indication information sent by the RTK positioning module. The communication area of the base station, or the movable platform is interfered and cannot receive RTK base station signals, etc.), the control module establishes the connection between the GNSS positioning module and the first antenna through the control switch. The control module receives the first indication information sent by the GNSS positioning module, if the control module determines according to the first indication information that the first antenna is in the first state (failure state, such as the first antenna is damaged, or the first antenna is jittered, scratched, etc. Disconnect), then the control module controls the switch to establish the connection between the GNSS positioning module and the second antenna; further, if the control module determines according to the first instruction information that the first antenna is in the second state (not invalid, but the signal is poor (such as satellite The number is lower than the satellite threshold)), so the control module controls the switch to disconnect the connection between the GNSS positioning module and the first antenna, so that the movable platform can perform single-point positioning through the RTK module.

In this embodiment of the present invention, the control module in the positioning device carried by the movable platform can be used for various situations during the operation of the movable platform (base station data may be received, base station data may be lost, the first antenna is in the first state, and The first antenna is in the second state), and the positioning strategy is flexibly adjusted (the first positioning module is used for positioning when the base station data is received; the second positioning module is used for positioning when the base station data is lost; when the first antenna is in the first state Controlling the second positioning module to receive the signal transmitted by the second antenna; disconnecting the connection between the first antenna and the second positioning module when the first antenna is in the second state, so that the movable platform is positioned through the first positioning module); It can well ensure the positioning accuracy of the movable platform in various environments.

An embodiment of the present invention provides a positioning processing device, and the device can be mounted on a movable platform. Specifically, the movable platform can be the movable platform 102 in FIG. 1 . FIG. 6 is a structural diagram of a positioning processing apparatus provided by an embodiment of the present invention. As shown in FIG. 6 , the positioning processing apparatus 600 includes an acquisition unit 601 and a processing unit 602 . The positioning processing apparatus shown in FIG. 6 may be used to perform some or all of the functions in the method embodiment described in FIG. 2 or FIG. 3 above. The detailed description of each unit is as follows:

an obtaining unit 601, configured to obtain first indication information, and determine the working state of the first antenna according to the first indication information;

The processing unit 602 is configured to, when it is determined that the first antenna is in a first state, control to establish a connection between the positioning module and the second antenna, so that the positioning module receives a signal transmitted by the second antenna.

In one embodiment, when the processing unit 602 determines the working state of the first antenna according to the first indication information, the following operations are performed:

judging whether the parameter carried by the first indication information satisfies the antenna switching condition;

If the parameter carried by the first indication information satisfies the antenna switching condition, it is determined that the working state of the first antenna is the first state;

The parameters carried in the first indication information satisfy the antenna switching condition include: the voltage information indicates that the current voltage belongs to the first voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is lower than the first accuracy threshold.

In one embodiment, the positioning module includes a first positioning module and a second positioning module; when the obtaining unit 601 obtains the first indication information, the following operations are performed:

In the process of receiving the signal transmitted by the first antenna, the second positioning module acquires the first indication information sent by the second positioning module.

Judging whether the parameter carried by the first indication information satisfies the mode switching condition;

If the parameter carried by the first indication information satisfies the mode switching condition, it is determined that the working state of the first antenna is the second state;

The parameters carried in the first indication information satisfy the mode switching condition including: the current number of satellites is less than the satellite threshold, and/or the voltage information indicates that the current voltage belongs to the second voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is higher than the first The precision threshold is lower than the second precision threshold.

In one embodiment, the first positioning module is connected to the first antenna and the second antenna, and the processing unit 602 further performs the following operations:

When it is determined that the first antenna is in the second state, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform is positioned through the first positioning module.

In one embodiment, before acquiring the first indication information, the processing unit 602 further performs the following operations:

acquiring second indication information sent by the first positioning module, where the second indication information includes a flag bit of base station data;

If it is detected that the base station flag indicates that the duration of not receiving base station data is greater than the first duration threshold, control to establish the connection between the second positioning module and the first antenna, so that the second positioning module receives the Information transmitted by the first antenna.

In one embodiment, the processing unit 602 further performs the following operations:

If it is detected that the flag bit of the base station data indicates that the duration of receiving the base station data is greater than the second duration threshold, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform passes through the The first positioning module performs positioning.

Based on the same inventive concept, the principles and beneficial effects of the positioning processing device provided in the embodiments of the present invention for solving problems are similar to the principles and beneficial effects for solving problems of the positioning processing methods in the method embodiments of the present invention. Effects, for the sake of brevity, will not be repeated here.

Embodiments of the present invention provide a movable platform. FIG. 7 is a structural diagram of a movable platform provided by an embodiment of the present invention. As shown in FIG. 7 , the movable platform includes at least a processor 701 and a memory 702 . The movable platform may also include structures such as power components, power supply modules, and the like. For example, when the movable platform is an unmanned aerial vehicle, the power components may be a steering gear, a directional wing, a motor, and the like.

The processor 701 may be a central processing unit (CPU). The processor 701 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or the like. The above-mentioned PLD may be a field-programmable gate array (FPGA), a general-purpose array logic (generic array logic, GAL), or the like.

The memory 702 may include volatile memory (volatile memory), such as random-access memory (random-access memory, RAM); the storage device may also include non-volatile memory (non-volatile memory), such as flash memory (flash memory), solid-state drive (solid-state drive, SSD), etc.; the storage device may also include a combination of the above-mentioned types of memories.

The memory 702 stores computer program codes, and the processor 701 calls the computer program codes in the memory 702. When the computer program codes are executed, the processor 701 performs the following operations:

In one embodiment, when the computer program code is executed, the specific implementation manner in which the processor 701 determines the working state of the first antenna according to the first indication information is:

In one embodiment, the positioning module includes a first positioning module and a second positioning module; when the computer program code is executed, the specific implementation manner for the processor 701 to obtain the first indication information is:

In one embodiment, the first positioning module is connected to the first antenna and the second antenna, and when the computer program code is executed, the processor 701 further performs the following operations:

In one embodiment, before acquiring the first indication information, the processor 701 further performs the following operations:

In one embodiment, when the computer program code is executed, the processor 701 further performs the following operations:

The processor included in the movable platform provided in this embodiment can execute the positioning processing method provided in the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, which will not be repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, it can be used to implement a positioning method in the foregoing embodiments of the present application The specific implementation of the method steps such as the processing method will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The above disclosure is only a part of the embodiments of the present invention, and of course, it cannot limit the scope of the rights of the present invention, so the equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

A positioning device, characterized in that the positioning device comprises a first positioning module, a second positioning module and a switch, the first positioning module is connected with the first antenna and the second antenna, and the second positioning module is connected with the One end of the switch is connected to the switch, and the other end of the switch is connected to the first antenna and the second antenna.
The device according to claim 1, characterized in that, the positioning device further comprises a control module, the control module is connected to the switch, and the control module is configured to control the second positioning module to receive through the switch the signal of the first antenna and/or the second antenna.
The device according to claim 1, wherein the positioning device further comprises a first power divider and a second power divider, and the first positioning module and the switch are connected with the first power divider through the first power divider. The first antenna is connected; the first positioning module and the switch are connected to the second antenna through the second power divider.
The device according to claim 1, wherein the first positioning module and the second positioning module are connected to a mobile controller;

The first positioning module is configured to process the signals of the first antenna and/or the second antenna to obtain positioning data, and output the positioning data to the mobile controller;

The second positioning module is configured to process the signals of the first antenna and/or the second antenna to obtain positioning data, and output the positioning data to the mobile controller.
A positioning processing method on a movable platform is characterized in that, it is applied to a control module, the control module is mounted on the movable platform, the movable platform is also equipped with an antenna module and a positioning module, and the antenna module is mounted on the movable platform. Including a first antenna and a second antenna, the method includes:

acquiring first indication information, and determining the working state of the first antenna according to the first indication information;

When it is determined that the first antenna is in the first state, the connection between the positioning module and the second antenna is controlled to be established, so that the positioning module receives the signal transmitted by the second antenna.
The method according to claim 5, wherein the determining the working state of the first antenna according to the first indication information comprises:

judging whether the parameter carried by the first indication information satisfies the antenna switching condition;

If the parameter carried by the first indication information satisfies the antenna switching condition, it is determined that the working state of the first antenna is the first state;

The parameters carried in the first indication information satisfying the antenna switching condition include: the voltage information indicates that the current voltage belongs to the first voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is lower than the first accuracy threshold.
The method according to claim 5, wherein the positioning module comprises a first positioning module and a second positioning module; the acquiring the first indication information comprises:

In the process of receiving the signal transmitted by the first antenna, the second positioning module acquires the first indication information sent by the second positioning module.
The method according to claim 7, wherein the determining the working state of the first antenna according to the first indication information comprises:

Judging whether the parameter carried by the first indication information satisfies the mode switching condition;

If the parameter carried by the first indication information satisfies the mode switching condition, it is determined that the working state of the first antenna is the second state;

The parameters carried in the first indication information satisfy the mode switching condition including: the current number of satellites is less than the satellite threshold, and/or the voltage information indicates that the current voltage belongs to the second voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is higher than the first The precision threshold is lower than the second precision threshold.
The method according to claim 8, wherein the first positioning module is connected to the first antenna and the second antenna, and the method further comprises:

When it is determined that the first antenna is in the second state, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform is positioned through the first positioning module.
The method according to claim 7, wherein before acquiring the first indication information, the method further comprises:

acquiring second indication information sent by the first positioning module, where the second indication information includes a flag bit of base station data;

If it is detected that the base station flag indicates that the duration of not receiving base station data is greater than the first duration threshold, control to establish the connection between the second positioning module and the first antenna, so that the second positioning module receives the Information transmitted by the first antenna.
The method of claim 10, wherein the method further comprises:

If it is detected that the flag bit of the base station data indicates that the duration of receiving the base station data is greater than the second duration threshold, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform passes through the The first positioning module performs positioning.
A positioning processing device is characterized in that it is applied to a control module, the control module is mounted on a movable platform, the movable platform is also equipped with an antenna module and a positioning module, and the antenna module includes a first antenna and a second antenna. Two antennas, the positioning processing device includes:

an acquiring unit, configured to acquire first indication information, and determine the working state of the first antenna according to the first indication information;

The processor is configured to, when it is determined that the first antenna is in the first state, control to establish the connection between the positioning module and the second antenna, so that the positioning module receives the signal transmitted by the second antenna.
A movable platform is characterized in that, the movable platform includes a control module, a positioning module and an antenna module, and the antenna module includes a first antenna and a second antenna and the control module includes a processor and a memory:

the memory for storing computer-readable instructions;

the processor, calling the instruction, when the instruction is executed, for:

acquiring first indication information, where the first indication information is used to indicate the working state of the first antenna;

When the first indication information indicates that the first antenna is in a first state, the positioning module is controlled to receive a signal transmitted by the second antenna.
The movable platform of claim 13, wherein the processor is configured to:

judging whether the parameter carried by the first indication information satisfies the antenna switching condition;

If the parameter carried by the first indication information satisfies the antenna switching condition, it is determined that the working state of the first antenna is the first state;

The parameters carried in the first indication information satisfy the antenna switching condition include: the voltage information indicates that the current voltage belongs to the first voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is lower than the first accuracy threshold.
The movable platform according to claim 13, wherein the positioning device comprises a first positioning module and a second positioning module; the processor is configured to:

In the process of receiving the signal transmitted by the first antenna, the second positioning module acquires the first indication information sent by the second positioning module.
The movable platform of claim 15, wherein the processor is configured to:

Judging whether the parameter carried by the first indication information satisfies the mode switching condition;

If the parameter carried by the first indication information satisfies the mode switching condition, it is determined that the working state of the first antenna is the second state;

The parameters carried in the first indication information satisfy the mode switching condition including: the current number of satellites is less than the satellite threshold, and/or the voltage information indicates that the current voltage belongs to the second voltage range, and/or the positioning accuracy information indicates that the current positioning accuracy is higher than the first The precision threshold is lower than the second precision threshold.
The movable platform according to claim 16, wherein the first positioning module is connected to the first antenna and the second antenna, and the processor is configured to:

When it is determined that the first antenna is in the second state, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform is positioned through the first positioning module.
The movable platform of claim 15, wherein the processor is configured to:

acquiring second indication information sent by the first positioning module, where the second indication information includes a flag bit of base station data;

If it is detected that the base station flag indicates that the duration of not receiving base station data is greater than the first duration threshold, control to establish the connection between the second positioning module and the first antenna, so that the second positioning module receives the Information transmitted by the first antenna.
The movable platform of claim 18, wherein the processor is configured to:

If it is detected that the flag bit of the base station data indicates that the duration of receiving the base station data is greater than the second duration threshold, the connection between the second positioning module and the first antenna is disconnected, so that the movable platform passes through the The first positioning module performs positioning.