74results about How to "Solve the positioning problem" patented technology

The invention relates to a task-driven unmanned aerial vehicle autonomous search method. The method comprises the following steps: acquiring an unmanned aerial vehicle speedometer by using a binocular RGB image and IMU data acquired by an unmanned aerial vehicle; obtaining three-dimensional point cloud data under a world coordinate system by using a depth map obtained by the unmanned aerial vehicle and an unmanned aerial vehicle speedometer, and establishing a probability voxel map through voxelization processing; performing target detection on the binocular RGB image by using a target detection network, and obtaining a target pose; establishing and updating a task scene map by using the target with the detection confidence exceeding the confidence upper limit and the probability voxel map; establishing a space boundary and a potential target boundary; establishing a search strategy of the unmanned aerial vehicle by using the space boundary and the potential target boundary, and determining a search viewpoint; and performing autonomous safety navigation of the unmanned aerial vehicle by using an unmanned aerial vehicle speedometer and a search viewpoint. According to the method, the problems of completely exploring a task space and simultaneously detecting a task target at high precision in a communication denial and unfamiliar and unknown scene are solved.

The invention belongs to the technical field of Lustre file management, and particularly relates to a method and system for improving Lustre small file management and performance, and the system comprises a nested file system, a three-level index module, a cache index module and a self-adaptive cache module; the nested file system realizes management and storage of small files; the three-level index module comprises a small file global metadata index, a container file internal index and a cache index and is used for optimizing retrieval and storage management of small files; the cache index module is used for managing small files accessed at high frequency and reducing repeated I / O requests; and according to the self-adaptive caching module, the client dynamically adjusts a caching strategy of a small file according to the file access frequency and mode, so that the reading speed of a high-frequency access file is improved, and network I / O (Input / Output) operation is reduced. The performance bottleneck of a Lustre file system during small file processing is solved through a nested file system, and the access burden of a metadata server and an object storage server is reduced through a three-level index architecture.

The utility model relates to a feeding and discharging device for spline shaft machining, which comprises a mechanical arm and a feeding device, the mechanical arm is arranged on one side of the feeding device, the feeding device comprises a first storage cabinet and a second storage cabinet, and the top of the first storage cabinet and the top of the second storage cabinet are both provided with discharging holes. Automatic feeders are arranged in the first storage cabinet and the second storage cabinet, each automatic feeder comprises a rotating shaft, a conveying belt and a servo motor, a plurality of containing grooves are evenly formed in the surface of the conveying belt at equal intervals, the servo motors are arranged at the top end in the first storage cabinet, and the rotating shafts are in transmission connection with output shafts of the servo motors through couplings; the two ends of the rotating shaft are sleeved with discs, and a plurality of containing holes are evenly formed in the discs in the axial direction. The containing holes of the discs can be matched with the electromagnets to descend the shaft parts conveyed by the conveying belt to be attracted to the rotating shafts, the containing grooves in the conveying belt can prevent the shaft parts from rolling during conveying, and the parts can be automatically fed.

The present invention relates to an intelligent storage method and device based on cloud warehouse. The method: perform all-round scanning and cargo feature recognition on the goods entering the cloud warehouse to obtain cargo feature data; assign and bind RFID tags to each piece of cargo and perform initial positioning to obtain the three-dimensional coordinate value of the cargo; construct a multi-dimensional cargo feature vector and calculate the storage location allocation plan to perform path planning and multi-agent task scheduling on the AGV to obtain the storage task execution instruction of the AGV; obtain the RFID scanning data of the stored goods and the AGV on-board sensor data and perform fusion positioning to obtain the real-time and accurate location and storage status information of the goods; input the real-time and accurate location and storage status information of the goods into the encoder-decoder model to perform AGV path planning and sorting decision calculation to obtain the optimal sorting strategy and AGV motion trajectory. The implementation of the present invention improves the accuracy of AGV path planning and sorting decision of the cloud warehouse.

The invention provides a trolley positioning method and device based on a laser radar, equipment and a storage medium, and relates to the technical field of tunnel engineering. The method comprises the following steps: acquiring an attitude transformation matrix between a laser radar and a trolley, and a target center first coordinate of each target; obtaining point cloud data of the laser radar, and obtaining a target center second coordinate of each target according to the point cloud data; according to the target center first coordinate and the target center second coordinate of each target, a first conversion matrix between the radar coordinate system and the tunnel coordinate system is obtained through a singular value decomposition method, and according to the first conversion matrix and the attitude conversion matrix, a second conversion matrix between a trolley coordinate system where the trolley is located and the tunnel coordinate system is obtained; and positioning the trolley according to the second conversion matrix. According to the method, the positioning precision of the trolley in the tunnel is improved on the premise of high universality.

The invention discloses a forced power oscillation disturbance source positioning method based on KDE transfer entropy causal analysis, and belongs to the technical field of power system operation and maintenance. The forced power disturbance source positioning is realized by analyzing the causal relationship between disturbance source and non-disturbance source unit measurement signals in the forced power oscillation process of the system. According to the method, the causal analysis method is used for solving the forced power oscillation disturbance source positioning problem, dependence on a system model and parameters is eliminated, rapid online positioning of the forced oscillation disturbance source can be achieved only according to measurement data, and the positioning precision and positioning efficiency of the forced oscillation disturbance source are effectively improved.

The invention discloses a processing system and process for a natural gas heat storage heating furnace component, and relates to the technical field of metal component processing. Comprising a conveying device, and a hole cutting station, a first welding station and a second welding station are sequentially arranged above the conveying device in the conveying direction of the conveying device; the conveying device is used for sequentially conveying the heat storage chamber outer plate to the position under the hole cutting station, the first welding station and the second welding station. A feeding device is arranged above the second welding station, and the feeding device can clamp the air pipe and drive the air pipe to be in butt joint with the pipeline base. On one hand, the occupied space of multiple sets of equipment in a workshop can be saved, on the other hand, more labor input can be saved, the machining efficiency is improved, one heat storage outdoor plate is completed on the same production line, frequent equipment replacement for assembly, disassembly and positioning is avoided, the machining quality is improved, and the production cost is reduced. According to the scheme, the air pipe is cut off after being welded in cooperation with a cutting device, the floating change of the needed size can be met, and waste of air pipe raw materials is avoided.

This invention discloses a GNSS interference source localization method based on ADS-B data. The method involves acquiring ADS-B data, saving data points affected by GNSS interference, and, if no NIC is available, constructing ADS-B data with a NIC. The message data is then sorted by ICAO and timestamp. A diagonal matrix W is calculated based on the ICAO, timestamp, NIC, a table showing the correspondence between NIC and received interference power, and the hyperparameter value τ. A residual vector R is calculated based on the message data and the optimization vector, and the optimized vector is then output. This invention analyzes large-scale aviation ADS-B data, sorts and classifies the original message data to determine whether flights are subject to GNSS interference, and abstracts the interference source localization problem into a least-squares problem. An optimization function is constructed, and an iterative optimization algorithm is used to calculate the possible GNSS interference source locations and transmission power, thus more efficiently locating GNSS interference sources.

The invention discloses a self-walking unmanned aerial vehicle nest bridge steel box girder internal detection system and method. The system is composed of a track traveling chassis, a laser radar subunit, an image monitoring subunit, an unmanned aerial vehicle cable laying and collecting mechanism, one or more unmanned aerial vehicle carrying tables, a communication unit, a storage unit, a calculation unit, a control unit and a power supply unit. The laser radar subunit realizes position positioning of the self-walking nest in a bridge, and realizes position positioning and attitude calculation of the unmanned aerial vehicle in a steel box girder; through the cooperation of the self-walking nest and the mooring unmanned aerial vehicle, crack and defect detection by using the unmanned aerial vehicle in the steel box girder has establishment conditions; and tracking and monitoring of the unmanned aerial vehicle and image and video acquisition of the internal environment of the steel box girder are realized through the image monitoring subunit. According to the system and the method, autonomous driving of the nest in the bridge and autonomous flight of the unmanned aerial vehicle are ensured, and the internal patrol and crack and defect detection efficiency of the steel box girder is greatly improved.

The invention discloses a welding fixture for motorcycle production, and relates to the field of welding fixtures, the welding fixture comprises a fixture body, a connecting plate is arranged in the middle of the back surface of the fixture body, convex parts symmetrically extend outwards from two sides of the fixture body, and L-shaped convex parts extend outwards from the front surface of the surface of the fixture body. According to the welding clamp for motorcycle production, through cooperation of the positioning frame, the vertical displacement frame, the vertical shaft, a third spring, a rotating ring, a rotating rod, a sleeve rod, a vertical strip and an inner pipe insert block, a workpiece port can be limited in the height direction, the rotating direction and the inserting direction, the tubular end enters the port through the inner pipe insert block, and the non-tubular end abuts against the outer wall through the inner pipe insert block; the position is adjusted by matching with a vertical frame, a clamping plate, a transverse shaft, a sliding seat, a bottom frame and a second spring, so that the movement of the end part of a workpiece before welding is limited, the problems of deviation of a pipe port, dislocation of a welding spot and shaking after clamping are solved, the clamp adapts to the positioning requirements of a port piece and a plate piece, and the clamp changing process is reduced.

The utility model relates to the technical field of injection molding jigs, and particularly discloses a wire clamping jig for injection molding of a video wire, which comprises a base, an aviation plug fixing seat detachably connected to one side of the base, and a cable accommodating groove arranged on one side, opposite to the aviation plug fixing seat, of the base, a containing groove is formed in the base, clamping structures used for clamping a cable are arranged on the portions, on the two sides of the containing groove, of the base, a fixing structure used for fixing an aviation plug is arranged in the aviation plug fixing base, and an injection molding groove is formed in the portion, between the aviation plug fixing base and the containing groove, of the base. And only positioning of aviation plugs and cables with single specifications can be realized.

The invention provides a highway fee evasion vehicle intelligent identification and trans-provincial retailer method and system. The method comprises the steps of obtaining a trans-provincial compensation work order, querying a portal transaction flow of a province, obtaining a candidate portal flow data set, carrying out license plate matching judgment according to the data set, carrying out similar vehicle searching and generating a checking conclusion if the data set is not completely matched, and storing license plate identification evidence and checking an exit transaction flow if the data set is completely matched. And finally, constructing a structured evidence chain based on the data set, the search result and the check conclusion. According to the invention, through an intelligent license plate matching and similar vehicle searching mechanism, the problem that the cross-provincial fee evasion vehicle is difficult to retrack due to license plate recognition errors and fee evasion by using a similar license plate fake plate is effectively solved, the accuracy and efficiency of retrack checking are improved, a complete, credible and traceable evidence chain system is constructed, and the method and the device have a wide application prospect. And a reliable technical support is provided for realizing accurate compensation of trans-provincial vehicles.

The application relates to the technical field of mobile terminal automatic testing, in particular to a mobile terminal full-scene automatic testing system based on AI visual identification and a testing method thereof, which comprises a backend control layer, an automatic driving layer, an AI visual identification layer, a time execution layer, a cross-platform adaptation layer and a tool support layer. The application reduces the dependence on UI element IDs in the mode of AI visual identification, does not need to modify scripts in iteration, can directly realize version control, improves the maintenance and testing efficiency, and has high positioning accuracy and compatibility.

The utility model belongs to the technical field of welding, and particularly relates to a case fillet welding clamp jig which comprises a table board, a supporting table is connected to the bottom of the table board, and clamping mechanisms are symmetrically arranged on the top of the table board. The clamping mechanism comprises a fixing table, the fixing table comprises a base, the shape of the base is trapezoidal, the top of the base is connected with a first connecting plate, and the waist part of the base is provided with a barrier strip and a buckling strip; a fillet pushing piece is connected to the side face of the first connecting plate, a box clamping mechanism is connected to the bottom of the base, a box body is clamped between the box clamping mechanism and the fixing table, and an arc-shaped strip is clamped between the fillet pushing piece and the shielding cover. According to the clamp jig, the trapezoid base is combined with the fixing table, and the barrier strip and the buckling strip are arranged on the waist portion of the base, so that the stability and the accuracy of welding operation are effectively improved; the stability of the whole structure is enhanced through the trapezoid base, and accurate positioning of the box body in the clamping process is guaranteed through the design of the blocking strips and the buckling strips.

A hoisting plate is installed on the lower edge of a cross beam of a portal frame, a motor is installed on the hoisting plate, motor end driven synchronous wheels are arranged on the two sides of the motor, a rail groove is formed in the lower portion of the hoisting plate, a first synchronous belt is arranged on an upper translation frame and fixed to the two ends of the upper translation frame, and a second synchronous belt is arranged on the lower portion of the upper translation frame. Translation frame driven synchronous wheels are arranged at the two ends of the upper translation frame respectively, and the motor end driven synchronous wheels drive the first synchronous belt to enable the upper translation frame to move along the rail grooves. A lower translation frame is arranged below the upper translation frame, and rollers are arranged at the lower parts of four corners of the lower translation frame; a second synchronous belt bypasses the translation frame driven synchronous wheels and then is connected with the two ends of the lower translation frame supporting plate; the lower translation frame is downwards provided with a plurality of lifting assemblies, and the lower portion of each lifting assembly is connected with a suction cup frame. Linear conveying and accurate fixed-point taking and placing of the membranes are guaranteed, the problem of membrane positioning is solved, manual operation is completely replaced, and the automation degree is high.

The invention provides a method and a system for positioning a virtual machine based on a software SDN (Software Defined Network) architecture. The method comprises the following steps: acquiring LLDP information of a Leaf switch by adopting an LLDP protocol; traversing the Leaf switch port according to the LLDP information, acquiring an LLDP device name according to the Leaf switch port, and determining device name information connected with the Leaf switch port according to the LLDP device name; the cloud platform interface is called to inquire server information according to the LLDP device name, and the server information comprises virtual machine information; and according to the server information and the equipment name information, obtaining a corresponding relationship between the Leaf switch port and the virtual machine, and positioning the virtual machine according to the corresponding relationship. The problem that the associated virtual machine under the Leaf switch port cannot be quickly positioned in the prior art is solved.

The invention provides a gesture positioning method and device applied to an intelligent remote controller and electronic equipment, and relates to the field of data processing. According to the method, in the process that a user uses the intelligent remote controller, position change data and posture change data of the intelligent remote controller are obtained; inputting the position change data and the attitude change data into a preset LSTM model to obtain a dynamic pointing area; performing gesture intention reasoning on the dynamic pointing area, and determining a pointing probability corresponding to the dynamic pointing area; if it is determined that the pointing probability meets a preset condition, obtaining a target object from the dynamic pointing region; and sending the control instruction to the target object to control the target object to complete the control operation of the intelligent remote controller through the control instruction. By implementing the technical scheme provided by the invention, the positioning problem of the intelligent remote controller is solved, so that the intelligent remote controller realizes a control effect.

The invention discloses an automatically-adjusted workpiece clamping system and a control method, and belongs to the technical field of machining, clamping and positioning. The system comprises a clamp base, a lineation detection unit, an image acquisition unit, a hydraulic adjustment unit and a control unit. The hydraulic adjusting unit comprises hydraulic cylinder sets in the X direction, the Y direction and the Z direction, the two hydraulic cylinders in the Z direction are communicated through a hydraulic communicating device to form linkage, the two hydraulic cylinders in the Z direction and the other two hydraulic cylinders jointly form a three-point supporting structure, and the over-positioning problem of four-point supporting is solved. The control unit carries out processing and feature extraction on the image, calculates the six-degree-of-freedom deviation of the workpiece, calculates the adjustment amount of each hydraulic cylinder according to the deviation and controls the hydraulic cylinders to act. The system realizes closed-loop automatic adjustment of the position of the workpiece by cyclically executing the detection and adjustment process until the six-degree-of-freedom deviation is within the allowable range. Automation and high precision of large workpiece clamping and positioning are achieved, and the device is suitable for precise positioning of large heavy workpieces such as train chassis.

The invention relates to the technical field of pipeline cleaner tracking and positioning and the like, in particular to a pipe cleaner blocking positioning method and device, and the method comprises the following steps: 1, connecting optical fiber vibration detection equipment with an optical fiber in a communication optical cable laid in the same trench of a pipeline; step 2, the pressurization equipment keeps continuously inputting a medium into the pipeline; 3, performing data processing and display by the optical fiber vibration detection equipment; step 4, the pressurization equipment starts to slowly increase the pressure, and the optical fiber vibration detection equipment records a vibration signal e which is gradually enhanced; 5, closing the pressurizing equipment, and recording the mileage or position La of the disappeared vibration signal e by the optical fiber vibration detection equipment; and 6, the ground is knocked along the pipeline, and when the knocking signal position coincides with the recording position La, the position below the ground knocking position corresponds to the clamping and blocking position of the pipe cleaner. The blocking positioning difficulty of the pipe cleaner is greatly reduced, the positioning time is greatly shortened, and the pipeline production and operation safety is guaranteed.

The present application relates to ceramic matrix composite forming die, tooling and method, specifically relates to large complex closed cavity thin-walled structure ceramic matrix composite component overall forming tooling and method, in order to solve the existing technology exists ceramic matrix composite component parts assembly gap, overall strength is insufficient, service life is reduced and other insufficient, the present application large complex closed cavity thin-walled structure ceramic matrix composite component overall forming tooling includes shaping auxiliary tooling and graphite forming die, shaping auxiliary tooling includes M skeleton box shaping tooling and first bottom plate, wherein, M is greater than or equal to 1, graphite forming die includes M inner mold forming die, annular forming die and outer mold forming die, the present application large complex closed cavity thin-walled structure ceramic matrix composite component overall forming method is based on the above tooling, in turn includes preform shaping, preform densification forming, component processing, realizes overall forming.

This invention discloses a screw removal and installation device and method for narrow gaps, including a door body with a groove inside. A guide rail platform is installed on one side of the door body, and a positioning mechanism is installed on the other side. A flipping mechanism is installed on the guide rail platform, and a screw removal and installation mechanism is installed on the flipping mechanism. The screw removal and installation mechanism is located in the groove. A positioning block is installed on the bottom surface of the groove, and a feeding mechanism is installed on the top surface of the groove. This invention uses a positioning mechanism that allows operation with the equipment back panel as a reference plane, effectively solving the positioning problem caused by the non-parallelism between the wall and the electrical cabinet, and significantly improving the accuracy and efficiency of operation. The feeding mechanism enables automatic feeding, eliminating the need for manual operation and improving the convenience and efficiency of operation. The screwdriver head can tilt within a certain angle, automatically aligning with the screw head, effectively avoiding misalignment errors that could prevent removal or screw damage, thus improving the success rate of operation and the maintainability of the equipment.

This invention discloses a positioning method, system, and storage medium for inspection robots operating in long aisle corridors. It constructs a grid map of the long aisle, records the 2D laser scan profiles of the inspection robot at the beginning and end of the aisle, and the robot's current pose. Based on the robot's laser positioning system and 2D laser scanning device, it acquires the robot's real-time pose and real-time 2D laser scan frames. The difference between the robot's real-time pose and the recorded pose at the beginning of the aisle is calculated. Registration is then performed using the real-time received 2D laser scan frames and 2D laser scan profiles to determine the robot's current position. This invention solves the positioning problem of inspection robots in long aisle scenarios without increasing the robot's cost, demonstrating good adaptability to various scenarios.

The present invention relates to the field of three-dimensional space visual positioning, and discloses a three-dimensional space visual positioning method, system and device based on an incomplete mushroom image, comprising an image acquisition module, a distance measurement module and a main control module; the image acquisition module is used to acquire image information of mushrooms to be detected; the distance measurement module is used to measure the vertical distance between the image acquisition module and the mushrooms to be detected; the main control module is used to pre-process the acquired image, and then identify and locate the mushrooms in the pre-processed image, and then perform integrity detection on the identified mushrooms. During identification and positioning, the center points of the mushrooms in the image are determined according to the image integrity, and finally the three-dimensional coordinates of the mushrooms are generated. Compared with the prior art, the method proposed by the present invention can realize the positioning of mushrooms with incomplete image acquisition and further improve the positioning accuracy of mushrooms.

The utility model discloses a tool for vertical distribution of irradiation dose of an electron accelerator, which comprises a tool body, a plurality of step parts are sequentially arranged on the tool body, placing grooves for placing CTA detection sheets are arranged on the step parts, a base is arranged at the bottom of the tool body, and the tool body is provided with a plurality of grooves for placing the CTA detection sheets. The top of the base is connected with a telescopic rod through a pull rod, the telescopic rod is connected to the bottom of a mounting seat, the mounting seat is movably connected to the lower side of the track, and a detection mechanism is mounted below the mounting seat. The tool is scientific and reasonable in structural design, the CTA detection piece is placed in the containing groove, the whole tool is placed in a pure water medium for beam irradiation, then the CTA detection piece subjected to beam irradiation is taken out, the light absorption value of the CTA detection piece is detected, and corresponding absorption detection is calculated according to the change of the light absorption value before and after irradiation. And finally obtaining electron beam energy through data calculation and analysis.

The present application belongs to the field of precision microfabrication, and discloses a microstructure substrate film forming method combining ultrasonic oscillation and doctor blade coating, comprising the following steps: positioning and fixing the microstructure substrate; improving the wettability of the microstructure substrate; removing the excess solution on the microstructure substrate and leveling the liquid film. The microstructure substrate is immersed into the solution in the ultrasonic instrument, the solution is oscillated by the amplitude and frequency of the ultrasonic wave, the contact angle of the solution at the bottom of the microstructure is reduced by the hysteresis effect of the contact angle, and the air layer at the bottom of the microstructure is removed by the cavitation effect of the ultrasonic wave, so as to enhance the wettability of the solution to the bottom of the microstructure. The wettability of the solution to the microstructure substrate is effectively improved, the problems of poor wettability of the solution to the bottom of the microstructure, multiple repetitive operations and long process in the existing single wet coating method are overcome, and the thin film with high coverage, ideal film thickness and uniformity is prepared on the microstructure substrate.

The embodiment of the application relates to the technical field of electromagnetic element processing, and discloses a tool equipment and a method for manufacturing an electric slip ring, the tool equipment comprising a positioning mechanism, a transfer mechanism, a pressing mechanism and a clamping mechanism, the transfer mechanism comprising a transfer base and a transfer sleeve rod, the transfer sleeve rod being provided with a plurality of positioning steps, the pressing mechanism being used for sleeving a plurality of metal rings on the transfer sleeve rod, the clamping mechanism comprising a base, a first clamping assembly, a first driving assembly, a second clamping assembly, a second driving assembly and a third clamping assembly, the third clamping assembly being used for clamping the plurality of metal rings, the first clamping assembly being used for clamping the transfer sleeve rod, and the second clamping assembly being used for sleeving part of the mounting seat into the plurality of metal rings. Through the above mode, the embodiment of the application can solve the problems of inaccurate positioning of the metal ring in the assembly process, cable crushing and size error and the like in the existing assembly mode.

This application relates to the field of forklift wiring harness production and discloses a wiring harness storage mechanism for forklift wiring harness production. The mechanism includes a wiring harness storage rack with directional wheels on both sides of the bottom end. A fixed frame is fixedly connected to the outer surface of the rack in parallel. Several support members are symmetrically welded to the front and rear ends of the outer surface of the fixed frame. A fixing clip is fixedly installed on the upper surface of each support member. A connecting shaft is hinged to one side of each fixing clip. A movable clip is installed in the middle of the outer surface of the connecting shaft. Several mounting slots are provided at the ends where the fixing clip and the movable clip intersect. This application, by setting up the fixing clip, movable clip, mounting slots, support blocks, and wiring harness sleeves, avoids the wiring harness from tangling and clustering together. Compared with existing technologies, this solution effectively solves the wiring harness positioning problem, improves the orderliness and convenience of wiring harness storage, reduces the difficulty of subsequent wiring harness organization, and ensures the smooth progress and quality of forklift wiring harness production.

This invention discloses a bonding and positioning system for irregularly shaped products based on customized Mark points, comprising: a marking production unit for processing at least two identifiable Mark points on the surface of the irregularly shaped product to be bonded; a vision acquisition unit for acquiring image information data and spatial position data of the irregularly shaped product with identifiable Mark points; and a control unit, communicatively connected to the vision acquisition unit, calculating the pose deviation of the irregularly shaped product to be bonded based on the image information data and spatial position data, and generating compensation commands. This invention customizes and processes high-precision Mark points on the product body, providing a stable and dedicated recognition benchmark for the vision system, fundamentally overcoming the positioning difficulties caused by the irregular shape and weak contour features of irregularly shaped products.

The present application discloses a method and device for unmanned aerial vehicle navigation, including: when the confidence of GNSS posture is in a high confidence interval, the GNSS posture at this time is used for positioning flight, and the visual map construction step is performed based on the posture of the image frame; when the confidence of GNSS posture is in a medium confidence interval, the credibility of the current GNSS posture is judged by the constructed visual map, if it is credible, the visual map is updated based on the GNSS posture to obtain the updated visual map, if it is untrustworthy, the GNSS posture is discarded, and the positioning flight is performed based on the posture of the current image frame obtained by the visual map; when the confidence of GNSS posture is in a failure interval, the visual map is used to match the feature points in the current image frame and the visual map to estimate the current posture of the unmanned aerial vehicle. The problem of how to achieve positioning and navigation by combining GNSS and visual information when the unmanned aerial vehicle cannot receive or trust GNSS signals is solved.