Unmanned aerial vehicle positioning method and system

A positioning method and technology of a positioning system, applied in satellite radio beacon positioning systems, radio wave measurement systems, measuring devices, etc., can solve problems affecting the fixed rate and accuracy of calculation, large steering tilt angle, etc.

Active Publication Date: 2018-09-04
深圳飞马机器人科技有限公司
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Problems solved by technology

[0005] In view of the technical problems in the prior art due to the large steering tilt angle of small fixed-wing UAVs, frequent up-and-down satelli...

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  • Unmanned aerial vehicle positioning method and system

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[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

[0026] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of this application. The terminology used in the description of the present application is only for the purpose of describing a specific embodiment, and is not used to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more of the associated listed items.

[0027] In addition, the technical features involved in the various embodiments o...

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Abstract

The invention discloses an unmanned aerial vehicle positioning method and system. The unmanned aerial vehicle positioning method comprises the steps that the observation data of the unmanned aerial vehicle are preprocessed; differential calculation is performed on the observation data of the unmanned aerial vehicle so as to obtain an observation equation and an error equation, and filtering of theobservation equation and the error equation is performed so as to obtain the integer ambiguity; the integer ambiguity is solved in two threads by using two integer ambiguity processing methods and the integer ambiguity is substituted back to the error equation so as to obtain two sets of preliminary positioning results; and the two sets of preliminary positioning results are fused according to the two sets of preliminary positioning results and the positioning result type so as to obtain the accurate positioning result of the unmanned aerial vehicle. The unmanned aerial vehicle positioning method and system can be applied to differential solving high-accuracy positioning of the small fixed-wing unmanned aerial vehicle so that the problems of low positioning accuracy, high elevation errorand low solving efficiency in the prior art can be effectively solved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of drones, and in particular to a positioning method and system for drones based on Global Navigation Satellite Systems (GNSS) differential positioning technology. Background technique [0002] With the rapid development of electronic technology, small fixed-wing UAVs have been widely used in surveying and mapping, aerial photography, monitoring, reconnaissance and other fields. There are greater advantages. [0003] High-precision positioning system is a key part of small fixed-wing UAVs, such as GNSS, which has global, all-weather and continuous precision three-dimensional positioning capabilities. Small fixed-wing UAVs used in the surveying and mapping industry require high-precision positioning results to achieve image-free control. This requires the establishment of a reference station for differential positioning to achieve centimeter-level positioning accuracy. The use of...

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Application Information

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IPC IPC(8): G01S19/44G01S19/41
CPCG01S19/41G01S19/44
Inventor 高广王新健董国红
Owner 深圳飞马机器人科技有限公司
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