Node deployment and positioning method for patrol inspection of unmanned aerial vehicles in ecological environment
A positioning method and node deployment technology, which can be applied to services based on specific environments, satellite radio beacon positioning systems, services based on location information, etc., and can solve the problems of limited hardware cost and power consumption, and low positioning accuracy. To achieve the effect of saving cost and power consumption, high positioning accuracy and strong maneuverability
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[0030] A node deployment and positioning method for drone inspection in ecological environment includes:
[0031] 1. The UAV 110 navigates through the navigation system, and airdrops multiple node sensors 120 to corresponding preset airdrop areas.
[0032] 2. Using the quadrilateral measurement method, the UAV 110 itself is used as the anchor node to locate each node sensor 120 of the airdrop:
[0033] 1. The UAV navigates through the navigation system and flies to four different positions as four anchor nodes. The four anchor nodes are not coplanar, and the coordinates of the four are A respectively. a (x a ,y a ,z a ), A b (x b ,y b ,z b ), A c (x c ,y c ,z c ) And A d (x d ,y d ,z d ), see figure 2 , O in the figure represents the node sensor, and the coordinates of the anchor node are provided by the Beidou positioning system;
[0034] 2. Detect the distance d between the anchor node and the node sensor 120 a ,d b ,d c And d d , The traditional TOA algorithm has relatively high re...
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