Method and device for computing satellite signals for real-time positioning of unmanned aerial vehicle
A satellite signal, real-time positioning technology, applied in satellite radio beacon positioning systems, measurement devices, radio wave measurement systems and other directions, can solve problems such as low positioning accuracy, and achieve the effect of improving positioning accuracy
Pending Publication Date: 2019-02-05
GUANGDONG UNIV OF TECH
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[0004] The embodiment of the invention discloses a satellite signal calculation method and device for real-time positioning of UAVs, which are used to solve the technical problem of low positioning accuracy in the real-time surveying and mapping process of existing UAVs
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[0029] The embodiment of the invention discloses a satellite signal calculation method and device for real-time positioning of UAVs, which are used to solve the technical problem of low positioning accuracy in the real-time surveying and mapping process of existing UAVs.
[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0031] see figure 1 , an embodiment of a satellite signal solution method for real-time positioning of a drone provided in an embodiment o...
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Embodiments of the invention discloses a method and a device for computing satellite signals for real-time positioning of an unmanned aerial vehicle, and aims to solve the technical problem that the positioning precision in the surveying and mapping process of an existing unmanned aerial vehicle is low. An embodiment of the invention comprises the following steps: receiving the satellite signals and observation data of a reference station; performing demodulation processing on the satellite signals to obtain navigation message data; performing calculating and analyzing on the navigation message data and the observation data of the reference station, and calculating the position of each satellite, the number of common-view satellites and the satellite number according to two-line elements;performing differencing on each epoch of each satellite to obtain differential observation values after performing periodic hopping detecting and restoring on the signals of each satellite, and composing an observation equation with the differential observation value; and solving a total error equation according to the observation equation and a double-difference matrix equation, and solving a baseline vector and an ambiguity of whole cycles by jointing the observation equation, the double-difference matrix equation and the total error equation.
Description
technical field [0001] The invention relates to the technical field of UAV positioning, in particular to a satellite signal calculation method and device for real-time UAV positioning. Background technique [0002] UAV high-precision positioning has extremely important applications in UAV surveying and mapping, plant protection UAV, fire-fighting UAV, reconnaissance UAV, etc., and has higher requirements for high precision, miniaturization, and light weight. Especially in the field of UAV surveying and mapping, due to the relatively low level of positioning accuracy in the real-time surveying and mapping process of existing UAVs, the requirements for accurate surveying and mapping cannot be met. [0003] Therefore, in order to solve the above-mentioned technical problems, it has become an important subject to be studied by those skilled in the art to find a more accurate satellite signal calculation method and device for real-time positioning of UAVs. Contents of the inven...
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IPC IPC(8): G01S19/08
CPCG01S19/08
Inventor 邓耀华虞崇假姚可星
Owner GUANGDONG UNIV OF TECH