A network rtk-based autonomous tracking and positioning system and method for unmanned aerial vehicles

Abstract

The invention discloses a network RTK-based autonomous tracking and positioning system and method for unmanned aerial vehicles, comprising: an RTK base station, which is used to obtain network positioning information of a network RTK base station group through a 4G network, and RTK satellite positioning information of the RTK base station Combined, the positioning and calibration data of the UAV is calculated and transmitted to the onboard processing device of the UAV; the onboard processing device of the UAV is used to calibrate the RTK satellite positioning information of the UAV with the positioning from the RTK base station The data is combined to solve the precise position of the drone and realize the precise positioning of the drone. The invention calculates the differential correction data through the network positioning information of the RTK base station and the RTK satellite positioning information, and transmits it to the UAV for positioning correction, which is beneficial to improving the accuracy of the UAV positioning. stable advantage.

Description

technical field [0001] The invention relates to UAV positioning, in particular to a network RTK-based UAV autonomous tracking and positioning system and method. Background technique [0002] At present, the demand for drones in the industrial field is increasing, and they are used in various aspects such as national defense, agriculture, electric power, fire protection, and public security. There is a great demand for some occasions that cannot be successfully completed by conventional manpower; When man-machine, it is often necessary to locate the drone. For now, the positioning methods of the drone mainly include the following three types: [0003] First, direct use of GPS data for positioning, the positioning accuracy is within 2.5 meters, and the error is large; [0004] Second, the conventional RTK base station positioning UAV, because there is an offset in the positioning of the RTK base station, and the offset cannot be copied, and the offset is irregular, resulting ...

AI Technical Summary

Problems solved by technology

[0003] First, direct use of GPS data for positioning, the positioning accuracy is within 2.5 meters, and the error is large;

[0004] Second, the conventional RTK base station positioning UAV, because there is an offset in the positioning of the RTK base station, and the offset cannot be copied, and the offset is irregular, resulting in irregular positioning of the UAV, and the irregular positioning of the UAV can be found , although the RTK positioning accuracy can reach the centimeter level, it is only for fixed object positioning and is not suitable for UAV autonomous tracking high-precision positioning; for example, the first positioning coordinates of a conventional RTK base station (x 0 ,y 0 ,z 0 ), the offset is (Δx i ,Δy i ,Δz i ), i=2, 3, 4...n; i represents the number of times of collecting base station positioning offsets; the second positioning offset, the third positioning offset, the fourth positioning offset, until the nth When the secondary positioning is offset, the actual base station positioning coordinates are (x 0 +Δx i ,y 0 +Δy i ,z 0 +Δz i ); due to the uncertainty of the offset, that is (Δx i ,Δy i ,Δz i )≠(Δx i+1 ,Δy i+1 ,Δz i+1 ), the actual positioning coordinates are also uncertain

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