Method for three-dimensional positioning through cooperation of outdoor unmanned aerial vehicle and indoor unmanned aerial vehicle

Abstract

The invention discloses a method for three-dimensional positioning through cooperation of an outdoor unmanned aerial vehicle and an indoor unmanned aerial vehicle, and mainly solves the problem that the existing method cannot obtain the GPS information of the indoor unmanned aerial vehicle without installing a specific device indoors. According to the scheme, an outdoor center unmanned aerial vehicle obtains center GPS coordinates and calculates wing GPS coordinates of the outdoor center unmanned aerial vehicle; the distance between wings is measured through the UWB distance measuring module installed on each wing of the unmanned aerial vehicle, distance information is sent to the outdoor center unmanned aerial vehicle and a ground base station through a communication module installed on the unmanned aerial vehicle, the outdoor center unmanned aerial vehicle constructs a distance matrix according to the distance information, relative coordinates of the indoor and outdoor wings are obtained, the indoor wing relative coordinates are converted into absolute coordinates according to the outdoor wing GPS coordinates, indoor unmanned aerial vehicle center GPS coordinates are obtained, and the position of the indoor unmanned aerial vehicle is determined. According to the method, the GPS coordinates of the indoor unmanned aerial vehicle can be determined through cooperative work of the outdoor unmanned aerial vehicle, and the method can be used for accurately positioning the indoor unmanned aerial vehicle in a common indoor environment.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an indoor positioning method for unmanned aerial vehicles, which can be used to obtain accurate GPS coordinate information of indoor unmanned aerial vehicles in ordinary indoor environments. Background technique [0002] At this stage, the advancement of drone technology has gradually increased the demand for drones. Unmanned aerial vehicles (UAVs) were originally used in the military field. Because of their low cost, good maneuverability, and difficult to be discovered, they have become emerging weapons for military reconnaissance and strikes. With the continuous popularization of drone technology, drones have entered people's lives. In terms of civilian use, drones can complete various life tasks such as shooting, express transportation, and disaster detection, providing convenience for the public and improving the quality of life of the people. H...

AI Technical Summary

Problems solved by technology

However, this method needs to set up UWB base stations indoors in advance according to the algorithm requirements. If the drone enters an ordinary indoor environment, there is no UWB base station and any relevant information that can be referred to, and the accurate position of the indoor drone cannot be obtained only through the onboard camera. information, the flight position of the indoor UAV cannot be accurately controlled, resulting in the inability of the indoor UAV to continue to perform subsequent flight tasks

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