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Auxiliary high-precision positioning grid two-dimensional code design method

A positioning grid and design method technology, applied in the field of UAV identification, can solve problems such as two-dimensional code identification and two-dimensional code complexity, and achieve the effect of simple division method

Pending Publication Date: 2021-08-20
西安万飞控制科技有限公司
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  • Application Information

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Problems solved by technology

[0008] In order to overcome the problem that the existing two-dimensional code is very complicated and cannot realize real-time performance on the drone, and the two-dimensional code designed alone cannot be fully recognized from a wide range of 10 meters to 0.1 meters, the present invention provides an auxiliary high-precision positioning Grid two-dimensional code design method, the grid two-dimensional code provided by the present invention is composed of two-dimensional code blocks of multiple sizes, different numbers, and indeterminate positions. 0.1 meters wide range for identification

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  • Auxiliary high-precision positioning grid two-dimensional code design method

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Embodiment 1

[0031] In order to overcome the problems that the existing two-dimensional codes are very complicated, cannot realize real-time performance on the drone, and the two-dimensional codes designed alone cannot be fully recognized from a wide range of 10 meters to 0.1 meters, the present invention provides such Figure 1-3 A method for designing an auxiliary high-precision positioning grid two-dimensional code is shown. The grid two-dimensional code provided by the present invention is composed of two-dimensional code blocks of multiple sizes, different numbers, and indeterminate positions. The present invention can make unmanned The precise positioning of the machine can identify a wide range of 10 meters to 0.1 meters.

[0032] A method for designing an auxiliary high-precision positioning grid two-dimensional code, the specific steps are:

[0033] Step 1, determining the size of the smallest two-dimensional code block according to requirements;

[0034] Step 2, divide the grid;...

Embodiment 2

[0039] Based on the basis of embodiment 1, in this embodiment, preferably, in the described step 2, when dividing the grid, the minimum two-dimensional code block determined in the step 1 is used as the minimum unit for dividing the grid; then the whole The grid consists of M*N small squares to form a rectangular grid, and a minimum QR code block is placed in each small square.

[0040] Preferably, the M and N are the number of small squares on the length and width of the rectangular grid respectively; the values ​​of M and N are both natural numbers greater than 4, and the values ​​of M and N can be the same.

[0041] In the present invention, the values ​​of M and N are selected according to the requirements, and the values ​​will not be too small, which cannot meet the requirements of the range identification, and do not need to be too large, which will lead to waste of resources and labor consumption. Preferably, the value of M is 10, 11, 12, 15, 18, 20, preferably, the va...

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Abstract

The invention provides an auxiliary high-precision positioning grid two-dimensional code design method. The method comprises the specific steps of 1, determining the size of a minimum two-dimensional code image block according to requirements; 2, dividing grids; and 3, drawing two-dimensional code blocks with different sizes at different positions in the divided grids. In the step 2, the minimum two-dimensional code graph block determined in the step 1 is used as the minimum unit of grid division during grid division; the whole grid is a rectangular grid formed by M * N small square blocks, and a minimum two-dimensional code graph block is placed in each small square block; the dividing method is simple, the grid two-dimensional code is composed of a plurality of two-dimensional code image blocks with different sizes, different numbers and uncertain positions, large-range recognition can be carried out as long as the two-dimensional code image blocks with different sizes exist in the grid two-dimensional code at the same time only by replacing the forming mode of the grid, and direction recognition can be conveniently carried out at different heights.

Description

technical field [0001] The invention belongs to the field of UAV identification, and in particular relates to a design method of a two-dimensional code for an auxiliary high-precision positioning grid. Background technique [0002] UAVs generally rely on ordinary GPS when they land automatically, and the positioning accuracy of ordinary GPS is ±5 meters, which is far from enough for landing with precision requirements. The positioning accuracy of RTK can be better than ±0.1 meters, which greatly improves the accuracy, but the cost of RTK is high and the output frequency is low. The recognition frequency and accuracy based on visual positioning assistance can reach 100Hz, ±0.05 meters, which greatly improves the landing accuracy. In complex environments, the combination of multiple positioning methods can achieve higher anti-interference ability to achieve safe landing . [0003] A machine vision-based precise landing method for UAVs whose publication number is CN110231835A...

Claims

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Application Information

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IPC IPC(8): G06F30/17G06K19/06
CPCG06F30/17G06K19/06037G06K19/06046
Inventor 廖明熙
Owner 西安万飞控制科技有限公司
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