Dynamic Site Selection Method, Device, Electronic Device and Medium for UAV Positioning

Abstract

The present invention provides a dynamic site selection method, device, electronic device and medium for unmanned aerial vehicle (UAV) positioning, wherein the dynamic site selection method comprises: determining n initially positioned TDOA sites and using the initially positioned TDOA sites to determine the UAV flight trajectory curve; calculating the predicted flight trajectory of the UAV in the current time period according to the UAV flight trajectory curve; determining m TDOA candidate sites at the current time period according to the positioning position of the UAV at the current time period and the average duration of signal reception by the TDOA site in the current time period; determining n TDOA positioning sites at the current time period according to the predicted flight trajectory of the UAV at the current time period, the average duration of signal reception by the TDOA site in the current time period and the m TDOA candidate sites at the current time period; and updating the UAV aircraft trajectory curve according to the result of re-positioning the UAV by the TDOA positioning site at the current time period.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a dynamic site selection method, device, electronic device and storage medium for unmanned aerial vehicle positioning. Background Art

[0002] Using TDOA technology to locate drones is a mature and effective technology for civilian drones. In theory, three TDOA monitoring stations can calculate TDOA positioning for drone signals.

[0003] However, in low-altitude urban environments, drone radio signals are subject to multiple factors, such as multipath and electromagnetic interference, that can affect TDOA positioning accuracy. The geometric relationship between the TDOA monitoring station and the target drone can also significantly impact positioning accuracy. Furthermore, maintaining stable monitoring task allocation for specific drone signals is crucial for the smooth operation of the TDOA system. Therefore, in practical positioning systems, dynamic optimization of monitoring station selection is necessary based on the target drone's location and the status of the ground monitoring system to achieve optimal positioning results. Summary of the Invention

[0004] The present invention provides a dynamic site selection method, device, electronic equipment and storage medium for unmanned aerial vehicle (UAV) positioning, so as to solve the problem of unstable positioning accuracy during the dynamic flight of UAV.

[0005] According to a first aspect of the present invention, a dynamic site selection method for UAV positioning is provided, comprising:

[0006] Determine n initial positioning TDOA sites and use the initial positioning TDOA sites to locate the UAV signal at least twice to determine the UAV flight trajectory curve;

[0007] Calculating the predicted flight trajectory of the UAV in the current period according to the UAV flight trajectory curve;

[0008] Determine m candidate TDOA sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period;

[0009] Determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV at the current time period, the average duration of the TDOA site receiving the signal during the current time period, and the m TDOA candidate sites at the current moment;

[0010] Repositioning the UAV at the current moment according to the TDOA positioning site at the current moment, and updating the UAV aircraft trajectory curve according to the repositioning result;

[0011] in:

[0012] n≥3, m≥4 and m>n;

[0013] The current position of the UAV is obtained by the TDOA positioning station at the previous moment;

[0014] The current time period is the time period from the previous moment to the current moment; the current time period includes at least 2 uniform monitoring time periods; the average duration of the TDOA site receiving the signal is the average duration of the signal receiving in each monitoring time period.

[0015] Optionally, the determining n initial positioning sites specifically includes:

[0016] Determine the central point of rendezvous based on the geographic coordinates of all TDOA sites that detected the drone’s radio signal;

[0017] Determining a candidate site for initial positioning based on the set center point;

[0018] Among the candidate sites for initial positioning, all n-station combinations are traversed, and the combination with the largest n-gon area is calculated as the positioning site set for the initial exploration of drone signals.

[0019] Optionally, determining the candidate sites for initial positioning based on the set center point includes: taking all TDOA sites within a circle with a radius of 3000 meters with the set center point as the center as the candidate sites for initial positioning.

[0020] Optionally, m candidate TDOA sites at the current moment are determined based on the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period, including:

[0021] Determine a site set according to the current positioning position of the drone;

[0022] According to the average duration of receiving signals by all TDOA sites in the site set in the current time period, m TDOA sites with the longest average duration are selected as TDOA candidate sites at the current moment.

[0023] Optionally, a site set is determined based on the current positioning position of the drone, wherein the site set includes all TDOA sites within a circle with a radius of 4,000 meters and the current positioning position of the drone as the center.

[0024] Optionally, n TDOA positioning sites at the current moment are determined based on the predicted flight trajectory of the UAV in the current period, the average duration of the TDOA site receiving the signal in the current period, and the m TDOA candidate sites at the current moment, specifically including:

[0025] Take any n sites as a site combination and traverse each site combination among the current m TDOA candidate sites;

[0026] Scoring each site combination based on the predicted flight trajectory of the UAV during the current period and the average duration of signal reception by the n TDOA sites in each site combination during the current period;

[0027] The n sites in the site combination with the highest scores are selected as the TDOA positioning sites at the current moment.

[0028] Optionally, each site combination is scored based on the predicted flight trajectory of the UAV in the current period and the average duration of signal reception by the n TDOA sites in each site combination in the current period, specifically including:

[0029] Taking the predicted position of the UAV at each monitoring moment in the current period as a vertex, and based on the angle between the vertex and the line connecting two monitoring sites in the site combination, determine the average effective monitoring time of each TDOA site in the site combination; each monitoring moment is the starting moment of each monitoring time period in the current period; the predicted position at each monitoring moment is the coordinate of the UAV at that monitoring moment in the predicted flight trajectory of the UAV in the current period;

[0030] The score of the site combination is determined based on the ratio of the average effective monitorable duration of each TDOA site in the site combination to the benchmark duration; the benchmark duration is the shortest monitorable duration.

[0031] Optionally, the predicted position of the UAV at each monitoring moment in the current period is used as a vertex, and according to the angle between the vertex and the line connecting two monitoring sites in the site combination, the average effective monitoring time of each TDOA site in the site combination is determined, including:

[0032] In each monitoring period within the current period, if the angle between the line connecting the vertex and two monitoring stations in the station combination is less than the reference interval angle, the monitoring time in that monitoring period will not be counted as the effective monitoring time; the reference interval angle is the minimum angle between the lines connecting the two TDOA stations and the monitored signal points while ensuring positioning accuracy;

[0033] The average effective monitoring time of each TDOA station is calculated based on all effective monitoring times in the current period.

[0034] According to a second aspect of the present invention, a dynamic site selection device for UAV positioning is provided, comprising:

[0035] A flight trajectory curve determination module is used to determine n initial positioning TDOA sites, and use the initial positioning TDOA sites to locate the UAV signal at least twice to determine the UAV flight trajectory curve;

[0036] A flight trajectory prediction module, configured to calculate the predicted flight trajectory of the UAV during the current period based on the UAV flight trajectory curve;

[0037] A TDOA candidate site determination module is used to determine m TDOA candidate sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving signals in the current period;

[0038] A TDOA positioning site determination module is used to determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV in the current period, the average duration of signal reception by the TDOA site in the current period, and the m TDOA candidate sites at the current moment;

[0039] A flight trajectory curve updating module is used to reposition the UAV at the current moment according to the TDOA positioning site at the current moment, and update the UAV aircraft trajectory curve according to the repositioning result;

[0040] in:

[0041] n≥3, m≥4 and m>n;

[0042] The current position of the UAV is obtained by the TDOA positioning station at the previous moment;

[0043] The current time period is the time period from the previous moment to the current moment; the current time period includes at least 2 uniform monitoring time periods; the average duration of the TDOA site receiving the signal is the average duration of the signal receiving in each monitoring time period.

[0044] According to a third aspect of the present invention, an electronic device is provided, comprising a processor and a memory; the memory stores a program executable by the processor; wherein, when the processor executes the program, the dynamic site selection method for drone positioning provided by the first aspect of the present invention is implemented.

[0045] According to a fourth aspect of the present invention, a machine-readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the dynamic site selection method for drone positioning provided by the first aspect of the present invention is implemented.

[0046] The dynamic site selection method for UAV positioning provided by the present invention first calculates the UAV flight trajectory curve through the detection results of the initial few times of the UAV signal, and then preliminarily determines m TDOA candidate sites participating in positioning based on the positioning position of the UAV at the current moment and the average duration of the TDOA site receiving the signal in the current period. Then, based on the predicted flight trajectory of the current period in the UAV flight trajectory curve and the average duration of the TDOA site receiving the signal in the current period, n TDOA positioning sites at the current moment are selected from the preliminarily determined m TDOA candidate sites. The TDOA positioning sites at the current moment can meet the requirements of accurate positioning at the current moment. Finally, the UAV is repositioned at the current moment based on the selected TDOA positioning sites, and the UAV aircraft trajectory curve is updated based on the repositioning results. This ensures that the optimal TDOA positioning site can be selected for each moment based on the UAV aircraft trajectory curve during the dynamic flight of the UAV, avoiding unstable positioning accuracy due to the dynamic flight of the UAV, and realizing effective positioning and tracking of the UAV throughout the flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 1 is a flow chart of a dynamic site selection method for UAV positioning provided in an exemplary embodiment of the present invention;

[0049] Figure 2 is a schematic diagram of a dynamic site selection method for UAV positioning provided in an exemplary embodiment of the present invention;

[0050] Figure 3 1 is a flow chart of determining a TDOA site for initial positioning provided in an exemplary embodiment of the present invention;

[0051] Figure 4 is a schematic diagram of a process for determining a TDOA candidate site at the current moment provided in an exemplary embodiment of the present invention;

[0052] Figure 5 1 is a flow chart of determining a TDOA positioning site at a current moment provided in an exemplary embodiment of the present invention;

[0053] Figure 6 is a schematic diagram of a process for determining a TDOA positioning site at a current moment provided in another exemplary embodiment of the present invention;

[0054] Figure 7 1 is a schematic diagram of a module of a dynamic site selection device for UAV positioning provided in an exemplary embodiment of the present invention;

[0055] Figure 8 FIG. 1 is a schematic diagram of the structure of an electronic device provided in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0058] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0059] Please refer to Figure 1 The present invention provides a method for dynamic site selection for UAV positioning, comprising:

[0060] S1: Determine n initial positioning TDOA sites and use the initial positioning TDOA sites to locate the UAV signal at least twice to determine the UAV flight trajectory curve;

[0061] S2: Calculating the predicted flight trajectory of the UAV in the current period according to the UAV flight trajectory curve;

[0062] S3: Determine m candidate TDOA sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period;

[0063] The current position of the UAV is obtained by the TDOA positioning station at the previous moment;

[0064] S4: Determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV at the current time period, the average duration of the TDOA site receiving the signal during the current time period, and the m TDOA candidate sites at the current moment;

[0065] S5: Reposition the UAV at the current moment according to the TDOA positioning site at the current moment, and update the UAV aircraft trajectory curve according to the repositioning result.

[0066] TDOA positioning is a method of positioning using time difference. The position of a signal can be determined by measuring the absolute time difference between the signal reaching each monitoring station. The TDOA station can be understood as the monitoring station used for TDOA positioning. In theory, three TDOA stations can perform TDOA positioning calculations on drone signals. Therefore, in this implementation, the number of TDOA stations selected for positioning is n ≥ 3, and the number of initially selected TDOA candidate stations is m ≥ 4, with m > n.

[0067] In one embodiment of the present invention, four detection and positioning stations are used to describe the principle, that is, n = 4. The position is described in two-dimensional space, and the geographic coordinates, positioning position, and predicted position of the TDOA station described herein are all two-dimensional coordinates.

[0068] like Figure 2 As shown, four initial TDOA stations are first determined. Based on the positioning results of these initial TDOA stations over a continuous period of time, the UAV's flight trajectory is calculated. At a certain moment in the subsequent UAV flight, the optimal combination of four precisely positioned TDOA stations is selected based on the flight trajectory curve as the positioning station at that moment. Finally, the repositioning results of the selected positioning stations at that moment are used to update the UAV's flight trajectory. In this solution, updating the UAV's trajectory curve refers to extending the UAV's trajectory curve by adding the position coordinates obtained from the current positioning moment to the existing trajectory curve.

[0069] When selecting the optimal TDOA positioning site combination at a certain moment, it is also necessary to use the average duration of the TDOA site receiving the signal in the current time period. In this embodiment, the current time period is the period from the previous moment to the current moment; the current time period contains at least 2 uniform monitoring time periods; the average duration of the TDOA site receiving the signal is the average of the duration of the signal received in each monitoring time period. The average duration of the TDOA site receiving the signal characterizes, to a certain extent, the drone signal that the TDOA site can effectively receive at the current moment, thereby ensuring that the optimal TDOA positioning site combination is selected for each moment during the dynamic flight of the drone, thereby achieving effective positioning and tracking of the drone throughout the flight.

[0070] Please refer to Figure 3 The step S1 of determining n initial positioning sites specifically includes:

[0071] S11: Determine the collection center point based on the geographic coordinates of all TDOA sites that detect the UAV’s radio signal;

[0072] S12: Determine the candidate site for initial positioning based on the set center point;

[0073] In one embodiment, the candidate sites for initial positioning are all TDOA sites within a circle with a radius of 3000 meters and the center of the set center point.

[0074] S13: Among the candidate sites for initial positioning, traverse all n-site combinations and calculate the combination with the largest n-gon area as the positioning site set for the initial exploration of drone signals.

[0075] In one embodiment, among the candidate sites for initial positioning, all four-site combinations are traversed, and the quadrilateral combination with the largest area is used as the positioning site set for initial detection of drone signals, which can meet a larger detection range.

[0076] Please refer to Figure 4 Step S3 determines m candidate TDOA sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period, including:

[0077] S31: Determine a site set according to the current positioning position of the drone;

[0078] In one embodiment, the site set includes all TDOA sites within a circle with a radius of 4,000 meters and a current positioning position of the drone as the center.

[0079] S32: According to the average duration of receiving signals by all TDOA sites in the site set in the current time period, m TDOA sites with the longest average duration are selected as TDOA candidate sites at the current moment.

[0080] Please refer to Figure 5 Step S4 determines n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV during the current period, the average duration of the TDOA site receiving signals during the current period, and the m TDOA candidate sites at the current moment, specifically including:

[0081] S41: Taking any n sites as a site combination, traverse each site combination among the current m TDOA candidate sites;

[0082] S42: Score each site combination based on the predicted flight trajectory of the UAV in the current period and the average duration of signal reception of the n TDOA sites in each site combination in the current period;

[0083] S43: Select n sites in the site combination with the highest scores as TDOA positioning sites at the current moment.

[0084] The predicted flight trajectory of the drone for the current time period is calculated using the drone's flight trajectory curve. Based on the curve distance and positioning time between each consecutive positioning point on the drone's flight trajectory curve, the drone's average flight speed can be calculated, thereby predicting the flight trajectory from the previous moment to the current moment.

[0085] like Figure 6 As shown, the scoring of each site combination in step S42 specifically includes:

[0086] S421: Taking the predicted position of the UAV at each monitoring moment in the current period as a vertex, and determining the average effective monitoring time of each TDOA site in the site combination according to the angle between the vertex and the line connecting two monitoring sites in the site combination;

[0087] Each monitoring moment is the start moment of each monitoring time period in the current time period; the predicted position of each monitoring moment is the coordinate of the UAV at that monitoring moment in the predicted flight trajectory of the UAV in the current time period;

[0088] The average effective monitoring time is the average value calculated based on all effective monitoring times in the current time period; the current time period contains at least 2 uniform monitoring time periods, and in each monitoring time period, the position of the vertex is determined by the predicted flight trajectory of the current time period. In each monitoring time period, the position of the vertex is also different, so the angle between the vertex and the line connecting two monitoring sites in the site combination will also change.

[0089] In each monitoring period within the current period, if the angle between the line connecting the vertex to two monitoring sites in the site combination is less than the reference interval angle, the monitoring time in the monitoring period will not be included in the effective monitoring time; the reference interval angle is the minimum angle between the lines connecting the two TDOA sites and the monitored signal points under the premise of ensuring positioning accuracy.

[0090] S422: Determine the score of the site combination based on the ratio of the average effective monitorable duration of each TDOA site in the site combination to the benchmark duration; the benchmark duration is the shortest monitorable duration.

[0091] In one embodiment, the number of TDOA candidate sites determined at the current moment in step S3 is 10, i.e., m=10. Step S3 selects 4 TDOA sites for positioning at the current moment from the 10 selected TDOA candidate sites. The scoring rules for each site combination in step S42 are as follows:

[0092] In each monitoring period of the current period, if the angle between the lines connecting the vertex to two monitoring stations is less than 30 degrees, the monitorable duration of this section will not be considered as valid monitoring duration. Based on all valid monitoring durations, the average monitorable duration of the site combination can be calculated. Taking the shortest monitorable duration as the benchmark, the score can be increased by 10 points for every 10% increase in the average monitorable duration of the site combination compared to the benchmark duration. In addition, in each monitoring period of the current period, if the angle between the lines connecting the vertex to two monitoring stations is less than 10 degrees each time, the score of the site combination will be reduced by 5 points.

[0093] Since TDOA positioning is a method of positioning using time difference, if the angle between the lines connecting the vertex to two monitoring stations is too small, it will affect the accuracy of TDOA site positioning. In this embodiment, by excluding the monitoring time when the angle is less than the reference interval angle within the current time period, the accuracy of the score for the site combination based on the average monitorable time is guaranteed, thereby solving the problem of unstable positioning accuracy caused by position changes during dynamic flight of drones.

[0094] Please refer to Figure 7In this embodiment, a dynamic site selection device 100 for drone positioning is provided, comprising:

[0095] The flight trajectory curve determination module 101 is configured to determine n initial positioning TDOA sites, and use the initial positioning TDOA sites to perform at least two positioning operations on the UAV signal to determine the UAV flight trajectory curve;

[0096] A flight trajectory prediction module 102 is configured to calculate a predicted flight trajectory of the UAV during a current period based on the UAV flight trajectory curve;

[0097] The TDOA candidate site determination module 103 is configured to determine m TDOA candidate sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving signals in the current time period;

[0098] The TDOA positioning site determination module 104 is configured to determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV during the current period, the average duration of signal reception by the TDOA site during the current period, and the m TDOA candidate sites at the current moment;

[0099] A flight trajectory curve updating module 105 is configured to reposition the UAV at the current moment according to the TDOA positioning site at the current moment, and update the UAV aircraft trajectory curve according to the repositioning result;

[0100] The current position of the UAV is obtained by the TDOA positioning station at the previous moment;

[0101] The current time period is the time period from the previous moment to the current moment; the current time period includes at least 2 uniform monitoring time periods; the average duration of the TDOA site receiving the signal is the average duration of the signal receiving in each monitoring time period.

[0102] Please refer to Figure 8 , provides an electronic device 40, including:

[0103] processor 41; and

[0104] a memory 42 for storing executable instructions of the processor;

[0105] The processor 41 is configured to execute the above-mentioned method by executing the executable instructions.

[0106] The processor 41 can communicate with the memory 42 via a bus 43 .

[0107] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0108] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic site selection method for UAV positioning, characterized in that: include: Determine n initial positioning TDOA sites and use the initial positioning TDOA sites to locate the UAV signal at least twice to determine the UAV flight trajectory curve; Calculating the predicted flight trajectory of the UAV in the current period according to the UAV flight trajectory curve; Determine m candidate TDOA sites at the current moment according to the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period; Determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV at the current time period, the average duration of the TDOA site receiving the signal during the current time period, and the m TDOA candidate sites at the current moment; Repositioning the UAV at the current moment according to the TDOA positioning site at the current moment, and updating the UAV flight trajectory curve according to the repositioning result; in: n≥3, m≥4 and m>n; The current position of the UAV is obtained by the TDOA positioning station at the previous moment; The current time period is the time period from the previous moment to the current moment; the current time period includes at least two uniform monitoring time periods; the average duration of the TDOA station receiving the signal is the average duration of the signal receiving in each monitoring time period; According to the predicted flight trajectory of the UAV in the current period, the average duration of the TDOA site receiving the signal in the current period, and the m TDOA candidate sites at the current moment, n TDOA positioning sites at the current moment are determined, specifically including: Take any n sites as a site combination and traverse each site combination among the current m TDOA candidate sites; Scoring each site combination based on the predicted flight trajectory of the UAV during the current period and the average duration of signal reception by the n TDOA sites in each site combination during the current period; Select n sites in the site combination with the highest scores as TDOA positioning sites at the current moment; Based on the predicted flight trajectory of the UAV in the current period and the average duration of the n TDOA stations in each station combination receiving signals in the current period, each station combination is scored, specifically including: Taking the predicted position of the UAV at each monitoring moment in the current period as a vertex, and based on the angle between the vertex and the line connecting two monitoring sites in the site combination, determine the average effective monitoring time of each TDOA site in the site combination; each monitoring moment is the starting moment of each monitoring time period in the current period; the predicted position at each monitoring moment is the coordinate of the UAV at that monitoring moment in the predicted flight trajectory of the UAV in the current period; The score of the site combination is determined based on the ratio of the average effective monitorable duration of each TDOA site in the site combination to the benchmark duration; the benchmark duration is the shortest monitorable duration.

2. The dynamic site selection method for UAV positioning according to claim 1, characterized in that: The determining of n initial positioning sites specifically includes: Determine the central point of rendezvous based on the geographic coordinates of all TDOA sites that detected the drone’s radio signal; Determining a candidate site for initial positioning based on the set center point; Among the candidate sites for initial positioning, all n-station combinations are traversed, and the combination with the largest n-gon area is calculated as the positioning site set for the initial exploration of drone signals.

3. The dynamic site selection method for UAV positioning according to claim 2, characterized in that: Determining the candidate sites for initial positioning based on the set center point includes: determining all TDOA sites within a circle with a radius of 3000 meters and the set center point as the candidate sites for initial positioning.

4. The dynamic site selection method for UAV positioning according to claim 1, characterized in that: According to the current positioning position of the UAV and the average duration of the TDOA site receiving the signal in the current period, m candidate TDOA sites at the current moment are determined, including: Determine a site set according to the current positioning position of the drone; According to the average duration of receiving signals by all TDOA sites in the site set in the current time period, m TDOA sites with the longest average duration are selected as TDOA candidate sites at the current moment.

5. The dynamic site selection method for UAV positioning according to claim 4, characterized in that: A site set is determined according to the current positioning position of the drone, wherein the site set includes all TDOA sites within a circle with a radius of 4000 meters and the current positioning position of the drone as the center.

6. The dynamic site selection method for UAV positioning according to claim 1, characterized in that: Taking the predicted position of the UAV at each monitoring moment in the current period as the vertex, and according to the angle between the vertex and the line connecting two monitoring sites in the site combination, the average effective monitoring time of each TDOA site in the site combination is determined, including: In each monitoring period within the current period, if the angle between the line connecting the vertex and two monitoring stations in the station combination is less than the reference interval angle, the monitoring time in that monitoring period will not be counted as the effective monitoring time; the reference interval angle is the minimum angle between the lines connecting the two TDOA stations and the monitored signal points while ensuring positioning accuracy; The average effective monitoring time of each TDOA station is calculated based on all effective monitoring times in the current period.

7. A dynamic site selection device for drone positioning, characterized in that: include: A flight trajectory curve determination module is used to determine n initial positioning TDOA sites, and use the initial positioning TDOA sites to locate the UAV signal at least twice to determine the UAV flight trajectory curve; A TDOA candidate site determination module is used to determine m TDOA candidate sites at the current moment based on the current positioning position of the UAV and the average duration of the TDOA site receiving signals in the current period; A flight trajectory prediction module, configured to calculate the predicted flight trajectory of the UAV during the current period based on the UAV flight trajectory curve; A TDOA positioning site determination module is used to determine n TDOA positioning sites at the current moment based on the predicted flight trajectory of the UAV in the current period, the average duration of signal reception by the TDOA site in the current period, and the m TDOA candidate sites at the current moment; A flight trajectory curve updating module, configured to reposition the UAV at the current moment according to the TDOA positioning site at the current moment, and update the UAV flight trajectory curve according to the repositioning result; in: n≥3, m≥4 and m>n; The current position of the UAV is obtained by the TDOA positioning station at the previous moment; The current time period is the time period from the previous moment to the current moment; the current time period includes at least two uniform monitoring time periods; the average duration of the TDOA station receiving the signal is the average duration of the signal receiving in each monitoring time period; The TDOA positioning site determination module is specifically used to: Take any n sites as a site combination and traverse each site combination among the current m TDOA candidate sites; Scoring each site combination based on the predicted flight trajectory of the UAV during the current period and the average duration of signal reception by the n TDOA sites in each site combination during the current period; Select n sites in the site combination with the highest scores as TDOA positioning sites at the current moment; The TDOA positioning site determination module scores each site combination based on the predicted flight trajectory of the UAV in the current period and the average duration of signal reception of the n TDOA sites in each site combination in the current period, specifically including: Taking the predicted position of the UAV at each monitoring moment in the current period as a vertex, and based on the angle between the vertex and the line connecting two monitoring sites in the site combination, determine the average effective monitoring time of each TDOA site in the site combination; each monitoring moment is the starting moment of each monitoring time period in the current period; the predicted position at each monitoring moment is the coordinate of the UAV at that monitoring moment in the predicted flight trajectory of the UAV in the current period; The score of the site combination is determined based on the ratio of the average effective monitorable duration of each TDOA site in the site combination to the benchmark duration; the benchmark duration is the shortest monitorable duration.

8. An electronic device, characterized in that: It includes a processor and a memory; the memory stores a program that can be executed by the processor; wherein, when the processor executes the program, the dynamic site selection method for drone positioning according to any one of claims 1 to 6 is implemented.

9. A machine-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by a processor, the dynamic site selection method for UAV positioning as described in any one of claims 1 to 6 is implemented.

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