Multi-data link positioning method, system, device and computer readable storage medium

Abstract

The application discloses a kind of multi-data link positioning method, system, equipment and computer readable storage medium, wherein the method comprises: when the position data of aircraft flight control unit is acquired, first positioning data is acquired by the first differential positioning module connected with the flight control unit;Second positioning data sent by the second spread spectrum communication module of control station is received by the first spread spectrum communication module connected with the first differential positioning module;Third positioning data sent by the second cellular communication module of the control station is received by the first cellular communication module connected with the flight control unit;The first positioning data is corrected by the second positioning data and / or the third positioning data, and the correction result is used as the position data.The application realizes a kind of multi-data link remote positioning scheme, greatly improves the accuracy, effectiveness and real-time performance of aircraft positioning.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a multi-data link positioning method, system, device, and computer-readable storage medium. Background Technology

[0002] Currently, common wireless transmission methods include Wi-Fi, GPRS, 2.4GHz, and 433MHz. These wireless transmission methods can form mesh networks and star networks to be suitable for various wireless data acquisition and transmission systems. At the same time, they can also be used with related wireless transmission network products to realize wireless data acquisition and transmission in various environments.

[0003] However, considering that Wi-Fi has a communication range of about 300 meters in open areas and only 70 to 120 meters in enclosed areas; 2.4 GHz wireless communication has a transmission range of about 200 to 1000 meters; and 433 MHz wireless communication has a transmission range of about 2 to 3 kilometers.

[0004] Therefore, when drones use any of the above wireless communication methods to transmit data, on the one hand, there is the problem of limited communication transmission distance, and on the other hand, there is the problem of further reduction in communication transmission distance and degradation of communication transmission quality due to external radio wave interference and geographical environment. Summary of the Invention

[0005] To address the aforementioned technical deficiencies in the prior art, this invention proposes a multi-data-link localization method, which includes:

[0006] When the aircraft's flight control unit acquires position data, it acquires first positioning data through a first differential positioning module connected to the flight control unit;

[0007] The first spread spectrum communication module, which is connected to the first differential positioning module, receives the second positioning data sent by the second spread spectrum communication module of the control station.

[0008] The third positioning data is received by the second cellular communication module of the control station through the first cellular communication module connected to the flight control unit;

[0009] The first positioning data is corrected using the second positioning data and / or the third positioning data, and the correction result is used as the location data.

[0010] Optionally, when the aircraft's flight control unit acquires position data, acquiring first positioning data through a first differential positioning module connected to the flight control unit includes:

[0011] When the flight control unit of the aircraft acquires the position data, it detects whether the first differential positioning module has acquired the first positioning data;

[0012] When the first differential positioning module has acquired the first positioning data, the first differential positioning module transmits the first positioning data to the flight control unit via a serial port protocol.

[0013] Optionally, the step of receiving second positioning data sent by the second spread spectrum communication module of the control station through the first spread spectrum communication module connected to the first differential positioning module includes:

[0014] Detect whether the first spread spectrum communication module receives the second positioning data, and whether the first cellular communication module receives the third positioning data;

[0015] Upon receiving the second positioning data, the first spread spectrum communication module transmits the second positioning data to the first differential positioning module via a serial data cable, and the first differential positioning module transmits the second positioning data to the flight control unit via a serial protocol.

[0016] Optionally, receiving third positioning data sent by a second cellular communication module of the control station via a first cellular communication module connected to the flight control unit includes:

[0017] Detect whether the first spread spectrum communication module receives the second positioning data, and whether the first cellular communication module receives the third positioning data;

[0018] Upon receiving the third positioning data, the first cellular communication module transmits the third positioning data to the flight control unit via a serial port protocol.

[0019] Optionally, the step of correcting the first positioning data using the second positioning data and / or the third positioning data, and using the correction result as the location data, includes:

[0020] If the flight control unit receives the second positioning data or the third positioning data within a first preset time after receiving the first positioning data, the first positioning data is corrected using the second positioning data or the third positioning data, and the correction result is used as the location data.

[0021] If the flight control unit receives the second positioning data and the third positioning data, it compares the second positioning data and the third positioning data to obtain the fourth positioning data, and corrects the first positioning data using the fourth positioning data, and uses the correction result as the position data.

[0022] Optionally, the step of correcting the first positioning data using the second positioning data and / or the third positioning data, and using the correction result as the location data, further includes:

[0023] If the flight control unit receives the first positioning data within a second preset time period after receiving the second positioning data and the third positioning data, the first positioning data is corrected using the second positioning data and / or the third positioning data, and the correction result is used as the position data.

[0024] If the flight control unit does not receive the first positioning data, it compares the second positioning data and the third positioning data to obtain the fourth positioning data, and uses the fourth positioning data as the location data.

[0025] This invention also proposes a multi-data-link positioning method, applied to a control station, the method comprising:

[0026] When the aircraft's flight control unit receives a command to acquire position data, the positioning data is acquired through the second differential positioning module of the control station.

[0027] The positioning data is transmitted as second positioning data to the first spread spectrum communication module of the aircraft through the second spread spectrum communication module connected to the second differential positioning module;

[0028] The positioning data is transmitted as third positioning data to the first cellular communication module of the aircraft via a second cellular communication module connected to the second differential positioning module.

[0029] After the aircraft receives the second positioning data and / or the third positioning data, the first positioning data obtained by the first differential positioning module of the aircraft is corrected using the second positioning data and / or the third positioning data, and the correction result is used as the position data.

[0030] This invention also proposes a multi-data-link positioning system, the system comprising an aircraft and a control station, wherein:

[0031] The aircraft includes a flight control unit, a first differential positioning module connected to the flight control unit, a first spread spectrum communication module connected to the first differential positioning module, and a first cellular communication module connected to the flight control unit.

[0032] The control station includes a second differential positioning module, a second spread spectrum communication module connected to the second differential positioning module, and a second cellular communication module connected to the second differential positioning module.

[0033] The flight control unit is used to receive first positioning data obtained by the first differential positioning module;

[0034] The flight control unit is also configured to receive second positioning data sent by a second spread spectrum communication module of the control station via a first spread spectrum communication module connected to the first differential positioning module;

[0035] The flight control unit is also configured to receive third positioning data sent by a second cellular communication module of the control station via a first cellular communication module connected to the flight control unit;

[0036] The flight control unit is further configured to correct the first positioning data using the second positioning data and / or the third positioning data, and use the correction result as the position data.

[0037] The present invention also proposes a multi-data-link positioning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the multi-data-link positioning method as described in any of the preceding claims.

[0038] The present invention also proposes a computer-readable storage medium storing a multi-data link locator program, which, when executed by a processor, implements the steps of the multi-data link locator method as described in any of the preceding claims.

[0039] The multi-data-link positioning method, device, and computer-readable storage medium of this invention, when acquiring position data from the aircraft's flight control unit, obtains first positioning data through a first differential positioning module connected to the flight control unit; receives second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected to the first differential positioning module; receives third positioning data sent by the second cellular communication module of the control station through a first cellular communication module connected to the flight control unit; corrects the first positioning data using the second positioning data and / or the third positioning data, and uses the correction result as the position data. This achieves a multi-data-link remote positioning scheme, effectively avoiding the problems of reduced communication transmission distance and degraded communication transmission quality caused by external radio wave interference and geographical environment influences, greatly improving the accuracy, effectiveness, and real-time performance of aircraft positioning. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0041] Figure 1 This is the first flowchart of the multi-data link positioning method of the present invention;

[0042] Figure 2 This is the second flowchart of the multi-data link positioning method of the present invention;

[0043] Figure 3 This is the third flowchart of the multi-data link positioning method of the present invention;

[0044] Figure 4 This is the fourth flowchart of the multi-data link positioning method of the present invention;

[0045] Figure 5 This is the fifth flowchart of the multi-data link positioning method of the present invention;

[0046] Figure 6 This is the sixth flowchart of the multi-data link positioning method of the present invention;

[0047] Figure 7 This is the seventh flowchart of the multi-data link positioning method of the present invention;

[0048] Figure 8 This is a block diagram of the multi-data-link positioning system of the present invention. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0050] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0051] Figure 1 This is the first flowchart of the multi-data-link localization method of the present invention. This embodiment proposes a multi-data-link localization method, which includes:

[0052] S1. When the flight control unit of the aircraft acquires position data, the first positioning data is acquired through the first differential positioning module connected to the flight control unit.

[0053] S2. Receive second positioning data sent by the second spread spectrum communication module of the control station through the first spread spectrum communication module connected to the first differential positioning module;

[0054] S3. Receive third positioning data sent by the second cellular communication module of the control station through the first cellular communication module connected to the flight control unit;

[0055] S4. The first positioning data is corrected using the second positioning data and / or the third positioning data, and the correction result is used as the location data.

[0056] In this embodiment, a dual-path positioning and correction scheme is adopted to make the final position data acquired by the flight control unit more accurate and stable. Specifically, in this embodiment, the first path adopts a new generation of globally unlicensed ISM868 / 915MHz band LoRa (Long Range Radio) wireless technology, based on 850MHz-930MHz LoRa spread spectrum technology. It has advantages such as long transmission distance, low power consumption, high speed, small size, wireless configuration, carrier listening, and automatic repeater. It also supports user-defined communication keys that cannot be read, greatly improving the confidentiality of user data. It supports LBT (Listen Before Talk) function, which monitors channel ambient noise during transmission, greatly improving the communication success rate in harsh environments. At the same time, it supports RSSI (Received Signal Strength Indicator) signal strength indication, which can be used to evaluate signal quality. It has a built-in PA amplifier, and under ideal conditions, the communication distance can reach 10 kilometers, supporting data transmission rates of 0.3Kbps-62.5Kbps.

[0057] In this embodiment, the ground control station carries a GNSS (Global Navigation Satellite System) RTK (Real Time Kinematic) receiver. It collects data from the satellite and transmits it to the aircraft in the air via a LoRa wireless spread spectrum link. The received differential correction value is compared with the measurement value received by the UAV's onboard GNSS RTK receiver to correct the coordinates, thereby improving the error accuracy of the aircraft's position coordinate positioning.

[0058] The second transmission link in this embodiment uses 4G LTE mobile operator communication, supports TCP and UDP network protocols, and leverages the extensive network coverage of operators, with virtually no communication distance limitations. It features wide network coverage, strong anti-interference capabilities, and support for remote device configuration via network AT commands. This transmission link in this embodiment simultaneously transmits data collected from satellites by the differential GPS GNSS RTK receiver at the ground control station to the aircraft in the air, where it undergoes error correction compared to the satellite-collected data acquired by the aircraft's onboard differential GPS GNSS RTK receiver.

[0059] In this embodiment, the network data link transmission communication is carried out through the above two-way combination method, which improves the stable, fast and accurate positioning of the differential global positioning system GNSS RTK in UAVs or UAV clusters.

[0060] Please refer to Figure 8 The block diagram shown illustrates that, in this embodiment, the ground-based control station incorporates a differential global positioning system (GNSS) RTK module, which is interconnected with both a LoRa spread spectrum communication module and a 4G mobile communication module via data cables. Furthermore, the control station can also be connected to a host computer (not shown in the diagram) via a cable.

[0061] In this embodiment, the LoRa spread spectrum communication module on the airborne end (UAV) is connected to the differential global positioning system GNSS RTK module on the aircraft via a cable, and the 4G mobile communication module is connected to the flight control system via a cable.

[0062] In this embodiment, the ground-based (ground station) LoRa spread spectrum module wirelessly transmits the data received by the ground-based GNSS RTK module to the airborne (UAV) LoRa module and then transmits it to the onboard differential GNSS RTK module via a (serial port) data cable. The ground-based (ground station) 4G mobile communication module wirelessly transmits the data received by the ground-based GNSS RTK module to the onboard 4G mobile communication module using 4G mobile communication technology.

[0063] In this embodiment, the airborne (UAV) flight control system performs error calculation and correction on the two channels of ground-based GNSS RTK data and airborne GNSS RTK data obtained through the (serial port) protocol, and then performs position coordinate positioning.

[0064] Optionally, in this embodiment, the aforementioned 4G mobile communication link can be replaced with other low-cost 433MHz wireless communication technologies.

[0065] Optionally, in this embodiment, the aforementioned 4G mobile communication link can be replaced with other high-cost, higher-bandwidth 5G mobile communication technologies.

[0066] As can be seen, in this embodiment, the two parallel links designed integrate multiple communication links, so that the data communication transmission links between the control station and the aircraft are two, which improves the error accuracy and positioning speed of GNSS RTK data when positioning UAVs.

[0067] In this embodiment, the wireless data transmission link between the control station and the aircraft fully utilizes the satellite data received by the Differential Global Positioning System (GNSS RTK) and transmits it to the UAV via LoRa spread spectrum communication link and 4G mobile communication link, respectively. This data is then used to correct position errors with the satellite data received by the UAV's onboard GNSS RTK, thereby ensuring the accuracy and timeliness of the aircraft's flight control and positioning.

[0068] In this embodiment, the integrated LoRa and 4G communication dual-channel data link design, along with the control station-based remote wireless data transmission scheme for aircraft integrating GNSS, LoRa, and 4G mobile communication modules in one-to-one (end-to-end) or one-to-many (broadcast) modes, offers advantages such as small size, lightweight design, rapid positioning, low power consumption, and strong long-distance communication capabilities. The designed ground-end control station has abundant external wireless communication interfaces, thereby enhancing its adaptability and greatly improving the flight safety of aircraft such as UAVs, while also enhancing the accuracy, reliability, and real-time performance of location positioning.

[0069] Please refer to Figure 2 In this embodiment, when the aircraft's flight control unit acquires position data, acquiring first positioning data through a first differential positioning module connected to the flight control unit includes:

[0070] S11. When the flight control unit of the aircraft acquires the position data, it detects whether the first differential positioning module has acquired the first positioning data.

[0071] S12. When the first differential positioning module has acquired the first positioning data, the first differential positioning module transmits the first positioning data to the flight control unit via a serial port protocol.

[0072] Optionally, in this embodiment, when the flight control unit of the aircraft acquires the position data, it first detects whether the first differential positioning module has acquired the first positioning data, and then detects whether the first spread spectrum communication module has received the second positioning data, and whether the first cellular communication module has received the third positioning data.

[0073] Please refer to Figure 3 In this embodiment, the step of receiving second positioning data sent by the second spread spectrum communication module of the control station through the first spread spectrum communication module connected to the first differential positioning module includes:

[0074] S21. Detect whether the first spread spectrum communication module receives the second positioning data, and whether the first cellular communication module receives the third positioning data;

[0075] S22. When the second positioning data has been received, the first spread spectrum communication module transmits the second positioning data to the first differential positioning module via a serial data cable, and the first differential positioning module transmits the second positioning data to the flight control unit via a serial protocol.

[0076] Optionally, in this embodiment, when the second positioning data has been received, on the one hand, the first positioning data can be corrected based on the second positioning data to obtain the final location data; on the other hand, after correcting the first positioning data based on the second positioning data, the system waits for the third positioning data. When the real-time requirement is high, the corrected data is directly used as the final location data; when the real-time requirement is low, the system waits for the third positioning data and performs another correction to obtain the final location data.

[0077] Please refer to Figure 4 In this embodiment, receiving third positioning data sent by the second cellular communication module of the control station via the first cellular communication module connected to the flight control unit includes:

[0078] S31. Detect whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data;

[0079] S32. Upon receiving the third positioning data, the first cellular communication module transmits the third positioning data to the flight control unit via a serial port protocol.

[0080] Optionally, in this embodiment, as described in the example above, when the third positioning data has been received, on the one hand, the first positioning data can be corrected based on the third positioning data to obtain the final location data; on the other hand, after correcting the first positioning data based on the third positioning data, the system waits for the second positioning data. When the real-time requirement is high, the corrected data is directly used as the final location data; when the real-time requirement is low, the system waits for the second positioning data and performs another correction to obtain the final location data.

[0081] Please refer to Figure 5 In this embodiment, the step of correcting the first positioning data using the second positioning data and / or the third positioning data, and using the correction result as the location data, includes:

[0082] S41. If the flight control unit receives the second positioning data or the third positioning data within a first preset time after receiving the first positioning data, the first positioning data is corrected using the second positioning data or the third positioning data, and the correction result is used as the position data.

[0083] S42. If the flight control unit receives the second positioning data and the third positioning data, it compares the second positioning data and the third positioning data to obtain the fourth positioning data, and corrects the first positioning data using the fourth positioning data, and uses the correction result as the position data.

[0084] Optionally, in this embodiment, when the distance between the aircraft and the control station exceeds the effective distance of LoRa spread spectrum technology, if the flight control unit receives the third positioning data within a first preset time after receiving the first positioning data, the first positioning data is corrected using the third positioning data, and the correction result is used as the position data.

[0085] Optionally, in this embodiment, when the distance between the aircraft and the control station does not exceed the effective range of LoRa spread spectrum technology, if the flight control unit receives the second positioning data and the third positioning data, it compares the second positioning data and the third positioning data to obtain the fourth positioning data, and corrects the first positioning data using the fourth positioning data, and uses the correction result as the position data.

[0086] Please refer to Figure 6 In this embodiment, the step of correcting the first positioning data using the second positioning data and / or the third positioning data, and using the correction result as the location data, further includes:

[0087] S43. If the flight control unit receives the first positioning data within a second preset time period after the flight control unit receives the second positioning data and the third positioning data, the first positioning data is corrected using the second positioning data and / or the third positioning data, and the correction result is used as the position data.

[0088] S44. If the flight control unit does not receive the first positioning data, it compares the second positioning data and the third positioning data to obtain the fourth positioning data, and uses the fourth positioning data as the location data.

[0089] Optionally, in this embodiment, if the flight control unit does not receive the first positioning data when the distance between the aircraft and the control station does not exceed the effective distance of LoRa spread spectrum technology, the second positioning data and the third positioning data are compared to obtain the fourth positioning data, and the fourth positioning data is used as the location data.

[0090] The beneficial effects of this embodiment are as follows: when the aircraft's flight control unit acquires position data, it acquires first positioning data through a first differential positioning module connected to the flight control unit; it receives second positioning data sent by a second spread spectrum communication module of the control station through a first spread spectrum communication module connected to the first differential positioning module; it receives third positioning data sent by the second cellular communication module of the control station through a first cellular communication module connected to the flight control unit; and it corrects the first positioning data using the second positioning data and / or the third positioning data, using the correction result as the position data. This achieves a multi-data-link remote positioning scheme, effectively avoiding the problems of reduced communication transmission distance and decreased communication transmission quality caused by external radio wave interference and geographical environment influences, greatly improving the accuracy, effectiveness, and real-time performance of aircraft positioning.

[0091] Please refer to Figure 7 Based on the above embodiments, the present invention also proposes a multi-data-link positioning method, applied to a control station, the method comprising:

[0092] S51. When the flight control unit of the aircraft receives an instruction to acquire position data, the positioning data is acquired through the second differential positioning module of the control station.

[0093] S52. The positioning data is sent as second positioning data to the first spread spectrum communication module of the aircraft through the second spread spectrum communication module connected to the second differential positioning module;

[0094] S53. The positioning data is sent as third positioning data to the first cellular communication module of the aircraft through the second cellular communication module connected to the second differential positioning module;

[0095] S54 After the aircraft receives the second positioning data and / or the third positioning data, it corrects the first positioning data obtained by the first differential positioning module of the aircraft using the second positioning data and / or the third positioning data, and uses the correction result as the position data.

[0096] In this embodiment, a dual-path positioning and correction scheme is adopted to make the final position data acquired by the flight control unit more accurate and stable. Specifically, in this embodiment, the first path adopts a new generation of globally unlicensed ISM868 / 915MHz band LoRa (Long Range Radio) wireless technology, based on 850MHz-930MHz LoRa spread spectrum technology. It has advantages such as long transmission distance, low power consumption, high speed, small size, wireless configuration, carrier listening, and automatic repeater. It also supports user-defined communication keys that cannot be read, greatly improving the confidentiality of user data. It supports LBT (Listen Before Talk) function, which monitors channel ambient noise during transmission, greatly improving the communication success rate in harsh environments. At the same time, it supports RSSI (Received Signal Strength Indicator) signal strength indication, which can be used to evaluate signal quality. It has a built-in PA amplifier, and under ideal conditions, the communication distance can reach 10 kilometers, supporting data transmission rates of 0.3Kbps-62.5Kbps.

[0097] In this embodiment, the ground control station carries a GNSS (Global Navigation Satellite System) RTK (Real Time Kinematic) receiver. It collects data from the satellite and transmits it to the aircraft in the air via a LoRa wireless spread spectrum link. The received differential correction value is compared with the measurement value received by the UAV's onboard GNSS RTK receiver to correct the coordinates, thereby improving the error accuracy of the aircraft's position coordinate positioning.

[0098] The second transmission link in this embodiment uses 4G LTE mobile operator communication, supports TCP and UDP network protocols, and leverages the extensive network coverage of operators, with virtually no communication distance limitations. It features wide network coverage, strong anti-interference capabilities, and support for remote device configuration via network AT commands. This transmission link in this embodiment simultaneously transmits data collected from satellites by the differential GPS GNSS RTK receiver at the ground control station to the aircraft in the air, where it undergoes error correction compared to the satellite-collected data acquired by the aircraft's onboard differential GPS GNSS RTK receiver.

[0099] In this embodiment, the network data link transmission communication is carried out through the above two-way combination method, which improves the stable, fast and accurate positioning of the differential global positioning system GNSS RTK in UAVs or UAV clusters.

[0100] Please refer to Figure 8 The block diagram shown illustrates that, in this embodiment, the ground-based control station incorporates a differential global positioning system (GNSS) RTK module, which is interconnected with both a LoRa spread spectrum communication module and a 4G mobile communication module via data cables. Furthermore, the control station can also be connected to a host computer (not shown in the diagram) via a cable.

[0101] In this embodiment, the LoRa spread spectrum communication module on the airborne end (UAV) is connected to the differential global positioning system GNSS RTK module on the aircraft via a cable, and the 4G mobile communication module is connected to the flight control system via a cable.

[0102] In this embodiment, the ground-based (ground station) LoRa spread spectrum module wirelessly transmits the data received by the ground-based GNSS RTK module to the airborne (UAV) LoRa module and then transmits it to the onboard differential GNSS RTK module via a (serial port) data cable. The ground-based (ground station) 4G mobile communication module wirelessly transmits the data received by the ground-based GNSS RTK module to the onboard 4G mobile communication module using 4G mobile communication technology.

[0103] In this embodiment, the airborne (UAV) flight control system performs error calculation and correction on the two channels of ground-based GNSS RTK data and airborne GNSS RTK data obtained through the (serial port) protocol, and then performs position coordinate positioning.

[0104] Optionally, in this embodiment, the aforementioned 4G mobile communication link can be replaced with other low-cost 433MHz wireless communication technologies.

[0105] Optionally, in this embodiment, the aforementioned 4G mobile communication link can be replaced with other high-cost, higher-bandwidth 5G mobile communication technologies.

[0106] As can be seen, in this embodiment, the two parallel links designed integrate multiple communication links, so that the data communication transmission links between the control station and the aircraft are two, which improves the error accuracy and positioning speed of GNSS RTK data when positioning UAVs.

[0107] In this embodiment, the wireless data transmission link between the control station and the aircraft fully utilizes the satellite data received by the Differential Global Positioning System (GNSS RTK) and transmits it to the UAV via LoRa spread spectrum communication link and 4G mobile communication link, respectively. This data is then used to correct position errors with the satellite data received by the UAV's onboard GNSS RTK, thereby ensuring the accuracy and timeliness of the aircraft's flight control and positioning.

[0108] In this embodiment, the integrated LoRa and 4G communication dual-channel data link design, along with the control station-based remote wireless data transmission scheme for aircraft integrating GNSS, LoRa, and 4G mobile communication modules in one-to-one (end-to-end) or one-to-many (broadcast) modes, offers advantages such as small size, lightweight design, rapid positioning, low power consumption, and strong long-distance communication capabilities. The designed ground-end control station has abundant external wireless communication interfaces, thereby enhancing its adaptability and greatly improving the flight safety of aircraft such as UAVs, while also enhancing the accuracy, reliability, and real-time performance of location positioning.

[0109] It should be noted that the embodiments applied to the control station and the embodiments applied to the aircraft belong to the same concept. The specific implementation process can be found in the aircraft embodiments. Furthermore, the technical features in the aircraft embodiments are all applicable to this control station embodiment, and will not be repeated here.

[0110] Please refer to Figure 8 Based on the above embodiments, the present invention also proposes a multi-data link positioning system, the system comprising an aircraft and a control station, wherein:

[0111] The aircraft 100 includes a flight control unit 110, a first differential positioning module 120 connected to the flight control unit 110, a first spread spectrum communication module 130 connected to the first differential positioning module 120, and a first cellular communication module 140 connected to the flight control unit 110.

[0112] The control station 200 includes a second differential positioning module 210, a second spread spectrum communication module 220 connected to the second differential positioning module 210, and a second cellular communication module 230 connected to the second differential positioning module 220.

[0113] The flight control unit 210 is used to receive first positioning data obtained by the first differential positioning module 120;

[0114] The flight control unit 210 is also used to receive second positioning data sent by the second spread spectrum communication module 222 of the control station through the first spread spectrum communication module 130 connected to the first differential positioning module 120;

[0115] The flight control unit 210 is also configured to receive third positioning data sent by the second cellular communication module 230 of the control station via a first cellular communication module 140 connected to the flight control unit 110;

[0116] The flight control unit 210 is further configured to correct the first positioning data using the second positioning data and / or the third positioning data, and use the correction result as the position data.

[0117] It should be noted that the above system embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments. Furthermore, the technical features in the method embodiments are also applicable to the system embodiments, and will not be repeated here.

[0118] Based on the above embodiments, the present invention also proposes a multi-data-link positioning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the multi-data-link positioning method as described in any of the above embodiments.

[0119] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0120] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a multi-data link location program, which, when executed by a processor, implements the steps of the multi-data link location method as described in any of the above embodiments.

[0121] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0122] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0123] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0124] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0125] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A multi-data link positioning method applied to an aircraft, characterized in that, The method comprises: acquiring first positioning data by a first differential positioning module connected to a flight control unit of an aircraft when the flight control unit acquires position data; receiving second positioning data transmitted by a second spread spectrum communication module of a control station through a first spread spectrum communication module connected to the first differential positioning module; receiving third positioning data transmitted by a second cellular communication module of the control station through a first cellular communication module connected to the flight control unit; comparing and coordinate-correcting the first positioning data by the second positioning data and the third positioning data, and taking the correction result as the position data.

2. The method of claim 1, wherein, The method of acquiring first positioning data by a first differential positioning module connected to a flight control unit of an aircraft when the flight control unit acquires position data comprises: detecting whether the first differential positioning module acquires the first positioning data when the flight control unit of the aircraft acquires the position data; transmitting the first positioning data from the first differential positioning module to the flight control unit through a serial port protocol when the first differential positioning module has acquired the first positioning data.

3. The method of claim 2, wherein, The method of receiving second positioning data transmitted by a second spread spectrum communication module of a control station through a first spread spectrum communication module connected to the first differential positioning module comprises: detecting whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data; transmitting the second positioning data from the first spread spectrum communication module to the first differential positioning module through a serial data cable, and transmitting the second positioning data from the first differential positioning module to the flight control unit through a serial port protocol when the second positioning data has been received.

4. The method of claim 3, wherein, The method of receiving third positioning data transmitted by a second cellular communication module of the control station through a first cellular communication module connected to the flight control unit comprises: detecting whether the first spread spectrum communication module receives the second positioning data and whether the first cellular communication module receives the third positioning data; transmitting the third positioning data from the first cellular communication module to the flight control unit through a serial port protocol when the third positioning data has been received.

5. The method of claim 4, wherein, The method of comparing and coordinate-correcting the first positioning data by the second positioning data and the third positioning data, and taking the correction result as the position data comprises: if the second positioning data or the third positioning data is received by the flight control unit within a first preset time after the flight control unit receives the first positioning data, then the first positioning data is corrected by the second positioning data or the third positioning data, and the correction result is taken as the position data; if the second positioning data and the third positioning data are received by the flight control unit, then the fourth positioning data is obtained by comparing the second positioning data and the third positioning data, and the first positioning data is corrected by the fourth positioning data, and the correction result is taken as the position data.

6. The method of claim 5, wherein, The first positioning data is corrected by the second positioning data and the third positioning data, and the correction result is taken as the position data. If the flight control unit receives the first positioning data within a second preset time when the flight control unit receives the second positioning data and the third positioning data, the first positioning data is corrected by the second positioning data and the third positioning data, and the correction result is taken as the position data. If the flight control unit does not receive the first positioning data, the fourth positioning data is obtained by comparing the second positioning data and the third positioning data, and the fourth positioning data is taken as the position data.

7. A multi-data link positioning method applied to a control station, characterized in that, The method comprises: When the flight control unit of the aircraft acquires the acquisition instruction of the position data, the second differential positioning module of the control station acquires the positioning data; The second differential positioning module of the control station acquires the positioning data; The second differential positioning module of the control station acquires the positioning data; After the aircraft receives the second positioning data and the third positioning data, the first positioning data acquired by the first differential positioning module of the aircraft is compared and corrected by the second positioning data and the third positioning data, and the correction result is taken as the position data.

8. A multi-data link positioning system, characterized by The system comprises an aircraft and a control station, wherein: The aircraft comprises a flight control unit, a first differential positioning module connected to the flight control unit, a first spread spectrum communication module connected to the first differential positioning module, and a first cellular communication module connected to the flight control unit; The control station comprises a second differential positioning module, a second spread spectrum communication module connected to the second differential positioning module, and a second cellular communication module connected to the second differential positioning module; The flight control unit is configured to receive the first positioning data acquired by the first differential positioning module; The flight control unit is further configured to receive the second positioning data sent by the second spread spectrum communication module of the control station through the first spread spectrum communication module connected to the first differential positioning module; The flight control unit is further configured to receive the third positioning data sent by the second cellular communication module of the control station through the first cellular communication module connected to the flight control unit; The flight control unit is further configured to compare and correct the first positioning data by the second positioning data and the third positioning data, and take the correction result as the position data.

9. A multi-data link positioning device, characterized by The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, which, when executed by the processor, implements the steps of the multi-data link positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a multi-data link positioning program, and the multi-data link positioning program, when executed by the processor, implements the steps of the multi-data link positioning method in any one of claims 1 to 7.

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