A method and apparatus for determining a landing point for a drone

Abstract

The specification discloses a method and device for determining a landing point of a UAV. First, positioning-related parameters generated when a specified device is positioned at each to-be-evaluated landing point in a set region are acquired. Second, according to the positioning-related parameters, a landing environment score corresponding to each to-be-evaluated landing point is determined. Finally, according to the landing environment score corresponding to each to-be-evaluated landing point, a target landing point for the set region is determined from the to-be-evaluated landing points, so that the UAV lands at the target landing point during the process of performing a task in the set region. The method can determine the influence of each to-be-evaluated landing point on the UAV landing in advance, and select a suitable target landing point from the to-be-evaluated landing points, so that the UAV can land accurately.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a method and apparatus for determining the landing point of an unmanned aerial vehicle (UAV). Background Technology

[0002] Currently, drones typically use RTK (Real-time kinematic) carrier phase differential technology for positioning. A base station and a rover mounted on the drone simultaneously receive signals transmitted from the same satellite at the same time. The base station transmits its measured carrier phase observations, pseudorange observations, and base station coordinates to the moving rover via a 4G network in real time. The rover then receives the information transmitted by the base station through the 4G network, performs differential processing on the carrier phase observations in real time, and obtains the drone's coordinates.

[0003] In practical applications, drones are mainly used in urban areas. The presence of many tall buildings can cause signal blockage and multipath effects, making it difficult for drones to obtain high-precision positioning coordinates during landing, thus preventing them from landing accurately.

[0004] Therefore, how to improve the accuracy of the positioning coordinates obtained by the drone during landing is an urgent problem to be solved. Summary of the Invention

[0005] This specification provides a method and apparatus for determining the landing point of an unmanned aerial vehicle (UAV), thereby partially solving the aforementioned problems existing in the prior art.

[0006] The following technical solution is adopted in this specification:

[0007] This manual provides a method for determining the landing point of a drone, including:

[0008] The positioning-related parameters collected by the designated device when positioning each landing point to be evaluated within a set area include at least one of the following: high-precision positioning duration, low-precision positioning duration, and number of available satellites.

[0009] Based on the positioning-related parameters, determine the landing environment score corresponding to each landing point to be evaluated;

[0010] Based on the landing environment score corresponding to each landing point to be evaluated, a target landing point for the set area is determined from each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area.

[0011] Optionally, location-related parameters are collected, specifically including:

[0012] For each landing point to be evaluated within the defined area, in response to the placement of the designated device at the landing point to be evaluated, the positioning-related parameters obtained by the designated device performing positioning at the landing point to be evaluated several times are acquired, wherein;

[0013] For each data collection, the designated device is activated to obtain the positioning-related parameters collected when the designated device is stationary at the landing point to be evaluated within a set time period.

[0014] Optionally, based on the positioning-related parameters, a landing environment score is determined for each landing point to be evaluated, specifically including:

[0015] Based on the positioning-related parameters, the calculation time involved in the high-precision positioning process of the designated device is determined and used as the high-precision positioning time.

[0016] Based on the high-precision positioning time, the landing environment score corresponding to each landing point to be evaluated is determined. The shorter the high-precision positioning time, the higher the landing environment score of the landing point to be evaluated.

[0017] Optionally, based on the positioning-related parameters, a landing environment score is determined for each landing point to be evaluated, specifically including:

[0018] Based on the positioning-related parameters, determine the signal-to-noise ratio and elevation angle of each satellite received by the designated device at each landing point to be evaluated;

[0019] For each satellite, satellites that meet the preset conditions are identified as usable satellites based on the signal-to-noise ratio and elevation angle of that satellite.

[0020] Based on the number of available satellites, a landing environment score is determined for each landing point to be evaluated. The more available satellites there are, the higher the landing environment score for the landing point to be evaluated.

[0021] Optionally, based on the positioning-related parameters, a landing environment score is determined for each landing point to be evaluated, specifically including:

[0022] Based on the positioning-related parameters, the duration of the decrease in positioning accuracy of the designated device after high-precision positioning is determined is taken as the low-precision duration.

[0023] Based on the low-precision duration, the landing environment score corresponding to each landing point to be evaluated is determined, wherein the shorter the low-precision duration, the higher the landing environment score of the landing point to be evaluated.

[0024] Optionally, based on the positioning-related parameters, a landing environment score is determined for each landing point to be evaluated, specifically including:

[0025] Based on the high-precision positioning duration, the low-precision positioning duration, the number of available satellites, and the reference weights corresponding to each indicator in the positioning-related parameters, the landing environment score corresponding to each landing point to be evaluated is determined.

[0026] Optionally, the positioning-related parameters generated by the specified device during positioning at each landing point to be evaluated within a defined area are obtained, specifically including:

[0027] Obtain the sequence of each landing point to be evaluated by the designated device within the set area, and obtain the positioning-related parameters generated by the designated device when locating the first landing point to be evaluated in the sequence, as the positioning-related parameters corresponding to the first landing point to be evaluated.

[0028] Optionally, based on the positioning-related parameters, a landing environment score is determined for each landing point to be evaluated, specifically including:

[0029] Based on the positioning-related parameters corresponding to the first landing point to be evaluated, determine the landing environment score corresponding to the first landing point to be evaluated.

[0030] Based on the landing environment scores corresponding to each landing point to be evaluated, a target landing point for the designated area is determined from each landing point to be evaluated, specifically including:

[0031] If the landing environment score corresponding to the first landing point to be evaluated is greater than the set score, the first landing point to be evaluated is taken as the target landing point within the set area. Otherwise, the first landing point to be evaluated is removed from the sequence to obtain an updated sequence. The landing environment score corresponding to the first landing point to be evaluated in the updated sequence is then determined to be greater than the set score, until a target landing point within the set area is determined.

[0032] This specification provides a device for determining the landing point of a drone, including:

[0033] The acquisition module is used to acquire positioning-related parameters collected by the specified device when positioning each landing point to be evaluated within a set area. The positioning-related parameters include at least one of the following: high-precision positioning duration, low-precision positioning duration, and number of available satellites.

[0034] The determination module is used to determine the landing environment score corresponding to each landing point to be evaluated based on the positioning-related parameters.

[0035] The landing module is used to determine a target landing point for the set area from the landing points to be evaluated based on the landing environment score corresponding to each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area.

[0036] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for determining the landing point of a drone.

[0037] This specification provides a drone, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method for determining the drone landing point.

[0038] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0039] The method for determining a drone landing point provided in this manual involves the following steps: First, acquiring the positioning-related parameters generated by the designated device when locating each landing point to be evaluated within a set area. Second, determining the landing environment score corresponding to each landing point to be evaluated based on the positioning-related parameters. Finally, determining the target landing point for the set area from among the landing points to be evaluated based on the landing environment score, so that the drone can land at the target landing point while performing its mission within the set area.

[0040] As can be seen from the above method, this method can determine the impact of each landing point to be evaluated on the drone's landing by using the positioning-related parameters generated when the specified device locates each landing point to be evaluated within a set area. Compared with the prior art, this method can pre-determine the impact of each landing point to be evaluated on the drone's landing and select a suitable target landing point from among them, enabling the drone to land accurately. Attached Figure Description

[0041] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0042] Figure 1 This is a flowchart illustrating a method for determining the landing point of a drone as described in this specification.

[0043] Figure 2 A schematic diagram illustrating the process of determining the landing point of a drone as provided in the embodiments of this specification;

[0044] Figure 3This is a schematic diagram of a device for determining the landing point of a drone, as provided in this specification.

[0045] Figure 4 This specification provides a corresponding Figure 1 A schematic diagram of a drone. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0047] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0048] Figure 1 This is a flowchart illustrating a method for determining the landing point of a drone as described in this specification, including the following steps:

[0049] S100: Obtain positioning-related parameters collected by the designated device when positioning each landing point to be evaluated within a set area. The positioning-related parameters include at least one of the following: high-precision positioning duration, low-precision positioning duration, and number of available satellites.

[0050] In the embodiments described in this specification, the execution subject of the method for determining the landing point of a drone may be a designated device, a drone, or a terminal device such as a server or desktop computer. For ease of description, the method for determining the landing point of a drone provided in this specification will be described below using only a designated device as the execution subject.

[0051] In the embodiments described in this specification, the designated device can acquire positioning-related parameters generated when it locates each landing point to be evaluated within a set area. The designated device mentioned here can be a device used to collect positioning-related parameters generated when locating at each landing point to be evaluated, or it can be a drone. The positioning-related parameters mentioned here may include at least one of: high-precision positioning duration, low-precision positioning duration, and the number of available satellites.

[0052] In the embodiments of this specification, the designated device can, for each landing point to be evaluated within a set area, obtain positioning-related parameters collected several times when the designated device performs positioning at the landing point to be evaluated, in response to the designated device being placed at the landing point to be evaluated.

[0053] Specifically, for each data collection, a designated device is activated to acquire positioning-related parameters collected during the data collection process. This occurs when the designated device, in a static state, locates itself at the landing point to be evaluated within a set time period. Activating the designated device here can mean powering it on. That is, after powering on, the designated device performs static positioning for a set time, and then the connection is disconnected. This method is used to collect positioning-related parameters several times according to actual needs.

[0054] In practical applications, a designated device, upon receiving signals of varying quality, will determine positioning results with different levels of precision. These precision levels include fixed solutions (millimeter to centimeter accuracy), wide-lane fixed solutions (centimeter to decimeter accuracy), orientation floating-point solutions (decimeter to meter accuracy), and positioning floating-point solutions (decimeter to meter accuracy). The designated device can determine the precision level of its determined positioning result. For example, the designated device can determine a fixed solution (the solution result after fixing the integer ambiguity of the narrow-lane), which is high-precision positioning. As another example, the designated device can determine a wide-lane fixed solution, an orientation floating-point solution, and a positioning floating-point solution, which are low-precision positioning.

[0055] In the embodiments of this specification, the high-precision positioning duration can refer to the time from when the designated device receives a signal after power-on to when it determines a high-precision positioning. The low-precision duration can refer to the duration during which the accuracy decreases to low precision after the designated device has determined a high-precision positioning. The number of available satellites can refer to the number of satellite signals received by the designated device that can be used to determine a high-precision positioning.

[0056] It should be noted that the designated device can use RTK technology for positioning. The base station and the rover on the designated device simultaneously receive signals transmitted by the same satellite at the same time. The base station transmits the measured carrier phase observations, pseudorange observations, base station coordinates, and other data to the rover on the designated device in real time via a 4G network. The rover on the designated device receives the information transmitted by the base station through the 4G network, performs differential processing on the carrier phase observations in real time, and obtains the location of the designated device.

[0057] In this specification, the drones that use the method for determining the drone landing point provided in this specification can be used to perform delivery tasks in the delivery field, such as business scenarios where drones are used for express delivery, logistics, and food delivery.

[0058] S102: Determine the landing environment score corresponding to each landing point to be evaluated based on the positioning-related parameters.

[0059] In the embodiments described in this specification, the specified device can determine the landing environment score corresponding to each landing point to be evaluated based on positioning-related parameters.

[0060] In practical applications, the better the quality of the signal received by the designated device, the shorter the time it takes to determine high-precision positioning. Based on this, the designated device can determine the computation time involved in determining high-precision positioning according to positioning-related parameters, which is then used as the high-precision positioning time. Based on the high-precision positioning time, a landing environment score is determined for each landing point to be evaluated; a shorter high-precision positioning time results in a higher landing environment score for the landing point.

[0061] Specifically, for each landing point to be evaluated, if the high-precision positioning time is less than a set time threshold, the landing environment score for that landing point during the high-precision positioning time is determined to be full. If the high-precision positioning time is not less than the set time threshold, the landing environment score for that landing point during the high-precision positioning time is determined to decrease as the high-precision positioning time increases, according to a preset linear function.

[0062] In practical applications, the more satellite signals a designated device receives, the more open the environment at the device's location is considered to be, and the less signal obstruction from tall buildings. Based on this, the designated device can determine the signal-to-noise ratio (SNR) and elevation angle for each satellite received at each landing point to be evaluated, according to positioning-related parameters. The SNR refers to the ratio of signal to noise in the received signal. The elevation angle refers to the angle between the direction line from the satellite to the designated device and the horizontal plane.

[0063] Secondly, for each satellite, satellites meeting preset conditions are identified as usable satellites based on their corresponding signal-to-noise ratio (SNR) and elevation angle. A higher SNR received by the designated equipment indicates better signal quality. The designated equipment can determine an appropriate satellite elevation angle to mitigate the impact of multipath effects and other factors on signal quality.

[0064] Finally, based on the number of available satellites, the landing environment score corresponding to each landing point to be evaluated is determined. The more available satellites, the higher the landing environment score of the landing point to be evaluated.

[0065] Specifically, for each landing point to be evaluated, if the number of available satellites is greater than a set threshold, the landing environment score for that landing point in terms of the number of available satellites is determined to be full. If the number of available satellites is not greater than the set threshold, the landing environment score for that landing point in terms of the number of available satellites is determined to decrease as the number of available satellites decreases according to a preset linear function.

[0066] In practical applications, since the designated device calculates its location in real time, changes in the surrounding environment will alter the calculated location. For example, before interference, the device calculates a high-precision location; after interference, the calculated location becomes low-precision. In other words, the stronger the signal interference at the device's location, the longer the accuracy will remain reduced after initial high-precision positioning.

[0067] Based on this, the designated device can determine the duration of the decrease in positioning accuracy after achieving high-precision positioning, using positioning-related parameters. This duration is then used as the low-precision duration. Based on this low-precision duration, a landing environment score is determined for each landing point to be evaluated. A shorter low-precision duration results in a higher landing environment score for the evaluated landing point.

[0068] Specifically, for each landing point to be evaluated, if the duration of low precision exceeds a set time threshold, the landing environment score for that landing point during the low precision duration is determined to be full. If the duration of low precision does not exceed the set time threshold, the landing environment score for that landing point during the low precision duration is determined to be zero.

[0069] In practical applications, among the positioning-related parameters generated when a specified device locates itself at a landing point to be evaluated, different indicators have different impacts on the landing environment score corresponding to that landing point.

[0070] In the embodiments described in this specification, the designated device can determine the landing environment score corresponding to each landing point to be evaluated based on the high-precision positioning duration, low-precision positioning duration, number of available satellites, and the reference weights corresponding to each indicator in the positioning-related parameters. The reference weights corresponding to each indicator mentioned here can be determined manually. Specifically, as follows... Figure 2 As shown.

[0071] exist Figure 2 In this process, the designated device can be a drone. The drone is placed at the landing point to be evaluated, powered on, and begins static RTK positioning for 1-2 minutes. The connection to the drone is then disconnected. After disconnection, the drone is placed back at the landing point to be evaluated, powered on again, and static RTK positioning is performed for another 1-2 minutes. Several RTK data points are collected using this method as positioning-related parameters. Next, based on the positioning-related parameters and the reference weights corresponding to each indicator, a landing environment score is determined for the landing point to be evaluated to determine whether it is the target landing point.

[0072] It should be noted that since the designated device can acquire several positioning-related parameters at a single landing point to be evaluated, it can obtain landing environment scores corresponding to these positioning-related parameters. The designated device can then use the average score of these landing environment scores as the landing environment score for that landing point to be evaluated.

[0073] S104: Based on the landing environment score corresponding to each landing point to be evaluated, determine a target landing point for the set area from each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area.

[0074] In the embodiments of this specification, the designated device can determine the target landing point for a set area from each landing point to be evaluated based on the landing environment score corresponding to each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area.

[0075] In practical applications, the designated device sorts several landing points to be evaluated within its area to obtain a sequence of landing points to be evaluated within the area, and sequentially determines the landing environment score corresponding to each landing point to be evaluated until a landing point whose landing environment score meets the requirements is determined as the target landing point.

[0076] In the embodiments of this specification, the designated device can acquire a sequence of landing points to be evaluated within a set area. Specifically, the designated device can determine a score for each landing point to be evaluated within the set area based on the data quality of the sensor data generated by its own sensors during operation, and then determine the sequence of landing points to be evaluated within the set area based on the scores. The sensors mentioned here can be used to perceive the surrounding environment, such as cameras, LiDAR, millimeter-wave radar, etc. The data quality of the sensor data mentioned here can refer to the image quality of images captured by a camera, or the quality of point cloud data collected by a LiDAR.

[0077] First, obtain the positioning-related parameters generated by the specified device when positioning at the first landing point to be evaluated in the sequence, and use these parameters as the positioning-related parameters corresponding to the first landing point to be evaluated.

[0078] Secondly, based on the positioning-related parameters corresponding to the first landing point to be evaluated, the landing environment score corresponding to the first landing point to be evaluated is determined. Finally, if the landing environment score corresponding to the first landing point to be evaluated is greater than the set score, the first landing point to be evaluated is used as the target landing point within the set area; otherwise, the first landing point to be evaluated is removed from the sequence to obtain an updated sequence, and it is determined whether the landing environment score corresponding to the first landing point to be evaluated in the updated sequence is greater than the set score, until a target landing point within the set area is determined.

[0079] In other words, the designated device starts evaluating from the first position in the sequence of landing points to be evaluated within the set area. If the landing environment score corresponding to the landing point to be evaluated is determined to be greater than the set score, the landing point to be evaluated is taken as the target landing point, and subsequent landing points to be evaluated are no longer evaluated.

[0080] In the embodiments of this specification, if the UAV determines that it meets the conditions for satellite-guided landing, it can land at the target landing point by satellite guidance based solely on the coordinates of its own location and the coordinates of the target landing point.

[0081] Specifically, during the descent of the drone, it can acquire its own coordinates at preset time intervals. Based on its own coordinates and the actual coordinates of the target landing point, it controls itself to move towards the target landing point until it lands there. The preset time interval can be 1 / 24 of a second or 1 / 60 of a second; the specific value of this time interval can be set as needed, and this manual does not impose any restrictions on it.

[0082] As can be seen from the above process, this method can determine the impact of each landing point to be evaluated on the drone's landing by using the positioning-related parameters generated when the designated device locates each landing point to be evaluated within a set area. Compared with existing technologies, this method can pre-determine the impact of each landing point to be evaluated on the drone's landing and select a suitable target landing point from among them, enabling the drone to land accurately.

[0083] The above describes one or more embodiments of a method for determining a drone landing point. Based on the same idea, this specification also provides corresponding apparatus for determining a drone landing point, such as... Figure 3 As shown.

[0084] Figure 3 This specification provides a schematic diagram of a device for determining the landing point of a UAV, including:

[0085] The acquisition module 300 is used to acquire positioning-related parameters collected by the specified device when positioning each landing point to be evaluated within a set area. The positioning-related parameters include at least one of the following: high-precision positioning duration, low-precision positioning duration, and number of available satellites.

[0086] The determining module 302 is used to determine the landing environment score corresponding to each landing point to be evaluated based on the positioning-related parameters.

[0087] The landing module 304 is used to determine a target landing point for the set area from the landing points to be evaluated based on the landing environment score corresponding to each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area.

[0088] Optionally, for each landing point to be evaluated within the defined area, in response to the designated device being placed at the landing point to be evaluated, the positioning-related parameters obtained by the designated device performing several acquisitions at the landing point to be evaluated are acquired. Specifically, for each acquisition, the designated device is activated to acquire the positioning-related parameters acquired by the designated device in a stationary state at the landing point to be evaluated during that acquisition within a defined time period.

[0089] Optionally, the determining module 302 is specifically used to determine, based on the positioning-related parameters, the calculation time involved in the process of determining high-precision positioning by the designated device, as the high-precision positioning time, and to determine the landing environment score corresponding to each landing point to be evaluated based on the high-precision positioning time, wherein the shorter the high-precision positioning time, the higher the landing environment score of the landing point to be evaluated.

[0090] Optionally, the determining module 302 is specifically used to determine the signal-to-noise ratio and elevation angle of each satellite received by the designated device at each landing point to be evaluated, based on the positioning-related parameters; for each satellite, determine the satellites that meet the preset conditions as usable satellites based on the signal-to-noise ratio and elevation angle of that satellite; and determine the landing environment score corresponding to each landing point to be evaluated based on the number of usable satellites, wherein the more usable satellites there are, the higher the landing environment score of the landing point to be evaluated.

[0091] Optionally, the determining module 302 is specifically used to determine, based on the positioning-related parameters, the duration of the decrease in positioning accuracy of the designated device after high-precision positioning is determined, as the low-precision duration, and to determine the landing environment score corresponding to each landing point to be evaluated based on the low-precision duration, wherein the shorter the low-precision duration, the higher the landing environment score of the landing point to be evaluated.

[0092] Optionally, the determining module 302 is specifically used to determine the landing environment score corresponding to each landing point to be evaluated based on the high-precision positioning duration, the low-precision duration, the number of available satellites, and the reference weights corresponding to each indicator in the positioning-related parameters.

[0093] Optionally, the landing module 304 is specifically used to obtain a sequence of landing points to be evaluated by the designated device in the set area, and to obtain the positioning-related parameters generated by the designated device when positioning the first landing point to be evaluated in the sequence, as the positioning-related parameters corresponding to the first landing point to be evaluated.

[0094] Optionally, the landing module 304 is specifically configured to: determine the landing environment score corresponding to the first landing point to be evaluated based on the positioning-related parameters corresponding to the first landing point to be evaluated; if the landing environment score corresponding to the first landing point to be evaluated is greater than a set score, use the first landing point to be evaluated as the target landing point within the set area; otherwise, remove the first landing point to be evaluated from the sequence to obtain an updated sequence, and determine whether the landing environment score corresponding to the first landing point to be evaluated in the updated sequence is greater than the set score, until a target landing point within the set area is determined.

[0095] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 A method for determining the landing point of a drone is provided.

[0096] This instruction manual also provides Figure 4 The one shown corresponds to Figure 1 A schematic diagram of the structure of a drone. (For example...) Figure 4 At the hardware level, the drone includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for its operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 1 The method for determining the landing point of the UAV is described above. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. In other words, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0097] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0098] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0099] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0100] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0101] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0107] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] It should also be noted that 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. Without further limitation, 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 said element.

[0109] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0111] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0112] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for determining the landing point of a drone, characterized in that, include: The positioning-related parameters collected by the designated device when positioning each landing point to be evaluated within a set area include at least one of the following: high-precision positioning duration, low-precision positioning duration, and number of available satellites. Based on the positioning-related parameters, determine the landing environment score corresponding to each landing point to be evaluated; Based on the landing environment score corresponding to each landing point to be evaluated, a target landing point for the set area is determined from each landing point to be evaluated, so that the UAV can land at the target landing point during the execution of the mission in the set area; Specifically, the landing environment score corresponding to each landing point to be evaluated is determined based on the positioning-related parameters, including: Based on the positioning-related parameters, the computation time involved in determining high-precision positioning for the designated device is determined as the high-precision positioning time; and based on the high-precision positioning time, the landing environment score corresponding to each landing point to be evaluated is determined, wherein a shorter high-precision positioning time results in a higher landing environment score for the landing point to be evaluated; or... Based on the positioning-related parameters, the signal-to-noise ratio (SNR) and elevation angle of each satellite received by the designated device at each landing point to be evaluated are determined. For each satellite, satellites meeting preset conditions are identified as usable satellites based on their SNR and elevation angle. The landing environment score corresponding to each landing point to be evaluated is determined based on the number of usable satellites, wherein the more usable satellites, the higher the landing environment score of the landing point to be evaluated; or... Based on the positioning-related parameters, the duration of the decrease in positioning accuracy after the designated device has achieved high-precision positioning is determined as the low-precision duration; and based on the low-precision duration, the landing environment score corresponding to each landing point to be evaluated is determined, wherein the shorter the low-precision duration, the higher the landing environment score of the landing point to be evaluated.

2. The method as described in claim 1, characterized in that, The collection of location-related parameters includes: For each landing point to be evaluated within the defined area, in response to the placement of the designated device at the landing point to be evaluated, the positioning-related parameters obtained by the designated device performing positioning at the landing point to be evaluated several times are acquired, wherein; For each data collection, the designated device is activated to obtain the positioning-related parameters collected when the designated device is stationary at the landing point to be evaluated within a set time period.

3. The method as described in claim 1, characterized in that, Based on the aforementioned positioning-related parameters, the landing environment score corresponding to each landing point to be evaluated is determined, specifically including: Based on the high-precision positioning duration, the low-precision positioning duration, the number of available satellites, and the reference weights corresponding to each indicator in the positioning-related parameters, the landing environment score corresponding to each landing point to be evaluated is determined.

4. The method as described in claim 1, characterized in that, Acquire positioning-related parameters generated by the specified device when positioning each landing point to be evaluated within a defined area, specifically including: Obtain the sequence of each landing point to be evaluated by the designated device within the set area, and obtain the positioning-related parameters generated by the designated device when locating the first landing point to be evaluated in the sequence, as the positioning-related parameters corresponding to the first landing point to be evaluated.

5. The method as described in claim 4, characterized in that, Based on the aforementioned positioning-related parameters, the landing environment score corresponding to each landing point to be evaluated is determined, specifically including: Based on the positioning-related parameters corresponding to the first landing point to be evaluated, determine the landing environment score corresponding to the first landing point to be evaluated. Based on the landing environment scores corresponding to each landing point to be evaluated, a target landing point for the designated area is determined from each landing point to be evaluated, specifically including: If the landing environment score corresponding to the first landing point to be evaluated is greater than the set score, the first landing point to be evaluated is taken as the target landing point within the set area. Otherwise, the first landing point to be evaluated is removed from the sequence to obtain an updated sequence. The landing environment score corresponding to the first landing point to be evaluated in the updated sequence is then determined to be greater than the set score, until a target landing point within the set area is determined.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 5.

7. A drone, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 1 to 5.

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