Method for determining initial position of aircraft, aircraft and storage medium

Abstract

This application discloses a method for determining the initial position of an aircraft, an aircraft, and a storage medium, which can reliably determine the initial position of an aircraft without relying on a global satellite navigation system. The method for determining the initial position of the aircraft includes: obtaining any valid target takeoff point position from at least two target takeoff point positions based on a target data carrier; and using any valid target takeoff point position as the initial position of the aircraft.

Description

[Technical Field]

[0001] This application relates to the field of aircraft technology, and in particular to a method for determining the initial position of an aircraft, an aircraft, and a storage medium. [Background Technology]

[0002] Currently, using aircraft for goods delivery has become a new trend. Before the aircraft takes off, it is necessary to determine the initial position of the aircraft so that the flight route can be planned based on the initial position and the destination position.

[0003] In existing technologies, the initial position of an aircraft is determined using a Global Navigation Satellite System (GNSS) onboard the aircraft. However, this method is susceptible to the influence of the received satellite signals. For example, when the aircraft is blocked by buildings, the satellite signals received by the aircraft may be weakened, resulting in a large error in the determined initial position, or even making it impossible to determine the initial position. [Summary of the Invention]

[0004] This application discloses a method for determining the initial position, an aircraft, and a storage medium, which can reliably determine the initial position of the aircraft without relying on a satellite positioning system.

[0005] In a first aspect, embodiments of this application provide a method for determining an initial position. This method is applied to an aircraft, where the distance between the aircraft and a target data carrier does not exceed a set threshold. The target data carrier is installed at a target takeoff point and independently stores at least two copies of the target takeoff point's location. The method includes:

[0006] Based on the target data carrier, obtain any valid target takeoff point location from at least two target takeoff point locations;

[0007] Use any valid target takeoff point position as the initial position of the aircraft.

[0008] In this application example, the target data carrier can be considered to be installed at the target take-off point and contain at least two target take-off point positions corresponding to the aforementioned target take-off point. In this case, the aircraft can obtain any valid target take-off point position from the aforementioned at least two target take-off point positions through the target data carrier. Since the distance between the aircraft and the target data carrier does not exceed a set threshold, that is, the distance between the aircraft and the target data carrier is relatively close, then any of the aforementioned valid target take-off point positions can be used as the initial position of the aircraft itself. This method is not affected by changes in the strength of satellite signals and can reliably obtain the initial position of the aircraft.

[0009] Optionally, if the target data carrier is a physical data carrier, and the physical data carrier has at least two preset identifiers that independently characterize the target takeoff point location, obtaining any valid target takeoff point location from at least two target takeoff point locations based on the target data carrier includes:

[0010] Obtain an identification code image containing at least two preset identification codes;

[0011] The identification code image is decoded to obtain the target takeoff point position from any valid preset identification code among the at least two preset identification codes.

[0012] In this application example, when the target data carrier is a physical data carrier and the physical data carrier has at least two preset identification codes that independently characterize the target takeoff point position, by acquiring an identification code image containing the at least two preset identification codes and decoding the identification code image, the target takeoff point position can be obtained based on any valid preset identification code among the at least two preset identification codes, thereby improving the reliability of obtaining the target takeoff point position based on the identification code image.

[0013] Optionally, the electronic data carrier includes at least two storage areas, each independently storing the target takeoff point location. Obtaining any valid target takeoff point location from at least two sets of target takeoff point locations based on the target data carrier includes:

[0014] The target takeoff point location is obtained from any valid storage area in the at least two storage areas using a short-range communication method.

[0015] In this application example, when the target data carrier is an electronic data carrier, the target takeoff point location stored in the electronic data carrier can be obtained from any valid area in at least two storage areas through short-range communication, thereby improving the reliability of obtaining the target takeoff point location based on the electronic data carrier.

[0016] Optionally, the aircraft pre-stores at least one 3D scene established based on at least one reference position, wherein the 3D scene corresponds one-to-one with the reference position, and stores the first relative position of the image acquisition device that acquires the orientation images of each target in each 3D scene relative to the corresponding reference position. The method further includes:

[0017] When the aircraft fails to obtain the target takeoff point position, at least one actual position image corresponding to at least one actual position of the aircraft is acquired.

[0018] The at least one actual orientation image is matched one by one with the target orientation images in each of the at least one 3D scenes;

[0019] If it is determined that more than a set number of target actual location images in the at least one actual location image match the target actual location image in the at least one target 3D scene with a matching degree exceeding a set matching degree, then it is determined that the actual scene where the aircraft is currently located matches the target 3D scene, and the target 3D scene is established based on the target reference position;

[0020] Calculate the overlapping area between the actual orientation image of each target and the target orientation image in the target 3D scene with a matching degree exceeding the set matching degree, and determine the second relative position of the image acquisition device of each actual orientation image relative to the image acquisition device of the corresponding target image in the target 3D scene based on the overlapping area;

[0021] Based on the first relative position and the second relative position, the third relative position of the image acquisition device relative to the target reference position is determined for the actual orientation image of each target.

[0022] The third relative position is determined as the initial position of the aircraft.

[0023] In this embodiment, multiple reference points can be selected and images around these reference points can be acquired to construct corresponding 3D scenes. In each 3D scene, the first relative position of the image acquisition device corresponding to each image relative to the reference point of the 3D scene is known. When the aircraft is currently at a certain actual position and determining the current initial position fails, images around the actual position can be acquired and matched with images of the known 3D scene to determine the target 3D scene corresponding to the actual scene where the aircraft is located. Based on this, the degree of overlap between the images around the actual position of the aircraft and the matching images in the target 3D scene is calculated, and the second relative position between the image acquisition devices that captured these two images is obtained based on the degree of overlap. Based on the known first relative position and the obtained second relative position, the third relative position of the image acquisition device used to acquire images around the current actual position relative to the reference point corresponding to the target 3D scene can be obtained. Since the image acquisition device for acquiring images around the current actual position is installed on the aircraft, the actual position of the image acquisition device can be used as the initial position of the aircraft. This method can determine the initial position of the aircraft more accurately based on visual methods when the acquisition of the target takeoff point position based on the target data carrier fails and the initial position of the aircraft cannot be determined.

[0024] Optionally, when there are at least two images of the target's actual location, determining the third relative position as the initial position of the aircraft includes:

[0025] Calculate the average value for at least two of the aforementioned third relative positions;

[0026] The average value is used as the initial position of the aircraft.

[0027] In this embodiment of the application, if at least two actual target location images match known 3D scene images, at least two third relative positions can be obtained. By calculating the average of the at least two third relative positions and using the obtained average as the initial position of the aircraft, the accuracy of the determined initial position of the aircraft is improved.

[0028] Optionally, when the aircraft obtains partial location information of the target takeoff point and the reference location is the takeoff point location, matching the at least one actual orientation image with each target orientation image in each of the at least one 3D scenes includes:

[0029] Based on the partial location information, at least one 3D scene established based on the takeoff point location is filtered to obtain partial 3D scenes, wherein the matching degree between the location information of the takeoff point location corresponding to the partial 3D scenes and the partial location information exceeds a set matching degree.

[0030] The at least one actual orientation image is matched one by one with the orientation images of each target in each 3D scene in the partial 3D scene.

[0031] In this embodiment of the application, if the aircraft can only obtain some initial position information of the target take-off point through the target data carrier, and the reference point of the constructed 3D scene is the take-off point, some 3D scenes can be filtered out by using some initial position information. That is, at least one actual orientation image is used to match each target orientation image in the remaining 3D scenes in at least one 3D scene, thereby reducing the number of matching times in the process of matching the target 3D scene.

[0032] Secondly, embodiments of this application provide an aircraft, wherein the distance between the aircraft and a target data carrier does not exceed a set threshold, the target data carrier is installed at a target takeoff point and independently stores at least two copies of the target takeoff point location, and the aircraft includes:

[0033] The obtaining unit is configured to obtain any valid target takeoff point location from at least two target takeoff point locations based on the target data carrier;

[0034] The processing unit is used to take any valid target take-off point position as the initial position of the aircraft.

[0035] Optionally, when the target data carrier is a physical data carrier, and the physical data carrier has at least two preset identification codes that independently characterize the target takeoff point location, the obtaining unit is specifically used for:

[0036] Obtain an identification code image containing at least two preset identification codes;

[0037] The identification code image is decoded to obtain the target takeoff point position from any valid preset identification code among the at least two preset identification codes.

[0038] Optionally, when the target data carrier is an electronic data carrier, the electronic data carrier includes at least two storage areas, each of which independently stores the target takeoff point location. The obtaining unit is specifically used for:

[0039] The target takeoff point location is obtained from any valid storage area in the at least two storage areas using a short-range communication method.

[0040] Optionally, the aircraft pre-stores at least one 3D scene established based on at least one reference position, with each 3D scene corresponding to a reference position, and stores the first relative position of an image acquisition device that acquires target orientation images in each 3D scene relative to the corresponding reference position. The aircraft further includes:

[0041] The acquisition unit is used to acquire at least one actual orientation image corresponding to at least one actual orientation of the aircraft when the aircraft fails to obtain the target take-off point position.

[0042] The matching unit is used to match the at least one actual orientation image with each target orientation image in each 3D scene of the at least one 3D scene.

[0043] The first determining unit is configured to determine that the actual scene in which the aircraft is currently located matches the target 3D scene if it is determined that more than a set number of target actual location images in the at least one actual location image match the target actual location images in the at least one target 3D scene corresponding to the target actual location images in the target 3D scene with a matching degree exceeding a set matching degree. The target 3D scene is established based on the target reference position.

[0044] The calculation unit is used to calculate the overlapping area between the actual orientation image of each target and the target orientation image in the target 3D scene with a matching degree exceeding the set matching degree, and to determine the second relative position relationship between the image acquisition device of each actual orientation image and the image acquisition device of the corresponding target image in the target 3D scene based on the overlapping area.

[0045] The second determining unit is used to determine the third relative position of the image acquisition device of each target's actual orientation image relative to the target reference position based on the first relative position relationship and the second relative position relationship;

[0046] The third determining unit is used to determine the third relative position as the initial position of the aircraft.

[0047] Optionally, when there are at least two images of the actual location of the target, the third determining unit is specifically used for:

[0048] Calculate the average value for at least two of the aforementioned third relative positions;

[0049] The average value is used as the initial position of the aircraft.

[0050] Optionally, when the aircraft obtains partial location information of the target takeoff point and the reference location is the takeoff point location, the matching unit is specifically used for:

[0051] Based on the partial location information, at least one 3D scene established based on the takeoff point location is filtered to obtain partial 3D scenes, wherein the matching degree between the location information of the takeoff point location corresponding to the partial 3D scenes and the partial location information exceeds a set matching degree.

[0052] The at least one actual orientation image is matched one by one with the orientation images of each target in each 3D scene in the partial 3D scene.

[0053] Thirdly, embodiments of the present invention provide an aircraft, the aircraft including at least one processor and a memory connected to the at least one processor, the at least one processor being configured to execute a computer program stored in the memory to implement the steps of the method as described in any embodiment of the first aspect.

[0054] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as described in any embodiment of the first aspect.

[0055] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. [Attached Image Description]

[0056] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A schematic diagram illustrating different flight stages of an aircraft transporting goods, provided as an embodiment of this application;

[0058] Figure 2 A schematic diagram illustrating a GNSS-based positioning method provided in an embodiment of this application;

[0059] Figure 3 A flowchart for determining the initial position of an aircraft is provided as an embodiment of this application;

[0060] Figure 4 A schematic diagram of a takeoff point site provided for an embodiment of this application;

[0061] Figure 5 A schematic diagram illustrating how an aircraft obtains the effective takeoff point position based on a target data carrier, as provided in an embodiment of this application.

[0062] Figure 6 A schematic diagram illustrating how to obtain the effective target takeoff point position based on at least two preset identifier codes, as provided in this application embodiment;

[0063] Figure 7 A schematic diagram illustrating how to obtain the effective target takeoff point position based on at least two storage areas in an electronic data carrier, as provided in this application embodiment;

[0064] Figure 8 A schematic diagram illustrating the relative positional relationship between different image acquisition devices and a target reference position, provided for an embodiment of this application;

[0065] Figure 9 A schematic diagram of the structure of an aircraft provided in this application embodiment;

[0066] Figure 10 This is a schematic diagram of the structure of an aircraft provided in an embodiment of this application.

Detailed Implementation Methods

[0067] To better understand the technical solutions in this specification, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0068] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0069] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0070] With the rapid development of the e-commerce industry, unmanned delivery is gradually becoming a new trend. For example, using aircraft to provide delivery services for users, such as delivering packages or food.

[0071] Please see Figure 1 This is a schematic diagram of different flight stages of an aircraft transporting goods, provided in an embodiment of this application. Figure 1 The document describes the three stages involved in transporting goods from region A to region B by an aircraft. The first stage is the takeoff stage, where the aircraft starts up and takes off from the ground in region A, then continuously increases its altitude until it reaches the designated altitude. The second stage is the level flight stage, where the aircraft continues to fly at the designated altitude. The third stage is the landing stage, where the aircraft controls itself to land, thus successfully transporting the goods to region B.

[0072] In the above process, the location of destination region B is known. In order to accurately plan the flight route from region A to region B, it is necessary to determine the current location of the aircraft in region A, that is, to determine the initial position of the aircraft.

[0073] This invention has revealed that, currently, determining the initial position of an aircraft primarily relies on GNSS systems. Please see [link / reference]. Figure 2 This is a schematic diagram illustrating a GNSS-based positioning method provided in an embodiment of this application. Figure 2 This includes GNSS satellites 1, 2, 3, 4, 5, 6, and 7. At the current moment, the satellite signals of satellites 1, 2, 3, and 4, which are above the horizon, may be observed by the aircraft, while the satellite signals of satellites 5, 6, and 7, which are below the horizon, cannot be observed by the aircraft. However, due to the aircraft's current location, the satellite signals of satellites 1, 2, 3, and 4 above the horizon may be blocked by buildings, resulting in weaker observed satellite signals and a larger error in determining the aircraft's initial position.

[0074] In view of this, this application provides a method for determining the initial position of an aircraft. In this method, the target data carrier can be considered to be installed at the target take-off point and contain at least two target take-off point positions corresponding to the target take-off point. At this time, the aircraft can obtain any valid target take-off point position from the at least two target take-off point positions through the target data carrier. Since the distance between the aircraft and the target data carrier does not exceed a set threshold, that is, the distance between the aircraft and the target data carrier is relatively close, then any valid target take-off point position can be used as the initial position of the aircraft itself. This method is not affected by changes in satellite signal strength and reliably obtains the initial position of the aircraft.

[0075] The technical solutions provided in the embodiments of this application will be described below with reference to the accompanying drawings. Please refer to... Figure 3 This invention provides a method for determining the initial position of an aircraft. This method is applied to an aircraft, and the process of this method is described as follows:

[0076] Step 101: The aircraft obtains any valid target takeoff point position from at least two target takeoff point positions based on the target data carrier.

[0077] Please see Figure 4 Let N be an open field containing N takeoff points 1, 2, 3...N, where N is a positive integer not less than 1. Each takeoff point has a corresponding takeoff location, which is known in advance by the staff. For example, the takeoff location of each takeoff point can be uniquely determined based on its latitude and longitude. Of course, the takeoff location of each takeoff point can also be described in other ways, without any special restrictions here.

[0078] Considering that when an aircraft is located at a certain takeoff point, it may not be able to directly and accurately obtain the corresponding takeoff point position based on GNSS, this embodiment of the application requires obtaining the takeoff point position indirectly and reliably without relying on GNSS.

[0079] As one possible implementation, since the takeoff point locations for each takeoff point are known, these locations can be redundantly stored on corresponding data carriers. For example, at least two takeoff point locations can be independently stored on the data carrier, which is then installed at the corresponding takeoff point. Based on this, when the aircraft needs to perform a related task, it can park at a location no more than a set threshold away from the target data carrier (i.e., the distance between the aircraft and the target data carrier is relatively short). Then, any valid target takeoff point location can be obtained from at least two target takeoff point locations based on the target data carrier.

[0080] For example, see Figure 5 Each takeoff point 1, 2, 3...N has a corresponding data carrier 1*, 2*, 3*...N* installed on it. If the aircraft is currently docked at takeoff point 1, the data carrier 1* corresponding to takeoff point 1 can be considered to store at least two sets of takeoff point 1 position information. At this time, the aircraft can obtain any valid takeoff point 1 position information from the above at least two sets of takeoff point 1 position information through the data carrier 1* installed at takeoff point 1.

[0081] The following section provides a detailed explanation of how an aircraft can obtain a valid target takeoff point location based on a target data carrier.

[0082] Method 1: When the target data carrier is in the form of a physical data carrier, the physical data carrier contains at least two preset identification codes, and the at least two preset identification codes independently represent the same takeoff point position.

[0083] In this embodiment of the application, when the target data carrier is a physical data carrier, the target takeoff point location of the physical data carrier can be characterized by drawing or printing at least two preset identification codes on the physical data carrier. For example, the at least two preset identification codes can be one-dimensional codes, two-dimensional codes, or a combination of one-dimensional and two-dimensional codes. There is no particular limitation on the internal combination type of the at least two preset identification codes.

[0084] The aircraft can acquire an identification code image containing at least two preset identification codes, and then obtain the target take-off point position by decoding the identification code image, thereby obtaining any valid preset identification code among the at least two preset identification codes.

[0085] For example, see Figure 6 If at least two preset identification codes on the physical data carrier are QR codes, for example, four QR codes are drawn or printed on the physical data carrier: a first QR code, a second QR code, a third QR code, and a fourth QR code. These four QR codes can be considered to independently store the target take-off point location. However, since the second, third, and fourth QR codes are all obscured by dirt, they cannot be successfully decoded. That is, the second, third, and fourth QR codes can be considered invalid QR codes. At this time, since the first QR code is not obscured by dirt, it can be considered a valid QR code. Then, the target take-off point location can be obtained by decoding the first QR code.

[0086] Method 2: When the target data carrier is in the form of an electronic data carrier, the electronic data carrier includes at least two storage areas, and the at least two storage areas independently store the target take-off point location.

[0087] In this embodiment, when the target data carrier is an electronic data carrier, it can be assumed that the electronic data carrier is divided into at least two independent storage areas, and these at least two independent storage areas can be assumed to store the target takeoff point location respectively. Then, the aircraft can obtain the target takeoff point location from any valid storage area within the at least two independent storage areas of the electronic data carrier using short-range communication.

[0088] For example, see Figure 7 The electronic data carrier has two independent storage areas: storage area 1 and storage area 2, and each storage area independently stores the target takeoff point position. Therefore, even if storage area 2 is damaged and the target takeoff point position cannot be obtained, it can still be obtained through storage area 1. That is, even if storage area 2 fails, the target takeoff point position can still be reliably obtained through the valid storage area 1.

[0089] Step 102: The aircraft takes any valid target takeoff point as its initial position.

[0090] In this embodiment of the application, any valid target takeoff point position obtained by the aircraft based on the target data carrier can be regarded as the installation position of the target data carrier. Since the distance between the aircraft and the target data carrier is relatively close, the installation position of the target data carrier can be equivalent to the initial position of the aircraft itself.

[0091] As one possible implementation, the aircraft can use any valid target takeoff point position obtained from the target data carrier as its own initial position.

[0092] In some embodiments, when the target data carrier is a physical data carrier and the target takeoff point position cannot be obtained based on at least two preset identification codes of the physical data carrier, or when the target data carrier is an electronic data carrier and the target takeoff point position cannot be obtained based on at least two storage areas of the electronic data carrier, the aircraft cannot accurately determine its initial position. Therefore, in this embodiment, the initial position of the aircraft can be obtained by scene matching.

[0093] As one possible implementation, at least one reference position can be manually selected. At each reference position, image acquisition devices acquire images of different target orientations, and these images are then used to create a 3D scene based on the current reference position using 3D reconstruction methods. After obtaining this 3D scene, the first relative position of the image acquisition devices that acquired the images of each target orientation relative to the current reference position can be determined. The aircraft can pre-store at least one 3D scene built based on the at least one reference position, and store the first relative position of the image acquisition devices that acquired the images of each target orientation in each 3D scene relative to the corresponding reference position.

[0094] When the aircraft docks at any location, it acquires at least one actual azimuth image corresponding to at least one actual azimuth location using its onboard image acquisition equipment. This acquired image is then matched one-to-one with target azimuth images in each of the constructed 3D scenes. If, during the matching process, the matching degree between more than a set number of target actual azimuth images and their corresponding target azimuth images in the target 3D scene exceeds a set matching degree, then the aircraft's current actual scene is determined to match the target 3D scene, which is built based on a target reference position. The overlapping area between each target actual azimuth image and the target azimuth images in the target 3D scene whose matching degree exceeds the set matching degree is calculated. Based on this overlapping area, the second relative position of the image acquisition equipment in the current actual scene used to acquire the target actual azimuth images is determined relative to the image acquisition equipment corresponding to the matching target azimuth images in the target 3D scene. Therefore, based on the first and second relative positions, the third relative position of the image acquisition equipment for each target actual azimuth image relative to the target reference position can be determined. This third relative position is then determined as the aircraft's initial position.

[0095] For example, see Figure 8 Given that the target reference position is known, and within the 3D scene established based on this target reference position, the first relative position between the image acquisition device used to acquire images of each target orientation and the current target reference position is also known. Therefore, after obtaining the second relative position of the image acquisition device used to acquire images of the actual target orientation relative to the image acquisition device used to acquire images of the target orientation in the 3D scene, the third relative position can be obtained based on the first and second relative positions.

[0096] In some embodiments, when there are at least two images of the actual location of the target, it means that at least two third relative positions can be obtained. Therefore, in this embodiment, the initial position of the aircraft can be determined based on at least two third relative positions, thereby making the determined initial position of the aircraft more accurate.

[0097] As one possible implementation, the aircraft can average the values ​​of at least two third relative positions and use the average as its initial position. Of course, other calculation methods can also be used to determine the aircraft's initial position; no particular limitation is made here.

[0098] In some embodiments, if the reference point selected when constructing the 3D scene associated with each takeoff point is the takeoff point, and although the aircraft fails to obtain the target takeoff point location, the approximate range of the target takeoff point location can still be determined, then based on the approximate range of the target takeoff point location, some 3D scenes can be filtered out, that is, the number of 3D scenes that need to be matched can be reduced.

[0099] As one possible implementation, if the aircraft currently only obtains partial location information of the target takeoff point, then the aircraft can filter at least one 3D scene constructed based on the partial location information of the target takeoff point to obtain partial 3D scenes where the location information of the takeoff point matches the partial location information with a set matching degree. Then, at least one actual orientation image is matched one by one with each target orientation image in each of the above partial 3D scenes.

[0100] Please see Figure 9 Based on the same inventive concept, this application provides an aircraft in which the distance between the aircraft and the target data carrier does not exceed a set threshold. The target data carrier is installed at the target take-off point and independently stores at least two copies of the target take-off point location. The aircraft includes: an acquisition unit 201 and a processing unit 202.

[0101] The acquisition unit 201 is used to obtain any valid target takeoff point position from at least two target takeoff point positions based on the target data carrier;

[0102] The processing unit 202 is used to take any valid target take-off point position as the initial position of the aircraft.

[0103] Optionally, when the target data carrier is a physical data carrier, and the physical data carrier has at least two preset identification codes that independently characterize the target takeoff point position, the obtaining unit 201 is specifically used for:

[0104] Obtain an image containing at least two preset identifier codes;

[0105] Decode the identification code image to obtain the target takeoff point position from any valid preset identification code among at least two preset identification codes.

[0106] Optionally, when the target data carrier is an electronic data carrier, the electronic data carrier includes at least two storage areas, each of which independently stores the target takeoff point location. The obtaining unit 201 is specifically used for:

[0107] The target takeoff point location is obtained from any valid storage area in at least two storage areas using short-range communication.

[0108] Optionally, the aircraft pre-stores at least one 3D scene established based on at least one reference position, with each 3D scene corresponding to a reference position, and stores the first relative position of the image acquisition device that acquires the orientation images of each target in each 3D scene relative to the corresponding reference position. The aircraft also includes:

[0109] The acquisition unit is used to acquire at least one actual orientation image corresponding to at least one actual orientation of the aircraft when the aircraft fails to obtain the target take-off point position.

[0110] A matching unit is used to match at least one actual orientation image with each target orientation image in each 3D scene in at least one 3D scene.

[0111] The first determining unit is used to determine that the actual scene where the aircraft is currently located matches the target 3D scene if the matching degree between the target actual location image and the target actual location image in at least one actual location image (more than a set number) and the target actual location image in at least one target 3D scene (the target 3D scene is established based on the target reference position).

[0112] The calculation unit is used to calculate the overlapping area between the actual orientation image of each target and the target orientation image in the target 3D scene with a matching degree exceeding a set matching degree, and to determine the second relative position relationship between the image acquisition device of each actual orientation image and the image acquisition device of the corresponding target image in the target 3D scene based on the overlapping area.

[0113] The second determining unit is used to determine the third relative position of the image acquisition device of each target's actual orientation image relative to the target reference position based on the first relative position relationship and the second relative position relationship;

[0114] The third determining unit is used to determine the third relative position as the initial position of the aircraft.

[0115] Optionally, when there are at least two images of the actual location of the target, the third determining unit is specifically used for:

[0116] Calculate the average value for at least two third relative positions;

[0117] The average value is used as the initial position of the aircraft.

[0118] Optionally, when the aircraft obtains partial location information of the target takeoff point, and the reference location is the takeoff point location, the matching unit is specifically used for:

[0119] Based on partial location information, at least one 3D scene established based on the takeoff point location is filtered to obtain partial 3D scenes, wherein the matching degree between the takeoff point location information corresponding to the partial 3D scenes and the partial location information exceeds a set matching degree.

[0120] Match at least one actual orientation image with the orientation images of each target in each 3D scene in a subset of 3D scenes.

[0121] Please see Figure 10 Based on the same inventive concept, embodiments of this application provide an aircraft, which includes at least one processor 301. The processor 301 is used to execute a computer program stored in a memory to implement the functions provided in embodiments of this application. Figure 3 The steps of the method for determining the initial position of the aircraft are shown.

[0122] Optionally, the processor 301 may be a central processing unit, a specific ASIC, or one or more integrated circuits used to control program execution.

[0123] Optionally, the aircraft may also include a memory 302 connected to at least one processor 301. The memory 302 may include ROM, RAM, and disk storage. The memory 302 stores data required for the processor 301 to run, i.e., it stores instructions that can be executed by at least one processor 301. The at least one processor 301 executes instructions stored in the memory 302 to perform tasks such as... Figure 3 The method is shown. The number of memories 302 is one or more. The memories 302 are in... Figure 10 It is shown together, but it should be noted that memory 302 is not a mandatory functional module, therefore in Figure 10 It is shown in dashed lines.

[0124] The physical devices corresponding to both the acquisition unit 201 and the processing unit 202 can be the aforementioned processor 301. This aircraft can be used to execute... Figure 3 The method provided in the illustrated embodiment. Therefore, regarding the functions that each functional module in this aircraft can achieve, please refer to... Figure 3 The corresponding descriptions in the illustrated embodiments will not be repeated here.

[0125] This application embodiment also provides a computer storage medium, wherein the computer storage medium stores computer instructions, which, when executed on a computer, cause the computer to perform actions such as... Figure 3 The method described.

[0126] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A method for determining the initial position of an aircraft, characterized in that, Applied to aircraft, where the distance between the aircraft and the target data carrier does not exceed a set threshold, and the target data carrier is installed at the target takeoff point and independently stores at least two copies of the target takeoff point location, the method includes: Based on the target data carrier, obtain any valid target takeoff point location from at least two target takeoff point locations; Take any valid target takeoff point position as the initial position of the aircraft; The aircraft pre-stores at least one 3D scene based on at least one reference position, with each 3D scene corresponding to a reference position, and stores the first relative position of an image acquisition device relative to the corresponding reference position for acquiring target orientation images in each 3D scene. The method further includes: When the aircraft fails to obtain the target takeoff point position, at least one actual position image corresponding to at least one actual position of the aircraft is acquired. The at least one actual orientation image is matched one by one with the target orientation images in each of the at least one 3D scenes; If it is determined that more than a set number of target actual location images in the at least one actual location image match the target actual location image in the at least one target 3D scene with a matching degree exceeding a set matching degree, then it is determined that the actual scene where the aircraft is currently located matches the target 3D scene, and the target 3D scene is established based on the target reference position; Calculate the overlapping area between the actual orientation image of each target and the target orientation image in the target 3D scene with a matching degree exceeding the set matching degree, and determine the second relative position of the image acquisition device of each actual orientation image relative to the image acquisition device of the corresponding target image in the target 3D scene based on the overlapping area; Based on the first relative position relationship and the second relative position relationship, the third relative position of the image acquisition device of each target's actual orientation image relative to the target reference position is determined; The third relative position is determined as the initial position of the aircraft.

2. The method of claim 1, wherein, When the target data carrier is a physical data carrier, and the physical data carrier has at least two preset identifiers that independently characterize the target takeoff point location, obtaining any valid target takeoff point location from at least two target takeoff point locations based on the target data carrier includes: Obtain an identification code image containing at least two preset identification codes; The identification code image is decoded to obtain the target takeoff point position from any valid preset identification code among the at least two preset identification codes.

3. The method of claim 1, wherein, When the target data carrier is an electronic data carrier, the electronic data carrier includes at least two storage areas, each of which independently stores the target takeoff point location. Obtaining any valid target takeoff point location from at least two sets of target takeoff point locations based on the target data carrier includes: The target takeoff point location is obtained from any valid storage area in the at least two storage areas using a short-range communication method.

4. The method of claim 1, wherein, When there are at least two images of the target's actual location, determining the third relative position as the initial position of the aircraft includes: Calculate the average value for at least two of the aforementioned third relative positions; The average value is used as the initial position of the aircraft.

5. The method of claim 1, wherein, When the aircraft obtains partial location information of the target takeoff point, and the reference location is the takeoff point location, matching the at least one actual orientation image with the target orientation images in each of the at least one 3D scenes includes: Based on the partial location information, at least one 3D scene established based on the takeoff point location is filtered to obtain partial 3D scenes, wherein the matching degree between the location information of the takeoff point location corresponding to the partial 3D scenes and the partial location information exceeds a set matching degree. The at least one actual orientation image is matched one by one with the orientation images of each target in each 3D scene in the partial 3D scene.

6. An aircraft, characterized in that The aircraft includes at least one processor and a memory connected to the at least one processor, the at least one processor being configured to implement the steps of the method as described in any one of claims 1-5 when executing a computer program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The execution of the computer program by the processor is a step in implementing the method as described in any one of claims 1-5.

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