Navigation positioning method and device thereof, and unmanned aerial vehicle

Abstract

The application discloses a navigation positioning method, comprising: acquiring pose information sent by an external laser sensor, wherein the pose information comprises a laser pose; calculating a current transformation matrix according to a previous pose of a UAV and the laser pose; performing filtering processing on the current transformation matrix to obtain a filtered transformation matrix; calculating an observed pose according to the laser pose and the filtered transformation matrix; calculating an estimated pose according to an acceleration value of the UAV; and obtaining a current pose of the UAV according to the observed pose and the estimated pose. The navigation positioning method disclosed by the application can solve the problem of how to navigate and position the UAV when GNSS is abnormal. In addition, the application also discloses a navigation positioning device and a UAV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a navigation positioning method, a navigation positioning device and an unmanned aerial vehicle. BACKGROUND

[0002] In the field of navigation positioning, the most widely used technology is Global Navigation Satellite System (GNSS). In an unobstructed environment, GNSS can provide three-dimensional position, speed, attitude and other information all day round. However, in a closed environment, due to the obstruction of satellite signals, GNSS may have abnormal phenomena, such as GNSS signals may become weak, GNSS signals may be long-term invalid, etc. The abnormal phenomena of GNSS will result in that GNSS cannot realize continuous and reliable navigation positioning. SUMMARY

[0003] The main purpose of the present application is to provide a navigation positioning method, a navigation positioning device and an unmanned aerial vehicle, which aims to solve the problem of how to navigate and position the unmanned aerial vehicle when GNSS is abnormal.

[0004] To achieve the above purpose, the present application provides a navigation positioning method, which comprises the following steps:

[0005] obtaining pose information sent by an external laser sensor, wherein the pose information comprises a laser pose;

[0006] calculating a current transformation matrix according to a previous pose of the unmanned aerial vehicle and the laser pose;

[0007] performing filtering processing on the current transformation matrix to obtain a filtered transformation matrix;

[0008] calculating an observed pose according to the laser pose and the filtered transformation matrix;

[0009] calculating an estimated pose according to an acceleration value of the unmanned aerial vehicle; and

[0010] obtaining a current pose of the unmanned aerial vehicle according to the observed pose and the estimated pose.

[0011] In some embodiments, calculating an observed pose according to the laser pose and the filtered transformation matrix comprises:

[0012] calculating the product of the laser pose and the filtered transformation matrix to obtain the observed pose.

[0013] In some embodiments, performing filtering processing on the current transformation matrix to obtain a filtered transformation matrix comprises:

[0014] converting the current transformation matrix into a quaternion; and

[0015] low-pass filtering the quaternions to obtain the filtered transformation matrix.

[0016] In some embodiments, the quaternions are represented as: q = [q0 q1 q2 q3]; wherein q represents a quaternion; q0, q1, q2, and q3 satisfy:

[0017] and

[0018]

[0019] wherein t 11 , t 22 , t 33 , t 23 , t 32 , t 31 , t 13 , t 12 , and t 21 are elements in the current transformation matrix.

[0020] In some embodiments, the pose information further comprises an index value, and after obtaining the pose information sent by the external laser sensor, the navigation positioning method further comprises:

[0021] determining whether the index value is less than a preset value;

[0022] when the index value is less than the preset value, retaining the pose information; and

[0023] when the index value is greater than or equal to the preset value, obtaining new pose information.

[0024] In some embodiments, the pose information further comprises a timestamp, and calculating an estimated pose according to an acceleration value of the unmanned aerial vehicle comprises:

[0025] obtaining a corresponding acceleration value according to the timestamp, the acceleration value being measured by an inertial sensor; and

[0026] performing a second integration on the acceleration value to obtain the estimated pose.

[0027] In some embodiments, calculating a current pose according to the observed pose and the estimated pose comprises:

[0028] filtering the observed pose according to the estimated pose to obtain the current pose.

[0029] The present application further proposes a navigation positioning device, the navigation positioning device comprising:

[0030] a memory for storing computer executable instructions; and

[0031] a processor for executing the computer executable instructions to implement the navigation positioning method as described above.

[0032] The application further provides a UAV, which comprises a body, a laser sensor, an inertial sensor and a navigation positioning device as described above, the inertial sensor and the navigation positioning device are arranged inside the body, and the laser sensor is arranged outside the body; the navigation positioning device is in communication connection with the laser sensor and the inertial sensor respectively.

[0033] In some embodiments, the distance between the laser sensor and the inertial sensor is a preset distance.

[0034] The application discloses a navigation positioning method and a UAV. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The flowchart of the navigation positioning method provided by the embodiment of the application.

[0036] Figure 2 The first sub-flowchart of the navigation positioning method provided by the embodiment of the application.

[0037] Figure 3 The second sub-flowchart of the navigation positioning method provided by the embodiment of the application.

[0038] Figure 4 The third sub-flowchart of the navigation positioning method provided by the embodiment of the application.

[0039] Figure 5 The schematic diagram of the UAV provided by the embodiment of the application.

[0040] Figure 6 The module schematic diagram of the navigation positioning device provided by the embodiment of the application.

[0041] Figure 7A schematic diagram of a module of the unmanned aerial vehicle is provided for the embodiments of the present application.

[0042] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0043] The schemes in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0045] It should also be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can have a middle element.

[0046] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0047] Please refer to Figure 1 and Figure 5 , Figure 1 A flowchart of a navigation positioning method is provided for the embodiments of the present application, Figure 5 A schematic diagram of an unmanned aerial vehicle is provided for the embodiments of the present application. The navigation positioning method is applied to a flying vehicle, and is used for navigating and positioning the flying vehicle during the flight of the flying vehicle. The flying vehicle includes but is not limited to a multi-rotor unmanned aerial vehicle, an airship, an airplane, etc.

[0048] In Figure 5The illustrated unmanned aerial vehicle is an example. The unmanned aerial vehicle 1 is provided with a navigation positioning device 10, a laser sensor 30, and an inertial sensor 40. The navigation positioning device 10 is in communication connection with the laser sensor 30 and the inertial sensor 40, respectively. In this embodiment, the navigation positioning device 10 is used to execute a navigation positioning method. The related functions of the navigation positioning device 10 can be implemented by one device, or by multiple devices together, or by one or more functional modules in a device, which is not limited here. It can be understood that the above functions can be network elements in a hardware device, or software functions running on a special hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (for example, a cloud platform).

[0049] In this embodiment, the Simultaneous Localization and Mapping (SLAM) technology acquires observation information through sensors, estimates the pose change and motion trajectory while constructing a map. The navigation positioning method fuses laser SLAM and IMU (Inertial measurement unit) information to perform real-time navigation positioning for the unmanned aerial vehicle 1. The SLAM performed by taking the point cloud collected by the laser sensor 30 as a data source is called laser SLAM. The navigation positioning method specifically includes the following steps.

[0050] In step S102, pose information sent by an external laser sensor is acquired.

[0051] In this embodiment, the laser sensor 30 is arranged outside the body of the unmanned aerial vehicle 1, the navigation positioning device 10 and the inertial sensor 40 are arranged inside the body of the unmanned aerial vehicle 1, and there is a certain distance between the laser sensor 30 and the inertial sensor 40 and the navigation positioning device 10. Therefore, the laser sensor 30 is external to the unmanned aerial vehicle 1 relative to the body of the unmanned aerial vehicle 1. In some feasible embodiments, the laser sensor 30 can be externally hung below the body of the unmanned aerial vehicle 1.

[0052] During the flight of the unmanned aerial vehicle 1, the laser sensor 30 continuously emits detection laser to the external environment and receives reflected light reflected by external objects. The laser sensor 30 generates point cloud information about the external environment according to the detection laser and the reflected light, and performs real-time matching according to the point cloud information to calculate the pose information. In this embodiment, the pose information includes the laser pose, i.e., the pose of the laser sensor 30.

[0053] In this embodiment, the laser sensor 30 sends the pose information to the navigation positioning device 10, and the navigation positioning device 10 acquires the pose information sent by the laser sensor 30.

[0054] Step S104, calculating the current transformation matrix according to the last pose of the UAV and the laser pose.

[0055] Since there is a certain distance between the laser sensor 30 and the navigation positioning device 10, the laser pose sent by the laser sensor 30 is not the same as the actual pose of the UAV 1, and the laser pose cannot be used to represent the actual pose. That is to say, the laser coordinate system of the laser pose does not coincide with the navigation coordinate system of the UAV 1. In this embodiment, the navigation pose of the UAV 1 and the laser pose of the laser sensor 30 can be converted by a transformation matrix, and the transformation matrix can transform the laser coordinate system of the laser pose to the navigation coordinate system.

[0056] During the long flight of the UAV 1, since the laser sensor 30 is difficult to perform loop detection, the laser pose is only reliable for a short time. If the transformation matrix is fixed, the cumulative error between the laser pose measured by the laser sensor 30 and the actual pose of the UAV 1 will become larger and larger. Therefore, the navigation positioning device 10 needs to update the transformation matrix for transforming the laser coordinate system to the navigation coordinate system in real time.

[0057] In this embodiment, the navigation positioning device 10 inversely deduces the current transformation matrix according to the last pose of the UAV 1 and the currently acquired laser pose, so as to update the transformation matrix and improve the reliability of the current transformation matrix. The calculation of the current transformation matrix according to the last pose of the UAV 1 and the laser pose can be represented as: Wherein, represents the current transformation matrix; represents the last pose of the UAV 1; represents the current laser pose. It can be understood that according to the product of the laser pose and the transformation matrix is the actual pose, the current transformation matrix is the quotient of the last pose and the laser pose.

[0058] Step S106, filtering the current transformation matrix to obtain a filtered transformation matrix.

[0059] The navigation positioning device 10 filters the current transformation matrix to obtain a filtered transformation matrix. It can be understood that since the laser pose calculated by the laser sensor 30 has certain noise, the current transformation matrix cannot accurately represent the relationship between the laser pose and the current pose of the UAV 1, and therefore the current transformation matrix needs to be filtered to obtain a more accurate filtered transformation matrix.

[0060] The specific process of how to filter the current transformation matrix to obtain the filtered transformation matrix will be described in detail below.

[0061] Step S108, calculating an observation pose according to the laser pose and the filtered transformation matrix.

[0062] The navigation positioning device 10 calculates the observed pose according to the laser pose and the filter transformation matrix. In this embodiment, the observed pose is an observed value of the pose of the UAV 1 calculated according to the laser pose.

[0063] The calculation of the observed pose according to the laser pose and the filter transformation matrix comprises: calculating the product of the laser pose and the filter transformation matrix to obtain the observed pose. In this embodiment, the navigation positioning device 10 calculates the product of the laser pose and the filter transformation matrix, thereby obtaining the observed pose of the UAV 1.

[0064] In step S110, the estimated pose is calculated according to the acceleration value of the UAV.

[0065] The navigation positioning device 10 calculates the estimated pose according to the acceleration value of the UAV 1. In this embodiment, the acceleration value is collected by the inertial sensor 40, and the estimated pose is an estimated value of the pose of the UAV 1 calculated according to the acceleration value.

[0066] The specific process of how to calculate the estimated pose according to the acceleration value of the UAV will be described in detail below.

[0067] In step S112, the current pose of the UAV is obtained according to the observed pose and the estimated pose.

[0068] The navigation positioning device 10 calculates the current pose according to the observed pose and the estimated pose. In this embodiment, the current pose represents the real pose of the UAV 1 calculated.

[0069] The obtaining of the current pose of the UAV according to the observed pose and the estimated pose comprises: filtering the observed pose according to the estimated pose to obtain the current pose. In this embodiment, the navigation positioning device 10 performs Kalman filtering on the observed pose according to the estimated pose to eliminate Gaussian noise in the observed pose, thereby obtaining the current pose of the UAV 1.

[0070] In the above embodiment, the laser sensor is externally arranged on the unmanned aerial vehicle, and a transformation matrix between the laser pose and the previous pose of the unmanned aerial vehicle is calculated as a current transformation matrix according to the laser pose sent by the laser sensor and the previous pose of the unmanned aerial vehicle. The current transformation matrix is filtered to obtain a filtered transformation matrix, and an observed pose of the unmanned aerial vehicle can be calculated according to the filtered transformation matrix and the laser pose. An estimated pose of the unmanned aerial vehicle can be calculated according to the acceleration value of the unmanned aerial vehicle, and an accurate current pose of the unmanned aerial vehicle can be obtained according to the observed pose and the estimated pose. The real-time navigation of the unmanned aerial vehicle is realized through the simultaneous localization and mapping (SLAM) technology of the laser sensor and the inertial measurement technology of the inertial sensor, and the pose information of the laser sensor and the acceleration value of the unmanned aerial vehicle are fused in real time, so that the unmanned aerial vehicle can navigate and position according to the SLAM data of the laser sensor when the global navigation satellite system (GNSS) is abnormal, such as no GNSS or weak GNSS signal, to realize the navigation flight of the unmanned aerial vehicle, thereby ensuring the safe flight of the unmanned aerial vehicle.

[0071] In some embodiments, when the signal of the GNSS is good, the navigation positioning device can directly correct and navigate the pose of the unmanned aerial vehicle according to the GNSS signal. When the unmanned aerial vehicle is in an environment without GNSS signal or with weak GNSS signal, the navigation positioning device cannot navigate by using the GNSS signal, in order to avoid the long-time accumulation of the matching error of the laser SLAM or the long-time loss of the matching of the laser SLAM, the navigation positioning device can calculate the current pose of the unmanned aerial vehicle according to the pose information obtained from the laser sensor and the acceleration value of the inertial sensor, to navigate the unmanned aerial vehicle in a short time through the laser SLAM and the IMU, and realize the purpose of continuous navigation of the unmanned aerial vehicle.

[0072] Please refer to Figure 2 which is a first sub-flowchart of the navigation positioning method provided by the embodiment of the application. In some embodiments, the pose information further includes an index value. After step S102 is performed, the navigation positioning method further includes the following steps.

[0073] In step S202, it is judged whether the index value is less than a preset value.

[0074] After the pose information is obtained, the navigation positioning device 10 judges whether the pose information meets the condition according to the index value in the pose information. Specifically, the navigation positioning device 10 judges whether the index value is less than a preset value.

[0075] In this embodiment, the index value can be a matching performance index value. The laser sensor 30 matches the obtained point cloud data with preset data, and the matching degree between the point cloud data and the preset data can be calculated by the least square method to obtain the index value. The preset data represents the real situation of the external environment. The size of the preset value can be set according to the actual navigation and positioning situation, which is not limited here.

[0076] When the index value is less than the preset value, step S204 is performed; when the index value is greater than or equal to the preset value, step S206 is performed.

[0077] In step S204, the pose information is retained.

[0078] When the index value is less than the preset value, it indicates that the matching degree between the point cloud data and the preset data is high, and the pose information meets the condition. Then, the navigation and positioning device 10 retains the current pose information.

[0079] In this embodiment, the navigation and positioning device 10 updates the transformation matrix every time the pose information is retained. Specifically, the navigation and positioning device 10 periodically calculates the current transformation matrix according to the last pose of the unmanned aerial vehicle 1 and the laser pose retained each time to constantly update the current transformation matrix.

[0080] In step S206, new pose information is obtained.

[0081] When the index value is greater than or equal to the preset value, it indicates that the matching degree between the point cloud data and the preset data is not high, and the pose information does not meet the condition. Then, the navigation and positioning device 10 ignores the currently obtained pose information and obtains new pose information. That is, the laser pose whose index value is greater than or equal to the preset value will not be used for updating the transformation matrix, and the current pose of the unmanned aerial vehicle 1 will not be calculated.

[0082] It can be understood that when the index value is greater than or equal to the preset value, the navigation and positioning device 10 re-executes step S102.

[0083] In the above embodiment, in order to solve the problem of poor matching result in a specific environment, the laser sensor needs to calculate the index value according to the point cloud data, compare the calculated index value with the preset value, and determine whether the pose information meets the condition, so as to eliminate the pose information with poor matching with the environment and improve the accuracy of navigation and positioning.

[0084] Please refer to Figure 3 which is a second sub-flowchart of the navigation and positioning method provided by the embodiment of the application. Step S106 specifically includes the following steps.

[0085] In step S302, the current transformation matrix is converted into a quaternion.

[0086] The navigation positioning device 10 converts the current transformation matrix into a quaternion. In this embodiment, in order to improve the efficiency of filtering, the navigation positioning device 10 converts the current transformation matrix into a simple quaternion.

[0087] In this embodiment, the quaternion is represented as: q = [q0 q1 q2 q3]. Wherein, q represents the quaternion; q0, q1, q2 and q3 satisfy the following formula.

[0088] Formula one:

[0089] Formula two:

[0090] Wherein, t 11 , t 22 , t 33 , t 23 , t 32 , t 31 , t 13 , t 12 and t 21 are elements in the current transformation matrix.

[0091] In this embodiment, the current transformation matrix is represented as: Wherein, represents the pose matrix of the laser SLAM; represents the position vector of the laser SLAM.

[0092] In step S304, the quaternion is low-pass filtered to obtain a filtered transformation matrix.

[0093] In this embodiment, the navigation positioning device 10 low-pass filters the quaternion to obtain a filtered quaternion, and then converts the filtered quaternion into a filtered transformation matrix.

[0094] In the above embodiment, after the current transformation matrix is converted into a quaternion, the quaternion is low-pass filtered, which can effectively reduce the calculation amount and quickly remove the noise in the current transformation matrix, so that a more accurate current pose of the unmanned aerial vehicle can be obtained.

[0095] In some possible embodiments, the navigation positioning device 10 can also calculate an observed pose according to the filtered quaternion and the laser pose, which is not limited herein.

[0096] Please refer to Figure 4 which is a third sub-flowchart of the navigation positioning method provided by the embodiment of the present application. In some embodiments, the pose information further includes a timestamp. It can be understood that after the laser sensor 30 calculates the laser pose, the laser pose is time-stamped. Step S110 specifically includes the following steps.

[0097] In step S402, the acceleration value corresponding to the time stamp is obtained.

[0098] The navigation positioning device 10 obtains the synchronized acceleration value according to the time stamp of the pose information. The acceleration value is measured by the inertial sensor 40. In this embodiment, the inertial sensor 40 continuously detects the acceleration of the UAV 1 to obtain the acceleration value, and marks the corresponding time stamp on the acceleration value and sends it to the navigation positioning device 10. It can be understood that the acceleration value also has a time stamp. Therefore, the navigation positioning device 10 obtains the acceleration value corresponding to the pose information according to the time stamp of the pose information and the time stamp of the acceleration value.

[0099] In step S404, the estimated pose is obtained by twice integrating the acceleration value.

[0100] In this embodiment, the relationship between the acceleration value and the estimated pose can be represented as: Where x1 represents the estimated pose, x2 represents the velocity, and u represents the acceleration value. It can be understood that the differential of the estimated pose is the velocity, and the differential of the velocity is the acceleration value. Therefore, the navigation positioning device 10 can obtain the estimated pose of the UAV 1 by twice integrating the acceleration value.

[0101] In the above embodiment, the estimated pose of the UAV is calculated according to the uniform acceleration model, and then the filtered current pose can be obtained by calculating according to the Kalman filtering rule, thereby improving the accuracy of the current pose of the UAV.

[0102] Please refer to Figure 6 which is a module schematic diagram of the navigation positioning device provided by the embodiment of the present application. The navigation positioning device 10 includes a memory 11 and a processor 12. The memory 11 is used to store computer executable instructions, and the processor 12 is used to execute the computer executable instructions to realize the above navigation positioning method.

[0103] In some embodiments, the processor 12 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips, used to run the program instructions stored in the memory 11.

[0104] The memory 11 includes at least one type of readable storage medium, including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 11 can be an internal storage unit of the computer device in some embodiments, such as a hard disk of the computer device. The memory 11 can also be an external storage device of the computer device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Further, the memory 11 can include both an internal storage unit and an external storage device of the computer device. The memory 11 can be used to not only store application software and various data installed on the computer device, such as codes for implementing the navigation positioning method, but also temporarily store data that has been output or will be output.

[0105] Please refer to Figure 5 and Figure 7 , Figure 7 A schematic diagram of a module of a UAV is provided in the embodiments of the present application. The UAV 1 includes a body 20, a laser sensor 30, an inertial sensor 40, and a navigation positioning device 10.

[0106] The specific structure of the navigation positioning device 10 is referred to the above embodiments. Since the UAV 1 adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0107] In the present embodiment, the inertial sensor 40 and the navigation positioning device 10 are arranged inside the body 20, and the laser sensor 30 is arranged outside the body 20. The navigation positioning device 10 is in communication connection with the laser sensor 30 and the inertial sensor 40. The laser sensor 30 can be hung below the body 20.

[0108] In some possible embodiments, the distance between the laser sensor 30 and the inertial sensor 40 is a preset distance.

[0109] The distance between the laser sensor 30 and the body 20 can be set according to the actual navigation positioning situation, so that the distance between the laser sensor 30 and the inertial sensor 40 is a preset distance.

[0110] The above only describes some or preferred embodiments of the present application, and neither the text nor the drawings can limit the scope of protection of the present application. Any equivalent structural transformation using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the scope of protection of the present application.

Claims

1. A method of navigation positioning, characterized by, The navigation positioning method comprises: acquiring pose information sent by an external laser sensor, the pose information comprising a laser pose; calculating a current transformation matrix according to a previous pose of the unmanned aerial vehicle and the laser pose; performing filtering processing on the current transformation matrix to obtain a filtered transformation matrix; calculating an observed pose according to the laser pose and the filtered transformation matrix; calculating an estimated pose according to an acceleration value of the unmanned aerial vehicle; and obtaining a current pose of the unmanned aerial vehicle according to the observed pose and the estimated pose; the filtering processing on the current transformation matrix comprises: converting the current transformation matrix into a quaternion; and performing low-pass filtering on the quaternion to obtain the filtered transformation matrix. The quaternion is represented as: ; wherein, represents a quaternion; , , and satisfies: ; and ； wherein , , , , , , , and are elements in the current transformation matrix; By fusing the pose information of the laser sensor and the acceleration value of the unmanned aerial vehicle, the unmanned aerial vehicle can perform navigation positioning according to the SLAM data of the laser sensor when GNSS is abnormal, thereby ensuring safe flight of the unmanned aerial vehicle.

2. The navigation positioning method according to claim 1, characterized in that, The calculation of the observed pose according to the laser pose and the filtered transformation matrix comprises: calculating a product of the laser pose and the filtered transformation matrix to obtain the observed pose.

3. The navigation positioning method according to claim 1, characterized in that, The pose information further comprises an index value, after acquiring the pose information sent by the external laser sensor, the navigation positioning method further comprises: judging whether the index value is less than a preset value; when the index value is less than the preset value, retaining the pose information; and when the index value is greater than or equal to the preset value, acquiring new pose information.

4. The navigation positioning method according to claim 1, characterized in that, The pose information further comprises a time stamp, the calculation of the estimated pose according to the acceleration value of the unmanned aerial vehicle comprises: acquiring a corresponding acceleration value according to the time stamp, the acceleration value being measured by an inertial sensor; and performing twice integration on the acceleration value to obtain the estimated pose.

5. The navigation positioning method according to claim 1, characterized in that, The calculation of the current pose according to the observed pose and the estimated pose comprises: performing filtering on the observed pose according to the estimated pose to obtain the current pose.

6. A navigation positioning device, characterized by The navigation positioning device comprises: a memory for storing computer-executable instructions; and a processor for executing the computer-executable instructions to implement the navigation positioning method according to any one of claims 1 to 5.

7. A drone, characterized in that, The unmanned aerial vehicle comprises a body, a laser sensor, an inertial sensor and the navigation positioning device according to claim 6, the inertial sensor and the navigation positioning device being arranged inside the body, the laser sensor being arranged outside the body; the navigation positioning device being in communication connection with the laser sensor and the inertial sensor respectively.

8. The drone of claim 7, wherein, The distance between the laser sensor and the inertial sensor is a preset distance.

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