UAV-assisted vehicle positioning method, device and storage medium for weak signal sections

Abstract

The present application provides a method, device and storage medium for drone-assisted vehicle positioning on weak signal sections. The method includes: determining whether there is a weak signal section in the vehicle's driving route; when there is a weak signal section in the driving route, transmitting the map data and navigation data of the driving route to a vehicle-mounted drone; in response to a drone release command issued by the vehicle's central control platform, controlling the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal section; after the vehicle enters the weak signal section, using a predetermined angle arrival positioning algorithm to calculate the relative angle and distance between the vehicle-mounted drone and the vehicle; based on the two-dimensional coordinate system and the relative angle and distance, analyzing and calculating the vehicle's position information in the weak signal section in real time, and returning the position information to the vehicle so that the vehicle can be positioned according to the position information. The present application improves the positioning accuracy and reliability of the vehicle in the weak signal section.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a method, device and storage medium for drone-assisted vehicle positioning on a weak signal section. Background Art

[0002] In the modern automotive industry, ensuring accurate positioning of vehicles in all environments has always been a challenge, especially in tunnels and other areas where GPS signals are blocked. The problem of GPS signal coverage in tunnels is particularly prominent because once a vehicle enters these areas, it will lose direct contact with the satellite, resulting in an inability to receive a strong enough signal for effective positioning through the traditional global positioning system (GPS). This lack of signal not only affects the vehicle's navigation system, making it impossible for the vehicle to rely on high-precision maps or navigation data for real-time positioning, but may also cause the positioning coordinates displayed on the large screen of the vehicle to jump out of order, seriously affecting the driving experience.

[0003] To address the above issues, the existing technology adopts the following methods: Inertial Navigation System (INS): Through sensors such as accelerometers and gyroscopes, the dynamic parameters of the vehicle are measured to assist in positioning. However, this method is prone to accumulated errors if it is not corrected for a long time, especially in environments where GPS signals are not available, such as tunnels. Vehicle-to-Vehicle Communication (V2V): Attempts to locate by exchanging location information through communication between vehicles. However, in closed or signal-shielded environments such as tunnels, the efficiency of this method is limited due to poor internal signals. Ground infrastructure support: Beacons or sensors are installed in tunnels to assist in positioning. Although this method is feasible in theory, it is rarely widely used in practical applications due to the high installation and maintenance costs.

[0004] Although existing technologies provide positioning services under certain conditions, they usually lack the necessary stability and reproducibility, especially in complex road conditions such as inside tunnels. Therefore, there is an urgent need for a new technology solution that can provide stable and reliable positioning in these special environments. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a method, device and storage medium for drone-assisted vehicle positioning on weak signal sections to solve the problems of poor positioning accuracy and reliability of vehicles on weak signal sections in the prior art.

[0006] In a first aspect of an embodiment of the present application, a method for UAV-assisted vehicle positioning on a weak signal section is provided, comprising: analyzing map data and navigation data of a vehicle's driving route to determine whether there is a weak signal section in the driving route; when there is a weak signal section in the driving route, transmitting the map data and navigation data of the driving route to a vehicle-mounted UAV, and establishing a wireless communication connection between the vehicle and the vehicle-mounted UAV; before the vehicle enters the weak signal section, in response to a UAV release command issued by a central control platform of the vehicle, controlling the vehicle-mounted UAV to perform a three-dimensional scanning operation on the weak signal section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal section; after the vehicle enters the weak signal section, controlling a positioning module of the vehicle-mounted UAV to exchange positioning information with the vehicle, and using a predetermined angle arrival positioning algorithm to calculate the relative angle and distance between the vehicle-mounted UAV and the vehicle; based on the two-dimensional coordinate system and the relative angle and distance, analyzing and calculating the position information of the vehicle in the weak signal section in real time, and returning the position information to the vehicle, so that the vehicle can be positioned according to the position information.

[0007] According to a second aspect of an embodiment of the present application, a UAV-assisted vehicle positioning device for a weak signal section is provided, comprising: a determination module, configured to analyze map data and navigation data of a vehicle's driving route to determine whether there is a weak signal section in the driving route; a transmission module, configured to transmit the map data and navigation data of the driving route to a vehicle-mounted UAV when there is a weak signal section in the driving route, and establish a wireless communication connection between the vehicle and the vehicle-mounted UAV; an establishment module, configured to control the vehicle-mounted UAV to perform a three-dimensional scanning operation on the weak signal section according to the map data in response to a UAV release instruction issued by a central control platform of the vehicle before the vehicle enters the weak signal section, so as to establish a two-dimensional coordinate system corresponding to the weak signal section; a calculation module, configured to control the positioning module of the vehicle-mounted UAV to exchange positioning information with the vehicle after the vehicle enters the weak signal section, and calculate the relative angle and distance between the vehicle-mounted UAV and the vehicle using a predetermined angle arrival positioning algorithm; a positioning module, configured to analyze and calculate the position information of the vehicle in the weak signal section in real time based on the two-dimensional coordinate system and the relative angle and distance, and return the position information to the vehicle so that the vehicle can be positioned according to the position information.

[0008] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the computer program.

[0009] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0011] By analyzing the map data and navigation data of the vehicle's driving route, determine whether there is a weak signal section in the driving route; when there is a weak signal section in the driving route, transmit the map data and navigation data of the driving route to the vehicle-mounted drone, and establish a wireless communication connection between the vehicle and the vehicle-mounted drone; before the vehicle enters the weak signal section, in response to the drone release command issued by the vehicle's central control platform, control the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal section; after the vehicle enters the weak signal section, control the positioning module of the vehicle-mounted drone to interact with the vehicle for positioning information, and use a predetermined angle to reach the positioning algorithm to calculate the relative angle and distance between the vehicle-mounted drone and the vehicle; based on the two-dimensional coordinate system and the relative angle and distance, analyze and calculate the vehicle's position information in the weak signal section in real time, and return the position information to the vehicle so that the vehicle can be positioned according to the position information. This application improves the positioning accuracy and reliability of the vehicle in the weak signal section. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a flow chart of a method for UAV-assisted vehicle positioning on a weak signal road section provided in an embodiment of the present application;

[0014] Figure 2 is a schematic diagram of the position of a drone during road detection and scanning provided by an embodiment of the present application;

[0015] Figure 3 It is a schematic diagram of the time interval for sending and receiving data packets between the vehicle-mounted drone and the vehicle provided in an embodiment of the present application;

[0016] Figure 4 It is a schematic diagram of the principle of determining the position of a vehicle relative to a drone using the AOA positioning technology of UWB provided in an embodiment of the present application;

[0017] Figure 5 It is a structural schematic diagram of a UAV-assisted vehicle positioning device for a weak signal section provided in an embodiment of the present application;

[0018] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0020] The problem of GPS (Global Positioning System) signal coverage in tunnels has always been one of the challenges that the automotive industry needs to solve. Vehicles inside tunnels cannot receive satellite positioning signals of sufficient strength, so they cannot be effectively positioned based on high-precision maps or navigation data, and lose the ability to locate the vehicle in real time. The driver's intuitive feeling is that when driving into tunnels and other sections of the road, the vehicle's positioning coordinates on the large screen of the car will jump disorderly, deviate from the real coordinates, and affect the driving experience. In order to solve this problem, automakers have adopted a variety of technologies and methods, such as the following methods:

[0021] Inertial Navigation System (INS): Vehicles are equipped with inertial sensors, such as accelerometers and gyroscopes, which can measure the acceleration and rotation rate of the vehicle to determine the vehicle's position and direction. This system can provide positioning information when GPS signals are not available, but in the long-term use process, if it cannot be combined with other positioning methods and corrected in real time, it is very likely that positioning data errors will accumulate and cannot be corrected. Obviously, it is not realistic for sections such as tunnels where GPS signals cannot be used.

[0022] Vehicle-to-Vehicle Communication (V2V): Some vehicles may use vehicle-to-vehicle communication technology to exchange location information with other vehicles in the tunnel. By communicating with other vehicles, the vehicle can determine its own location based on the location information of other vehicles. Due to the poor wireless network signal inside the tunnel, the vehicle cannot connect to the cloud, so it cannot efficiently exchange location information.

[0023] Ground infrastructure support: Some tunnels may have ground infrastructure installed, such as beacons or sensors, to provide information needed to locate vehicles. These infrastructures can communicate with the positioning systems equipped in the vehicles. However, this approach is not widely used.

[0024] According to the above existing technologies, although the above existing technologies each have their own advantages, they all have obvious limitations. The main problems include the following:

[0025] Error accumulation of INS system: Long-term reliance on INS for positioning will cause the error to gradually increase, making it difficult to make effective corrections, especially in tunnel environments without external signal support.

[0026] Instability of V2V communication: Due to signal attenuation inside tunnels, V2V communication often cannot guarantee stability and real-time, affecting the accuracy and reliability of positioning.

[0027] Limitations of ground infrastructure: Approaches that rely on ground infrastructure require large initial investments and ongoing maintenance, and are slow to gain popularity and implementation.

[0028] With respect to the above-mentioned existing technologies and methods, vehicle manufacturers can provide certain positioning services in environments with poor GPS signal coverage, such as tunnels. However, they lack basic stability and cannot replicate this solution in any complex road conditions.

[0029] In view of the problems existing in the prior art, the present application provides a method for assisting vehicles in positioning in complex sections such as tunnels by using the AOA method based on drones, aiming to solve the problem of the inability to locate vehicles in real time when entering tunnels by using vehicle-mounted drones. First, a drone is configured for the vehicle. During the driving process, the map is transmitted to the drone for storage by wireless communication, so that the drone can obtain specific parameters of complex roads during driving, such as length, curvature of various parts of the road, etc. When the vehicle approaches a signal-free section such as a tunnel, the drone is first released to enter the complex section to repeatedly explore and scan the road, perform basic three-dimensional modeling of the road, and obtain more accurate road data. After the vehicle enters this section, the drone is wirelessly connected to the vehicle, and the real-time coordinates of the vehicle are obtained and corrected in real time through the vehicle's own inertial navigation system and the vehicle coordinates that the drone can detect at any time, so as to achieve a high-precision real-time positioning effect of the vehicle. When the vehicle finally exits the complex section, the drone leaves with the vehicle and the drone is recovered, so that it returns to the roof and is mechanically connected and interlocked.

[0030] The contents of the technical solution of the present application are described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Figure 1 It is a flow chart of the UAV-assisted vehicle positioning method on a weak signal section provided in an embodiment of the present application. Figure 1 The UAV-assisted vehicle positioning method for weak signal sections can be performed by a UAV-assisted vehicle positioning system. Figure 1 As shown, the UAV-assisted vehicle positioning method for the weak signal section may specifically include:

[0032] S101, analyzing the map data and navigation data of the vehicle's driving route to determine whether there is a weak signal section in the driving route;

[0033] S102, when there is a weak signal section in the driving route, transmitting the map data and navigation data of the driving route to the vehicle-mounted drone, and establishing a wireless communication connection between the vehicle and the vehicle-mounted drone;

[0034] S103, before the vehicle enters the weak signal section, in response to the drone release command issued by the vehicle central control platform, controlling the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal section;

[0035] S104, after the vehicle enters a weak signal section, controlling the positioning module of the vehicle-mounted UAV to exchange positioning information with the vehicle, and using a predetermined angle arrival positioning algorithm to calculate the relative angle and distance between the vehicle-mounted UAV and the vehicle;

[0036] S105, based on the two-dimensional coordinate system and the relative angle and distance, the position information of the vehicle in the weak signal section is analyzed and calculated in real time, and the position information is returned to the vehicle so that the vehicle can be positioned according to the position information.

[0037] In some embodiments, the map data and navigation data of the vehicle's driving route are analyzed to determine whether there is a weak signal section in the driving route, including:

[0038] After the vehicle navigation system is enabled, the driving route specified by the user is obtained, the map data and navigation data corresponding to the driving route are downloaded to the vehicle computer, and the key fields in the map data and navigation data are searched, and it is determined whether there are weak signal sections in the driving route based on the search results; among which, the key fields include fields used to characterize weak signal sections.

[0039] Specifically, this embodiment describes in detail a method for a vehicle navigation system to work in collaboration with a drone, which is used to analyze the map data and navigation data in the vehicle's route before driving, so as to determine whether there is a road section with a weak GPS signal. The following is a detailed description of the technical solution for the vehicle preparation stage before the vehicle enters a road section with a weak signal, which may specifically include the following contents:

[0040] When the driver starts the vehicle and activates the navigation system, the system first prompts the user to enter the intended destination. The system then downloads map data and navigation data for the complete driving route associated with that destination to the local storage of the vehicle computer. The navigation system uses advanced data processing algorithms to perform a detailed analysis of the downloaded data, paying special attention to key fields that characterize potential areas of weak GPS signals. These fields typically include geographical features such as tunnels, under viaducts, and mountainous areas.

[0041] Furthermore, the navigation system searches for specific key fields in the map data, such as "tunnel" and "bridge", which are usually clearly marked in the map database. Through algorithm analysis, the system identifies all sections of the route that may cause weak or interrupted GPS signals, and shows the driver the specific location and estimated entry time of these areas on the navigation interface.

[0042] In one example, to ensure high-precision positioning even on roads with weak GPS signals, a vehicle-mounted drone (hereinafter referred to as the drone) with a quick-release connector is installed on the top of the vehicle. The drone is connected to the vehicle navigation system via the vehicle's internal WIFI or Bluetooth system to ensure real-time transmission of data and instructions. The vehicle's center console is equipped with a dedicated drone quick operation button, which the driver can use to quickly deploy the drone before approaching a weak signal section.

[0043] Furthermore, before the vehicle approaches a predicted weak signal section, the navigation system automatically transmits relevant road section map data and navigation instructions to the drone. The driver can choose to release the drone manually or automatically before entering the section, and the drone will then begin to search for the section and prepare for coordinate positioning above the vehicle based on the pre-loaded data.

[0044] Through the above-mentioned methods, this embodiment demonstrates an efficient system preparation process, which makes full use of the high automation and advanced navigation technology of the vehicle-mounted drone to provide strong positioning support for the vehicle in sections with weak GPS signals. This method significantly improves the navigation accuracy of the vehicle in special environments and effectively avoids the safety risks that may be caused by positioning errors.

[0045] In some embodiments, controlling the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal road section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal road section includes:

[0046] Control the vehicle-mounted drone to automatically fly to the starting point of the weak signal section based on the imported map data and using the built-in positioning system and obstacle avoidance system;

[0047] After arriving at the starting point, the vehicle-mounted drone is controlled to fly in a cruise mode with a fixed altitude, and according to the map data, the weak-signal sections are scanned along the center line of the road to collect the section information of the weak-signal sections. Based on the collected section information, a two-dimensional coordinate system of the weak-signal sections is established.

[0048] Specifically, this embodiment also describes in detail how to use a drone to detect and collect data on a road section when a vehicle is about to enter an area without GPS signals (such as a tunnel) to assist in positioning the vehicle in the road section. The following is a detailed description of the process of using a vehicle-mounted drone to detect and scan a weak signal road section in conjunction with a specific embodiment, which may include the following:

[0049] Before the vehicle approaches a road section with weak GPS signals, the vehicle's center console has already transmitted the road map and related navigation information to the drone. The driver can make a decision on the vehicle's center console whether to release the drone before approaching a complex road section (i.e. a road section with weak signals). Once the driver chooses to release the drone, it will automatically unlock and fly to the predetermined starting point. During this process, the drone will use its own positioning system and pre-imported map data to guide the flight.

[0050] After arriving at the starting point, the drone will fly in a cruise mode with a fixed altitude, using the obstacle avoidance system to ensure that it does not collide with any obstacles. At the same time, the drone will begin to scan the road based on the map data, collecting detailed information about the road section, such as the type, length, curvature, etc.

[0051] For example, in one example, while the vehicle is driving, the system monitors and predicts upcoming sections of road with weak GPS signals, and transmits this data to the drone. When the vehicle approaches a complex section of road, the driver chooses to release the drone through the center console. After choosing to release, the drone automatically unlocks and starts from the roof, flying towards the predetermined starting point. The drone uses its built-in positioning system to find the precise starting position of the complex section of road based on the map data downloaded in advance, and starts altitude control flight to ensure detection and scanning at a safe altitude. During the flight, the drone collects data based on the actual conditions of the road, such as length and curvature, and this data will be used to locate the vehicle on sections with no signal. After completing the scan, the drone transmits the collected data back to the vehicle, and returns to the roof to wait for further instructions or automatically lands and locks.

[0052] Through the method of the above embodiment, the vehicle can achieve precise positioning by relying on the data collected by the drone when the GPS signal is completely lost, thereby improving the accuracy of navigation and the safety of driving.

[0053] In some embodiments, according to the map data, the weak signal road section is scanned along the center line of the road to collect the road section information of the weak signal road section, and based on the collected road section information, a two-dimensional coordinate system of the weak signal road section is established, including:

[0054] The vehicle-mounted drone is controlled to fly back and forth repeatedly along the center line of the road in the weak signal section. During the flight, the road data is collected using sensors and camera systems. The road data includes the precise position of each measurement point relative to the starting point.

[0055] Taking the starting point as the coordinate origin, after initializing the coordinate origin, the measuring point is positioned according to the actual position on the map to establish a two-dimensional coordinate system covering the weak signal section.

[0056] Specifically, the sensors (such as cameras) and obstacle avoidance systems carried by the drone enable it to fly safely in the tunnel, while performing three-dimensional modeling and collecting detailed data on the tunnel. The drone will be guided by the center line of the tunnel, and will stay in the center of the road by continuously adjusting flight parameters, and collect data on the length and shape of the tunnel. The following is a detailed description of the process of using a vehicle-mounted drone to scan weak signal sections and establish a two-dimensional coordinate system in conjunction with the accompanying drawings and specific embodiments. Figure 2 Schematic diagram of the position of the drone during the road detection and scanning process provided by the embodiment of the present application. Figure 2 As shown, the process of using a vehicle-mounted drone to scan a weak signal road section and establish a two-dimensional coordinate system may specifically include the following contents:

[0057] The vehicle-mounted drone is equipped with omnidirectional obstacle avoidance system, distance recognition system, camera and other functions. Since the inner surface of the tunnel is mostly symmetrical, when the drone detects the distance on both sides in real time and keeps the distance between the left and right sides consistent, it can roughly determine that the drone is positioned in the center of the road. The built-in camera can also be used to confirm the central lane line of the road and actively follow it.

[0058] Through these two methods of real-time correction, after the drone confirms that it is in the center of the lane, it can update the drone's driving parameters (such as speed, direction, etc.) in real time based on the curvature data imported into the map in advance to ensure that the drone is in the center line of the lane. The drone repeatedly travels back and forth in complex sections of the road following the center line of the lane, collecting tunnel length data multiple times.

[0059] At the beginning of the collection, the starting point of the tunnel entrance of the central lane line of the tunnel is used as the origin of the coordinate system, the initial direction of the central lane line facing the inside of the tunnel is used as the positive direction of the Y axis, and the right tangent of the initial direction of the central lane line is used as the positive direction of the X axis. The positive lane of the X axis is also the lane for vehicles to enter the tunnel. After establishing the two-dimensional coordinate system, the complete set of two-dimensional coordinates of the central lane line in the tunnel is obtained through repeated exploration of the drone in the tunnel. Through the known continuous set of coordinates of the central lane line of the tunnel, the slope corresponding to the tangent at any point of the central lane line can be reversed, and thus, the coordinates of any point in the lane corresponding to the tangent at any point of the central lane line can also be obtained. Therefore, any position of the vehicle in the lane can be quantified as coordinates.

[0060] Through the method of the above embodiment, the vehicle can know its precise position in the tunnel even without GPS signal. This is crucial for the accuracy of the navigation system and driving safety. In this embodiment, the road in the tunnel is converted into two-dimensional coordinates, and the drone can be used inside the tunnel to achieve the function of quantitative positioning inside the tunnel.

[0061] In some embodiments, the relative angle and distance between the vehicle-mounted UAV and the vehicle are calculated using a predetermined angle arrival positioning algorithm, including:

[0062] When the vehicle-mounted UAV exchanges positioning information with the vehicle, the one-way flight time of the data packet is calculated based on the time difference between sending and receiving the data packet;

[0063] Based on multiple antenna arrays installed on the top of the vehicle, the phase difference between the transmitted and received signals between the antenna arrays is measured, and the incident angle of the signal is determined according to the phase difference;

[0064] The relative angle and distance between the vehicle-mounted UAV and the vehicle are calculated based on the one-way flight time of the data packet and the incident angle of the signal.

[0065] Specifically, this embodiment also describes how to use the angle of arrival (AOA) positioning method of ultra-wideband (UWB) to calculate the relative angle and distance between the vehicle-mounted drone and the vehicle, thereby achieving accurate positioning in sections with weak GPS signals such as tunnels. This method particularly focuses on the interaction of positioning information between the drone and the vehicle, and the technology of calculating the position based on high-precision time synchronization and phase difference measurement. The following is a detailed description of the method for calculating the relative angle and distance in conjunction with the accompanying drawings and specific embodiments. Figure 3 Schematic diagram of the time interval for sending and receiving data packets between the vehicle-mounted drone and the vehicle provided in the embodiment of the present application. Figure 3 As shown, the calculation process of the relative angle and distance between the vehicle-mounted UAV and the vehicle may specifically include the following contents:

[0066] After the drone completes the construction of the two-dimensional coordinate system inside the tunnel, the drone will go to the midpoint of the central lane line and stabilize the fuselage, waiting to receive signal interaction with the vehicle and transmit positioning information related to the vehicle. This application adopts the UWB AOA positioning method to measure the distance between the drone and the vehicle. The drone is installed on the top of the vehicle, connected and locked by mechanical means, and multiple antenna arrays are installed at the drone buckle port on the top of the vehicle to measure and analyze the phase difference between different transceiver antennas, so as to calculate the angle of the target object relative to the receiver. The UWB positioning module is installed inside the drone, and the time between the data packet sent by the transmitter and the data packet received is recorded as TTOT, and the time interval between the data packet received and the data packet sent by the receiver is recorded as TTAT. Then the time TTOF of the one-way flight of the data packet in the air can be calculated as: TTOF = (TTOT-TTAT) / 2.

[0067] The AOA measurement method can be used to determine the angle and distance of the target tag (vehicle) to the receiver (drone). The AOA algorithm uses multiple antenna arrays on the receiver to measure and analyze the phase difference between different transmitting and receiving antennas, thereby calculating the incident angle of the electromagnetic wave of the target object relative to the receiver.

[0068] For example, in one example, the positioning information exchange between the drone and the vehicle is carried out through the on-board wireless communication system. The drone sends data packets to the vehicle, the vehicle responds to these data packets, and the communication time between the two is recorded as the total communication time (TTOT). The time interval between the receiving end receiving and re-sending the data packet is recorded as (TTAT). Therefore, the one-way flight time (TTOF) can be obtained by calculating TTOF = (TTOT-TTAT) / 2. Using multiple antenna arrays on the drone, measure the phase difference between different antennas when receiving the same signal. Use the AOA algorithm to calculate the incident angle of the signal to determine the specific position of the drone relative to the vehicle.

[0069] Combining the one-way time of flight (TTOF) and the incident angle of the signal, the actual distance and relative angle between the drone and the vehicle are calculated. These calculations provide precise distance and bearing information, allowing the vehicle navigation system to accurately determine the vehicle's position in a weak signal environment.

[0070] In some embodiments, based on a two-dimensional coordinate system and relative angles and distances, the position information of the vehicle in the weak signal section is analyzed and calculated in real time, including:

[0071] In the two-dimensional coordinate system, the coordinates of the vehicle-mounted drone are taken as the center point. The coordinates of the vehicle relative to the center point are calculated based on the relative angle and distance. The coordinate transformation formula is used to transform the coordinates of the vehicle relative to the center point into the coordinates of the starting point relative to the weak signal section to obtain the actual position coordinates of the vehicle in the weak signal section.

[0072] Specifically, this embodiment also describes in detail a method for using a vehicle-mounted drone to calculate the vehicle's position in real time in a weak signal section, such as a tunnel. This method relies on a two-dimensional coordinate system and ultra-wideband (UWB) angle of arrival (AOA) positioning technology to accurately determine the vehicle's position relative to the drone. The following is a detailed description of the calculation process of the actual position coordinates of the vehicle in the tunnel in conjunction with the accompanying drawings and specific embodiments. Figure 4 FIG. 1 is a schematic diagram of the principle of using the UWB AOA positioning technology to determine the position of a vehicle relative to a drone provided in an embodiment of the present application. Figure 4 As shown, the calculation process of the actual position coordinates of the vehicle in the tunnel may specifically include the following contents:

[0073] When the vehicle enters an area with weak GPS signals, such as a tunnel, the pre-deployed drone is activated and flies to the center point of the tunnel, with the coordinates set to (X0, Y0); the drone stabilizes at this point and begins to work using its UWB AOA positioning system, preparing to measure its relative position to the vehicle.

[0074] Furthermore, the drone uses multiple antenna arrays installed on it to measure the reception time and transmission time of the signal sent from the vehicle to the drone, and then calculates the one-way flight time TTOF of the signal. At the same time, by analyzing the phase difference of the received signals between different antennas, the angle θ, θ1 of the vehicle relative to the drone is determined.

[0075] Furthermore, the coordinates of the vehicle relative to the center point of the drone are calculated using the following coordinate transformation formula based on the distance d and angles θ, θ1 obtained from the AOA measurement method of UWB:

[0076] X1=X0-dcosθcosθ1

[0077] y1=y0-dcosθsinθ1

[0078] The coordinates (X1, Y1) calculated above represent the actual position of the vehicle in the tunnel relative to the starting point of the tunnel entrance. The calculated vehicle position coordinates are sent to the vehicle's navigation system via wireless signals. This allows the vehicle's navigation system to accurately display the vehicle's current position even when the GPS signal is completely lost, and helps the driver better understand his or her specific position in the tunnel.

[0079] Through the method of the above embodiment, this embodiment not only demonstrates an effective method for accurately locating a vehicle in an area where the GPS signal is weak or unavailable, but also emphasizes the auxiliary positioning role of drones in modern vehicle navigation systems. This method improves the accuracy and reliability of vehicle navigation in special environments, which is particularly important for long tunnels or complex underground road networks.

[0080] In some embodiments, after returning the position information to the vehicle so that the vehicle is positioned according to the position information, the method further includes:

[0081] When the vehicle exits the weak signal section, the on-board drone is controlled to turn off the positioning mode and automatically navigate to the vehicle's current location, re-establishes connection with the vehicle via wireless connection, and mechanically locks to the top of the vehicle.

[0082] Specifically, this embodiment describes in detail a recovery process of a vehicle-mounted drone after completing a positioning task, ensuring that the drone can be safely and effectively reintegrated into the vehicle after the vehicle exits a section of road with weak GPS signals, such as a tunnel. The following describes the process in detail in conjunction with a specific embodiment, which may specifically include the following contents:

[0083] When the vehicle approaches the exit of the tunnel, the drone detects through its sensors and preset programs that the vehicle's position is about to reach the end of the central lane line of the tunnel.

[0084] In response to this change, the drone automatically turns off its positioning mode, ending real-time tracking and data transmission of the vehicle's location.

[0085] After turning off the positioning mode, the drone starts the self-navigation system and pre-calculates the optimal flight path from the current position to the tunnel exit.

[0086] The drone autonomously flew to the end of the tunnel, the intended location where it reconnected with the vehicle. During the flight, the drone continued to use its obstacle avoidance system to ensure safe flight.

[0087] After reaching the end of the tunnel, the drone searches for and automatically reestablishes a wireless connection with the vehicle’s communication system via the WIFI or Bluetooth signal provided by the vehicle.

[0088] After reconnection is confirmed, the drone receives new instructions and status updates from the vehicle in order to synchronize both systems.

[0089] After the wireless connection is completed, the drone automatically adjusts its position to the dedicated landing pad on the top of the vehicle. The drone is mechanically locked to the top of the vehicle through a quick-release connector. This connector design ensures that the drone is stably fixed during the vehicle's driving to prevent it from falling off due to vibration or sharp turns.

[0090] Once the drone has been successfully locked, the vehicle system will perform a status check to confirm that the drone has been properly homed and all systems are functioning properly.

[0091] The driver is notified through the vehicle’s display system that the drone has been safely recovered and locked, ensuring the driver has a clear understanding and confidence in the entire process.

[0092] Through the steps of the above embodiment, this embodiment provides a method for ensuring that the vehicle-mounted drone can be safely and efficiently recovered and reintegrated into the vehicle system after completing its mission. This method improves the reliability and safety of the use of drones, making the navigation and positioning system of the vehicle in special environments more complete and stable.

[0093] According to the technical solution provided in the embodiment of the present application, the technical solution of the present application binds the drone to the vehicle identity, so that when the vehicle enters a complex section such as a tunnel, the drone can first explore the inside of the road and create a coordinate system. After the vehicle enters a complex section, the drone confirms the relative position with the vehicle through the AOA positioning method of UWB, confirms the coordinates of the vehicle and finally determines the position and positioning information of the vehicle. This solves the problem that the vehicle cannot be positioned with high precision without GPS wireless signals inside complex sections such as tunnels.

[0094] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0095] Figure 5 Schematic diagram of the structure of the UAV-assisted vehicle positioning device for weak signal sections provided by the embodiment of the present application. Figure 5 As shown, the UAV-assisted vehicle positioning device for the weak signal section includes:

[0096] The determination module 501 is configured to analyze the map data and navigation data of the vehicle's driving route to determine whether there is a weak signal section in the driving route;

[0097] The transmission module 502 is configured to transmit the map data and navigation data of the driving route to the vehicle-mounted drone when there is a weak signal section in the driving route, and establish a wireless communication connection between the vehicle and the vehicle-mounted drone;

[0098] The establishment module 503 is configured to control the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal section according to the map data in response to the drone release command issued by the vehicle central control platform before the vehicle enters the weak signal section, so as to establish a two-dimensional coordinate system corresponding to the weak signal section;

[0099] The calculation module 504 is configured to control the positioning module of the vehicle-mounted UAV to exchange positioning information with the vehicle after the vehicle enters the weak signal section, and calculate the relative angle and distance between the vehicle-mounted UAV and the vehicle using a predetermined angle arrival positioning algorithm;

[0100] The positioning module 505 is configured to analyze and calculate the position information of the vehicle in the weak signal section in real time based on the two-dimensional coordinate system and the relative angle and distance, and return the position information to the vehicle so that the vehicle can be positioned according to the position information.

[0101] In some embodiments, Figure 5 After the vehicle navigation system is enabled, the determination module 501 obtains the driving route specified by the user, downloads the map data and navigation data corresponding to the driving route to the vehicle computer, and searches the key fields in the map data and the navigation data, and determines whether there is a weak signal section in the driving route according to the search results; wherein the key fields include fields for characterizing the weak signal section.

[0102] In some embodiments, Figure 5 The establishment module 503 controls the vehicle-mounted drone to automatically fly to the starting point of the weak-signal section according to the imported map data using the built-in positioning system and obstacle avoidance system; after reaching the starting point, the vehicle-mounted drone is controlled to fly in a cruise mode with a fixed altitude, and according to the map data, the weak-signal section is scanned along the center line of the road to collect the section information of the weak-signal section, and a two-dimensional coordinate system of the weak-signal section is established based on the collected section information.

[0103] In some embodiments, Figure 5 The establishment module 503 controls the vehicle-mounted drone to fly back and forth repeatedly along the center line of the road in the weak signal section. During the flight, the road data is collected using sensors and camera systems, wherein the road data includes the precise position of each measurement point relative to the starting point; the starting point is used as the coordinate origin, and after the coordinate origin is initialized, the measurement point is positioned according to the actual position on the map to establish a two-dimensional coordinate system covering the weak signal section.

[0104] In some embodiments, Figure 5 When the vehicle-mounted UAV and the vehicle are exchanging positioning information, the calculation module 504 calculates the one-way flight time of the data packet according to the time difference between sending and receiving the data packet; based on multiple antenna arrays installed on the top of the vehicle, measures the phase difference between the transmitted and received signals between the antenna arrays, and determines the incident angle of the signal according to the phase difference; and calculates the relative angle and distance between the vehicle-mounted UAV and the vehicle according to the one-way flight time of the data packet and the incident angle of the signal.

[0105] In some embodiments, Figure 5 The positioning module 505 takes the coordinates of the vehicle-mounted drone as the center point in the two-dimensional coordinate system, calculates the coordinates of the vehicle relative to the center point based on the relative angle and distance, and uses the coordinate transformation formula to transform the coordinates of the vehicle relative to the center point into the coordinates of the starting point relative to the weak signal section to obtain the actual position coordinates of the vehicle in the weak signal section.

[0106] In some embodiments, Figure 5 After the control module 506 returns the location information to the vehicle so that the vehicle can locate itself according to the location information, when the vehicle exits the weak signal section, the on-board drone is controlled to turn off the positioning mode, automatically navigate to the current location of the vehicle, re-establish a connection with the vehicle via a wireless connection, and mechanically lock onto the top of the vehicle.

[0107] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0108] Figure 6 Schematic diagram of the structure of the electronic device 6 provided in the embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601. When the processor 601 executes the computer program 603, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 601 executes the computer program 603, the functions of each module / unit in the above-mentioned various device embodiments are implemented.

[0109] Exemplarily, the computer program 603 may be divided into one or more modules / units, which are stored in the memory 602 and executed by the processor 601 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 603 in the electronic device 6.

[0110] The electronic device 6 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 6 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that Figure 6 It is only an example of the electronic device 6 and does not constitute a limitation of the electronic device 6. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0111] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0112] The memory 602 may be an internal storage unit of the electronic device 6, for example, a hard disk or memory of the electronic device 6. The memory 602 may also be an external storage device of the electronic device 6, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 6. Further, the memory 602 may also include both an internal storage unit of the electronic device 6 and an external storage device. The memory 602 is used to store computer programs and other programs and data required by the electronic device. The memory 602 may also be used to temporarily store data that has been output or is to be output.

[0113] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0116] In the embodiments provided in the present application, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for UAV-assisted vehicle positioning on a weak signal section, characterized in that: include: Analyze the map data and navigation data of the vehicle's driving route to determine whether there is a weak signal section in the driving route; When there is a weak signal section in the driving route, the map data and navigation data of the driving route are transmitted to the vehicle-mounted drone, and a wireless communication connection is established between the vehicle and the vehicle-mounted drone; Before the vehicle enters the weak signal section, in response to a drone release command issued by the vehicle central control platform, the vehicle-mounted drone is controlled to perform a three-dimensional scanning operation on the weak signal section according to map data to establish a two-dimensional coordinate system corresponding to the weak signal section; After the vehicle enters the weak signal section, the positioning module of the vehicle-mounted UAV is controlled to exchange positioning information with the vehicle, and the relative angle and distance between the vehicle-mounted UAV and the vehicle are calculated using a predetermined angle arrival positioning algorithm; Based on the two-dimensional coordinate system and the relative angle and distance, the position information of the vehicle in the weak signal section is analyzed and calculated in real time, and the position information is returned to the vehicle so that the vehicle can be positioned according to the position information; Wherein, the real-time analysis and calculation of the position information of the vehicle in the weak signal section based on the two-dimensional coordinate system and the relative angle and distance includes: In the two-dimensional coordinate system, the coordinates of the vehicle-mounted drone are taken as the center point, and the coordinates of the vehicle relative to the center point are calculated based on the relative angle and distance. The coordinates of the vehicle relative to the center point are transformed into coordinates relative to the starting point of the weak signal section using a coordinate transformation formula to obtain the actual position coordinates of the vehicle in the weak signal section.

2. The method according to claim 1, characterized in that The analyzing of the map data and navigation data of the vehicle driving route to determine whether there is a weak signal section in the driving route includes: After the vehicle navigation system is enabled, the driving route specified by the user is obtained, the map data and navigation data corresponding to the driving route are downloaded to the vehicle computer, and the key fields in the map data and navigation data are searched, and it is determined whether there is a weak signal section in the driving route based on the search results; wherein the key fields include a field for characterizing the weak signal section.

3. The method according to claim 1, characterized in that The controlling the vehicle-mounted UAV to perform a three-dimensional scanning operation on the weak signal road section according to the map data to establish a two-dimensional coordinate system corresponding to the weak signal road section includes: Controlling the vehicle-mounted drone to automatically fly to the starting point of the weak signal section based on the imported map data and using the built-in positioning system and obstacle avoidance system; After reaching the starting point, the vehicle-mounted drone is controlled to fly in a cruise mode with a fixed altitude, and according to the map data, the weak signal section is scanned along the center line of the road to collect section information of the weak signal section, and a two-dimensional coordinate system of the weak signal section is established based on the collected section information.

4. The method according to claim 3, characterized in that: The step of scanning the weak signal section along the center line of the road according to the map data to collect section information of the weak signal section, and establishing a two-dimensional coordinate system of the weak signal section based on the collected section information includes: Control the vehicle-mounted drone to fly back and forth repeatedly along the center line of the road in the weak signal section, and during the flight, use sensors and camera systems to collect road data, wherein the road data includes the precise position of each measurement point relative to the starting point; The starting point is used as the coordinate origin. After the coordinate origin is initialized, the measuring point is positioned according to the actual position on the map to establish a two-dimensional coordinate system covering the weak signal section.

5. The method according to claim 1, characterized in that The method of calculating the relative angle and distance between the vehicle-mounted UAV and the vehicle using a predetermined angle arrival positioning algorithm includes: When the vehicle-mounted UAV interacts with the vehicle for positioning information, the one-way flight time of the data packet is calculated according to the time difference between sending and receiving the data packet; Based on multiple antenna arrays installed on the top of the vehicle, measuring the phase difference between the transmitted and received signals between the antenna arrays, and determining the incident angle of the signal according to the phase difference; The relative angle and distance between the vehicle-mounted UAV and the vehicle are calculated according to the one-way flight time of the data packet and the incident angle of the signal.

6. The method according to claim 1, characterized in that After returning the position information to the vehicle so that the vehicle is positioned according to the position information, the method further includes: When the vehicle leaves the weak signal section, the vehicle-mounted drone is controlled to turn off the positioning mode, automatically navigate to the current position of the vehicle, re-establish connection with the vehicle via a wireless connection, and mechanically lock onto the top of the vehicle.

7. A UAV-assisted vehicle positioning device for weak signal sections, characterized in that: include: A determination module is configured to analyze the map data and navigation data of the vehicle's driving route to determine whether there is a weak signal section in the driving route; a transmission module configured to transmit map data and navigation data of the driving route to the vehicle-mounted drone when there is a weak signal section in the driving route, and to establish a wireless communication connection between the vehicle and the vehicle-mounted drone; An establishing module is configured to, before the vehicle enters the weak signal section, respond to a drone release instruction issued by the vehicle central control platform, control the vehicle-mounted drone to perform a three-dimensional scanning operation on the weak signal section according to map data to establish a two-dimensional coordinate system corresponding to the weak signal section; A calculation module is configured to control the positioning module of the vehicle-mounted UAV to exchange positioning information with the vehicle after the vehicle enters the weak signal section, and calculate the relative angle and distance between the vehicle-mounted UAV and the vehicle using a predetermined angle arrival positioning algorithm; A positioning module is configured to analyze and calculate the position information of the vehicle in the weak signal section in real time based on the two-dimensional coordinate system and the relative angle and distance, and return the position information to the vehicle so that the vehicle is positioned according to the position information; Among them, the positioning module is used to take the coordinates of the vehicle-mounted drone as the center point in the two-dimensional coordinate system, calculate the coordinates of the vehicle relative to the center point according to the relative angle and distance, and use the coordinate transformation formula to transform the coordinates of the vehicle relative to the center point into the coordinates relative to the starting point of the weak signal section to obtain the actual position coordinates of the vehicle in the weak signal section.

8. An electronic device 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 computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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