Unmanned aerial vehicle airborne control method and system with RTK accurate positioning function

Abstract

The invention discloses an unmanned aerial vehicle airborne control method and system with an RTK accurate positioning function, and the method comprises the steps: obtaining an air route task, and obtaining the position of an RTK module disposed on an airborne device; based on the position of the RTK module, a deviation value between the position of the unmanned aerial vehicle and the position of the RTK module is calculated, and positioning correction is carried out; and taking the corrected positioning value as real-time position information of the unmanned aerial vehicle, and combining with an intelligent inspection route to ensure that the unmanned aerial vehicle arrives at a specified waypoint to take a picture. Transmission and control between the background and the unmanned aerial vehicle are realized, equipment dependence is reduced, communication stability is improved, flight safety is enhanced, data transmission efficiency is improved, and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control technology, and in particular to an unmanned aerial vehicle airborne control method and system with an RTK precise positioning function. Background Art

[0002] In the current intelligent inspection of drones, the fully automatic operation of fixed nests can achieve unmanned operation, but it is limited by strict deployment conditions, high construction costs and inconvenient post-maintenance. Although the mobile nest driver mode solves these problems, it increases the diversity of equipment carried and the cumbersomeness of driver operation. In addition, its communication link is highly dependent on the remote control, and there is a risk of disconnection, which may cause flight safety hazards. Therefore, seeking a more flexible, efficient and safe drone inspection mode has become the focus of current research. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the above existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides an airborne control method and system for a UAV with RTK precise positioning function to solve the problem that the existing UAV control method carries more equipment and has a complicated operation process.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides an airborne control method for a UAV with RTK precise positioning function, comprising:

[0008] Obtain the route mission and the position of the RTK module set on the airborne device;

[0009] Based on the position of the RTK module, calculate the deviation between the drone position and the RTK module position and perform positioning correction;

[0010] The corrected positioning value is used as the real-time location information of the drone and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos.

[0011] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0012] The obtaining of the route task and the obtaining of the position of the RTK module set on the airborne device include the following steps:

[0013] Respond to the client's route tasks;

[0014] The onboard equipment analyzes the route mission and obtains the position coordinates and action of each waypoint;

[0015] The airborne device obtains the GPS coordinate value of the drone through the PSDK interface, establishes a connection with the CORS service provider through network transmission in real time with reference to the Internet Protocol, obtains differential data, and performs real-time calculation to obtain the current RTK position of the airborne device.

[0016] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0017] The real-time reference Internet Protocol protocol is used to establish a connection with the CORS service provider through network transmission, obtain differential data, and perform real-time calculation to obtain the current RTK position of the airborne device, including:

[0018] Using raw GPS observations, including pseudorange P and carrier phase Φ;

[0019] Through the built-in 4G module of the airborne equipment, the network transmission is used to establish a data connection with the CORS service provider in real time with reference to the Internet protocol to obtain differential data;

[0020] The differential data is combined with the original observation value to obtain the corrected pseudorange P ′ =P+△P and the corrected carrier phase Φ ′ =Φ+△Φ;

[0021] Based on the corrected observations, a least squares problem is constructed to minimize the sum of squared residuals between all satellite observations and theoretical values.

[0022] Let the receiver's position be X = [x, y, z] T , the pseudorange after differential data correction is expressed as:

[0023]

[0024] The minimization of the residual sum of squares between all satellite observations and theoretical values ​​is expressed as:

[0025]

[0026] Where N represents the total number of satellites involved in the calculation, (x i ,y i ,z i ) is the known position coordinate of the i-th satellite;

[0027] By solving the least squares problem, the x, y, and z values ​​that minimize S are determined, which is the precise location information of the drone.

[0028] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0029] The method of calculating the deviation between the position of the drone and the position of the RTK module based on the position of the RTK module and performing positioning correction includes the following steps:

[0030] The drone sends the coordinate value of the first waypoint to the drone through the PSDK control command, and the drone flies to the coordinate position of the first waypoint through the GPS mode;

[0031] The current real-time RTK coordinate value calculated by the airborne device is compared with the coordinate value of the first waypoint, a position deviation value is calculated, the position deviation value is weighted to the coordinate value of the first waypoint, and the coordinate of the first waypoint is adjusted;

[0032] When the drone reaches the corrected first waypoint coordinate position, the deviation between the current RTK position of the airborne device and the original first waypoint coordinate value is checked again. If the deviation value is within the threshold range, the positioning correction is considered complete.

[0033] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0034] The current real-time RTK coordinate value calculated by the airborne device is compared with the first waypoint coordinate value to calculate the position deviation value, including the deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) obtained by the Euclidean distance and the vector obtained by calculating the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The direction of the resulting deviation;

[0035] The deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) is expressed as:

[0036]

[0037] The vector of the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The resulting deviation direction is expressed as:

[0038]

[0039] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0040] The corrected positioning value is used as the real-time position information of the drone, and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos, including the following steps:

[0041] If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is less than or equal to 5cm, it is used as the real-time position information of the drone;

[0042] If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is greater than 5cm, the deviation between the drone position and the RTK module position is returned and recalculated;

[0043] When the real-time location information of the drone is confirmed, the waypoint action command is executed to complete the photo-taking action;

[0044] Repeat the correction and adjustment actions for each waypoint until all actions on the route are completed.

[0045] As a preferred solution of the UAV airborne control method with RTK precise positioning function described in the present invention, wherein:

[0046] The intelligent inspection route further includes the following steps:

[0047] After the route is completed, the airborne device actively obtains the inspection data from the drone through the PSDK interface, and determines whether to send the inspection data back to the remote control platform based on the option of whether to send back the inspection data after the completion of the route mission;

[0048] When the option of returning inspection data after completing the task is selected, the acquired inspection data will be returned to the remote control platform;

[0049] When you select the option to complete the task without returning the inspection data, the task ends.

[0050] In a second aspect, the present invention provides an unmanned aerial vehicle airborne control system with RTK precise positioning function, comprising:

[0051] The position acquisition module is used to obtain the route mission and the position of the RTK module set on the airborne device;

[0052] The difference calculation module is used to calculate the deviation between the drone position and the RTK module position based on the RTK module position, and perform positioning correction;

[0053] The action execution module is used to use the corrected positioning value as the real-time position information of the drone, combined with the intelligent inspection route, to ensure that the drone reaches the designated waypoint to take pictures.

[0054] In a third aspect, the present invention provides a computing device, comprising:

[0055] Memory, used to store programs;

[0056] The processor is used to execute the computer executable instructions, which, when executed by the processor, implement the steps of the UAV airborne control method with RTK precise positioning function.

[0057] In a fourth aspect, the present invention provides a computer-readable storage medium, comprising: when the program is executed by a processor, the steps of implementing the method for controlling an unmanned aerial vehicle with RTK precise positioning function are implemented.

[0058] Beneficial effects of the present invention: The present invention develops a lightweight airborne device adapted to DJI UAVs, changes the original MSDK link, and realizes transmission and control between the background and the UAV through the OSDK interface of the UAV body without the aid of a remote control, thereby reducing equipment dependence, improving communication stability, enhancing flight safety, improving data transmission efficiency and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0060] Figure 1 A basic flow chart of a method for controlling a drone with RTK precise positioning function provided by an embodiment of the present invention;

[0061] Figure 2 A complete flowchart of a method for controlling a drone with RTK precise positioning function is provided for one embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0063] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0064] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0065] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0066] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] Example 1

[0069] Reference Figure 1-2 , is an embodiment of the present invention, and provides an airborne control method for a UAV with RTK precise positioning function, comprising:

[0070] S1: Get the route mission and the position of the RTK module set on the airborne device;

[0071] In the embodiment of the present application, after the operating personnel arrive at the site and observe that the on-site environment is open and meets the operating conditions, they turn on the drone and the onboard equipment starts automatically, at which time the remote personnel are notified that they are ready.

[0072] In the embodiment of the present application, the route mission is obtained, and the position of the RTK module set on the airborne device is obtained, such as Figure 2 As shown, the following steps are included:

[0073] The client remotely issues the route task, the client sends the task to the server, the airborne device establishes a connection with the server through the built-in 4G module, and the server sends the task to the airborne device;

[0074] The airborne equipment receives the route mission, analyzes the route mission, and obtains the position coordinate value and waypoint action of each waypoint;

[0075] The airborne device obtains the GPS coordinate value of the drone through the PSDK interface. The airborne device uses the 4G network to establish a connection with the CORS service provider through the NTRIP protocol, obtains differential data, and performs real-time calculations to calculate the real-time RTK position information of the drone.

[0076] In the embodiment of the present application, the airborne device obtains the GPS coordinate value of the drone through the PSDK interface, and the airborne device uses the 4G network to establish a connection with the CORS service provider through the NTRIP protocol to obtain differential data, and performs real-time calculation to calculate the current RTK position of the airborne device, including the following steps:

[0077] Using the original GPS observations, including pseudorange P and carrier phase Φ;

[0078] Through the built-in 4G module of the airborne equipment, using the network transmission real-time reference Internet protocol (NTRIP), a data connection is established with the CORS service provider to download differential data;

[0079] Apply the downloaded differential data to the original observations to obtain the corrected pseudorange P ′ =P+△P and the corrected carrier phase Φ ′ =Φ+△Φ;

[0080] Based on the corrected observations, a least squares problem is constructed, the goal of which is to minimize the sum of squares of the residuals between all satellite observations and the theoretical values;

[0081] Let the receiver's position be X = [x, y, z] T , the pseudorange after differential data correction is expressed as:

[0082]

[0083] The minimization of the residual sum of squares between all satellite observations and theoretical values ​​is expressed as:

[0084]

[0085] Where N represents the total number of satellites involved in the calculation, (x i ,y i ,z i ) is the known position coordinate of the i-th satellite;

[0086] By solving the least squares problem, the x, y, and z values ​​that minimize S are determined, which is the precise location information of the drone.

[0087] S2: Based on the RTK module position, calculate the difference between the drone position and the RTK module position and perform positioning correction;

[0088] In the embodiment of the present application, based on the position of the RTK module, the difference between the position of the drone and the position of the RTK module is calculated to perform positioning correction, such as Figure 2 As shown, the following steps are included:

[0089] The drone sends the coordinate value of the first waypoint to the drone through the PSDK control command, and the drone flies to the coordinate position of the first waypoint through the GPS mode;

[0090] The current real-time RTK coordinate value calculated by the airborne equipment is compared with the waypoint coordinate value, the position deviation value is calculated, the position deviation value is weighted to the waypoint coordinate value, and the waypoint coordinate is adjusted;

[0091] When the drone reaches the corrected first waypoint coordinate position, the deviation between the current RTK position of the airborne device and the original waypoint coordinate value is checked again. If the deviation value is within the threshold range, the positioning correction is considered complete.

[0092] In the embodiment of the present application, the current real-time RTK coordinate value calculated by the airborne device is compared with the first waypoint coordinate value to calculate the position deviation value, including obtaining the deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) through the Euclidean distance and calculating the vector from the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The direction of the resulting deviation;

[0093] In the embodiment of the present application, the deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) is expressed as:

[0094]

[0095] In the embodiment of the present application, the vector of the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The resulting deviation direction is expressed as:

[0096]

[0097] S3: The corrected positioning value is used as the real-time position information of the drone and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos.

[0098] In the embodiment of the present application, the corrected positioning value is used as the real-time position information of the drone, and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos, such as Figure 2 As shown, the following steps are included:

[0099] If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is less than or equal to 5cm, it is used as the real-time position information of the drone;

[0100] If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is greater than 5cm, the deviation between the drone position and the RTK module position is returned and recalculated;

[0101] When the real-time location information of the drone is confirmed, the waypoint action command is executed to complete the photo-taking action;

[0102] Repeat the correction and adjustment actions for each waypoint until all actions on the route are completed.

[0103] In the embodiment of the present application, the intelligent inspection route, such as Figure 2 As shown, the following steps are also included:

[0104] After the route is completed, the airborne device actively obtains the inspection data from the drone through the PSDK interface, and determines whether to send the inspection data back to the remote control platform based on the option of whether to send back the inspection data after the completion of the route mission;

[0105] When the option of returning inspection data after completing the task is selected, the acquired inspection data will be returned to the remote control platform;

[0106] When you select the option to complete the task without returning the inspection data, the task ends.

[0107] It should be noted that for existing automated flight scenarios, airborne equipment is used to replace the remote control to control the drone. First, the built-in 4G communication module of the airborne equipment is used to obtain signals through the sim card to establish a communication channel with the background system; in addition to being a signal relay source for the drone, the remote control is also the receiver of the GNSS differential data of the cors base station. It is necessary to establish a connection with the CORS service provider through the NTRIP protocol on the remote control to obtain the CORS network differential service and solve the drone's position information to obtain the drone's RTK precise positioning and support the drone's refined power inspection. However, since the solution process is a closed-source processing program for DJI drones, when the airborne equipment is used to replace the remote control to realize the control function, even if a connection is established with other service providers, the differential data cannot be provided to the drone for position solution. At this time, the drone's positioning is in GPS mode, and the position deviation is 2-10 meters. Therefore, this project adds an RTK module to the airborne equipment to obtain the module's precise positioning, calculates the difference between the UAV's position and the RTK module's position, performs positioning correction, and uses the corrected positioning value as the UAV's real-time position information. It is combined with the intelligent inspection route to enable the UAV to reach the designated waypoint to take pictures.

[0108] This embodiment also provides a UAV airborne control system with RTK precise positioning function, including:

[0109] The position acquisition module is used to obtain the route mission, add the RTK module to the airborne equipment, and obtain the position of the RTK module;

[0110] The difference calculation module is used to calculate the deviation between the drone position and the RTK module position based on the position of the RTK module, and perform positioning correction;

[0111] The action execution module is used to use the corrected positioning value as the real-time position information of the drone, combined with the intelligent inspection route, to ensure that the drone reaches the designated waypoint to take pictures.

[0112] Furthermore, it also includes:

[0113] Memory, used to store programs;

[0114] The processor is used to load the program to execute the UAV airborne control method with RTK precise positioning function.

[0115] This embodiment also provides a computer-readable storage medium storing a program, which, when executed by a processor, implements the onboard control method of a UAV with RTK precise positioning function.

[0116] The storage medium proposed in this embodiment and the UAV airborne control method with RTK precise positioning function proposed in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0117] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ReadOnly, Memory, ROM), random access memory (RandomAccess Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform the methods of various embodiments of the present invention.

[0118] Example 2

[0119] Referring to Table 1, an embodiment of the present invention provides a method for controlling a UAV with an RTK precise positioning function. In order to verify its beneficial effects, comparison results of two solutions are provided.

[0120] Method 1 is a fully automatic operation with a fixed nest, which is a highly automated drone inspection mode. By installing a nest (i.e., a drone landing station) at a fixed location, the drone can automatically take off, inspect, return, and charge. This method is suitable for scenarios that require long-term and frequent inspections, such as power transmission line and pipeline inspections.

[0121] Method 2 is the mobile nest driver mode, which is a more flexible drone inspection method. It uses a mobile nest (such as a vehicle-mounted nest) and driver operation to achieve rapid deployment and inspection of drones. This method is suitable for scenarios that require temporary or irregular inspections, such as emergency response and disaster assessment.

[0122] Table 1 Comparison table

[0123]

[0124] From Table 1, it can be seen that the present invention eliminates the dependence on the remote control by directly connecting the drone and the airborne equipment, thereby reducing the types of equipment that the on-site personnel need to carry, greatly simplifying the operation process, and using the PSDK interface for direct communication to avoid the signal attenuation or interruption problems that may be caused by the transfer through the remote control, thereby improving the stability and reliability of communication. Without the remote control as an intermediary, the risk of uncontrollable flight caused by signal problems between the remote control and the drone is reduced, and the safety of flight is enhanced. Through direct communication, the data transmission between the background and the drone is more direct and efficient, which helps to achieve faster and more accurate command transmission and data collection, reduces the maintenance requirements of intermediate equipment such as the remote control, and reduces the system software and hardware maintenance costs. Based on the PSDK link, an efficient, stable and safe drone power inspection system is constructed to realize remote control, uncontrolled flight, real-time data transmission and image transmission of drones, providing strong technical support for line inspection and equipment monitoring in the power industry.

[0125] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for controlling an unmanned aerial vehicle with RTK precise positioning function, characterized in that: include: Obtain the route mission and the position of the RTK module set on the airborne device; Based on the position of the RTK module, calculate the deviation between the drone position and the RTK module position and perform positioning correction; The corrected positioning value is used as the real-time location information of the drone and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos.

2. The method for controlling a drone with RTK precise positioning function according to claim 1, characterized in that: The obtaining of the route task and the obtaining of the position of the RTK module set on the airborne device include the following steps: Respond to the client's route tasks; The onboard equipment analyzes the route mission and obtains the position coordinates and action of each waypoint; The airborne device obtains the GPS coordinate value of the drone through the PSDK interface, establishes a connection with the CORS service provider through network transmission in real time with reference to the Internet Protocol, obtains differential data, and performs real-time calculation to obtain the current RTK position of the airborne device.

3. The UAV airborne control method with RTK precise positioning function as claimed in claim 1 or 2, characterized in that: The real-time reference Internet Protocol protocol is used to establish a connection with the CORS service provider through network transmission, obtain differential data, and perform real-time calculation to obtain the current RTK position of the airborne device, including: Using raw GPS observations, including pseudorange P and carrier phase Φ; Through the built-in 4G module of the airborne equipment, the network transmission is used to establish a data connection with the CORS service provider in real time with reference to the Internet protocol to obtain differential data; The differential data is combined with the original observation value to obtain the corrected pseudorange P ′ =P+△P and the corrected carrier phase Φ ′ =Φ+△Φ; Based on the corrected observations, a least squares problem is constructed to minimize the sum of squared residuals between all satellite observations and theoretical values. Let the receiver's position be X = [x, y, z] T , the pseudorange after differential data correction is expressed as: The minimization of the residual sum of squares between all satellite observations and theoretical values ​​is expressed as: Where N represents the total number of satellites involved in the calculation, (x i ,y i ,z i ) is the known position coordinate of the i-th satellite; By solving the least squares problem, the x, y, and z values ​​that minimize S are determined, which is the precise location information of the drone.

4. The method for controlling a drone with RTK precise positioning function as claimed in claim 3, characterized in that: The method of calculating the deviation between the position of the drone and the position of the RTK module based on the position of the RTK module and performing positioning correction includes the following steps: The drone sends the coordinate value of the first waypoint to the drone through the PSDK control command, and the drone flies to the coordinate position of the first waypoint through the GPS mode; The current real-time RTK coordinate value calculated by the airborne device is compared with the coordinate value of the first waypoint, a position deviation value is calculated, the position deviation value is weighted to the coordinate value of the first waypoint, and the coordinate of the first waypoint is adjusted; When the drone reaches the corrected first waypoint coordinate position, the deviation between the current RTK position of the airborne device and the original first waypoint coordinate value is checked again. If the deviation value is within the threshold range, the positioning correction is considered complete.

5. The method for controlling a drone with RTK precise positioning function as claimed in claim 4, characterized in that: The current real-time RTK coordinate value calculated by the airborne device is compared with the first waypoint coordinate value to calculate the position deviation value, including the deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) obtained by the Euclidean distance and the vector obtained by calculating the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The direction of the resulting deviation; The deviation distance d between the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) is expressed as: The vector of the RTK coordinate value P1 (X, Y, Z) and the waypoint coordinate value P1 (x, y, z) The resulting deviation direction is expressed as:

6. The method for controlling a drone with RTK precise positioning function as claimed in claim 5, characterized in that: The corrected positioning value is used as the real-time position information of the drone, and combined with the intelligent inspection route to ensure that the drone reaches the designated waypoint for taking photos, including the following steps: If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is less than or equal to 5cm, it is used as the real-time position information of the drone; If the deviation between the current RTK position of the airborne device and the original waypoint coordinates is greater than 5cm, the deviation between the drone position and the RTK module position is returned and recalculated; When the real-time location information of the drone is confirmed, the waypoint action command is executed to complete the photo-taking action; Repeat the correction and adjustment actions for each waypoint until all actions on the route are completed.

7. The method for controlling a drone with RTK precise positioning function according to claim 6, characterized in that: The intelligent inspection route further includes the following steps: After the route is completed, the airborne device actively obtains the inspection data from the drone through the PSDK interface, and determines whether to send the inspection data back to the remote control platform based on the option of whether to send back the inspection data after the completion of the route mission; When the option of returning inspection data after completing the task is selected, the acquired inspection data will be returned to the remote control platform; When you select the option to complete the task without returning the inspection data, the task ends.

8. A system based on the UAV airborne control method with RTK precise positioning function according to claim 1, characterized in that: The position acquisition module is used to obtain the route mission and the position of the RTK module set on the airborne device; The difference calculation module is used to calculate the deviation between the drone position and the RTK module position based on the RTK module position, and perform positioning correction; The action execution module is used to use the corrected positioning value as the real-time position information of the drone, combined with the intelligent inspection route, to ensure that the drone reaches the designated waypoint to take pictures.

9. An electronic device, characterized in that: include: Memory, used to store programs; A processor is used to load the program to execute the steps of the UAV airborne control method with RTK precise positioning function as described in any one of claims 1-7.

10. A computer-readable storage medium storing a program, characterized in that: When the program is executed by the processor, the steps of the UAV airborne control method with RTK precise positioning function as described in any one of claims 1 to 7 are implemented.

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