Aircraft air positioning method and device, aircraft, medium and product
The aircraft aerial positioning method enhances precision by requesting timestamped position data from nearby aircraft and combining it with a time difference algorithm, ensuring accurate positioning beyond RTK coverage, thus reducing operational risks.
Patent Information
- Application Number
- CN202411325493.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2025-01-03
AI Technical Summary
Low-altitude aircraft experience reduced positioning accuracy when out of RTK communication link coverage, due to reliance on GNSS satellites, posing risks in aircraft control, navigation, formation operation, and emergency response.
An aircraft aerial positioning method that sends positioning request data to nearby aircraft with timestamps, receives their position and timestamp information, and combines this data with a time difference arrival algorithm to calculate high-precision coordinates, using RTK and GNSS when necessary.
Improves positioning accuracy and reduces operational risks by enabling high-precision positioning even when out of RTK coverage, using existing RTK networks and software without additional hardware.
Smart Images
Figure CN119247425A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of navigation technology, and in particular to a method, device, aircraft, medium and product for aerial positioning of an aircraft. Background Art
[0002] High-precision positioning is an essential function for low-altitude aircraft and is the basis for aircraft control, navigation, formation operation, return, emergency response, etc. At present, high-precision positioning of low-altitude aircraft generally adopts real-time dynamic differential positioning technology (Real-Time Kinematic, RTK).
[0003] RTK is a real-time differential Global Positioning System (GPS) technology that uses carrier phase observations for real-time dynamic relative positioning. Its principle is to send the satellite data and reference data observed by the GPS receiver at the base station in real time through the data communication link, while the GPS receiver at the nearby mobile station observes the satellites while also receiving the data link signal from the base station. By performing real-time differential correction and solution on the received signals, high-precision centimeter-level three-dimensional coordinates of the mobile station are given.
[0004] When low-altitude aircraft use RTK positioning, all aircraft are required to be within the signal coverage of the ground RTK base station to ensure real-time transmission of RTK data between the aircraft and the ground base station.
[0005] When traditional aircraft use ground-based RTK high-precision positioning, the flight altitude is limited by the coverage of the RTK communication link. When some aircraft leave the coverage of the RTK communication link due to business needs or temporary dispatch of the low-altitude air traffic control system, or cannot achieve high-precision centimeter-level positioning due to obstacles blocking the line of sight or the failure of the local RTK module, the aircraft can only rely on the Global Navigation Satellite System (GNSS) satellites for aerial positioning. Due to the limitation of the number of satellites to be searched, the positioning accuracy is greatly reduced, which brings potential risks to management operations such as aircraft control, navigation, formation operation, return, and emergency response. Summary of the invention
[0006] The present application provides an aircraft aerial positioning method, device, aircraft, medium and product, which are used to solve the problem that when the aircraft is out of the coverage of the RTK communication link, cannot see through due to obstacles or the local RTK module fails, and cannot achieve high-precision centimeter-level positioning, it can only rely on global navigation satellite system satellites for aerial positioning, resulting in a significant reduction in positioning accuracy. The application improves the positioning accuracy and reduces the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency response.
[0007] The present application provides an aircraft aerial positioning method, which is applied to an aircraft. The method includes: if it is determined that an initial positioning result based on a real-time dynamic differential positioning technology is abnormal, then sending positioning request data to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp; receiving reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
[0008] According to a method for aerial positioning of an aircraft provided by the present application, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result, including: if the number of reply information is greater than or equal to a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, and the first positioning result obtained by positioning is determined as the target positioning result.
[0009] According to a method for aerial positioning of an aircraft provided by the present application, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp in combination with a time difference arrival algorithm, including: determining the time difference between the sending timestamp and the receiving timestamp of each other aircraft; performing three-dimensional coordinate solution based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solved coordinates.
[0010] According to a method for aerial positioning of an aircraft provided by the present application, three-dimensional coordinates are solved based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solved coordinates, including: determining the distance to each other aircraft according to the time difference corresponding to each other aircraft; and solving the three-dimensional coordinates based on the position information of each other aircraft and the distance corresponding to each other aircraft to obtain the solved coordinates.
[0011] According to a method for aerial positioning of an aircraft provided by the present application, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result, including: if the number of reply messages is less than a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, to obtain a second positioning result; and the second positioning result is corrected to obtain a target positioning result.
[0012] According to an aircraft aerial positioning method provided by the present application, the second positioning result is corrected to obtain a target positioning result, including: acquiring positioning coordinates of a global navigation satellite system; and correcting the second positioning result based on the positioning coordinates to obtain a target positioning result.
[0013] The present application also provides an aircraft aerial positioning device, including: a request module, which is used to send positioning request data to at least one other aircraft within a preset range if it is determined that an initial positioning result based on the real-time dynamic differential positioning technology is abnormal; the positioning request data includes a sending timestamp; a receiving module, which is used to receive reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; a positioning module, which is used to perform positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
[0014] The present application also provides an aircraft, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the aircraft aerial positioning method described above is implemented.
[0015] The present application also provides a medium, which is a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for aerial positioning of an aircraft as described above is implemented.
[0016] The present application also provides a product, which is a computer program product, including a computer program, and when the computer program is executed by a processor, it implements any of the above-mentioned aircraft aerial positioning methods.
[0017] The invention provides an aircraft aerial positioning method, device, aircraft, medium and product. When the aircraft determines that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, it sends positioning request data including a sending timestamp to at least one other aircraft within a preset range, thereby requesting the other aircraft to return its position information and the receiving timestamp of the positioning request data; and then, when receiving the reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data, it can accurately perform positioning based on the sending timestamp, the position information of each other aircraft and the receiving timestamp of the positioning request data, and obtain the target positioning result of the aircraft. Therefore, since it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, it can accurately perform positioning based on the position information of each other aircraft combined with the sending timestamp of the positioning request data and the receiving timestamp of the other aircraft, which can improve the positioning accuracy and reduce the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency disposal. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.
[0019] Figure 1 It is a flowchart of the aircraft aerial positioning method provided by this application.
[0020] Figure 2 It is a scene schematic diagram of the aircraft aerial positioning method provided by this application.
[0021] Figure 3 It is a schematic diagram of the structure of the aircraft provided in this application. DETAILED DESCRIPTION
[0022] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0023] It should be noted that in the description of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0024] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.
[0025] Combine the following Figure 1-Figure 3 The invention describes the aircraft aerial positioning method, device, aircraft, medium and product of the present application.
[0026] Figure 1 It is a flowchart of the method for positioning an aircraft in the air provided by this application, such as Figure 1 As shown, the method includes the following steps 100 to 300.
[0027] Step 100: If it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, a positioning request data is sent to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp.
[0028] Step 200: Receive reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data.
[0029] Step 300: Perform positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
[0030] It should be noted that the aircraft aerial positioning method provided in the embodiments of the present application can be applied to aircraft.
[0031] The aircraft of the present application may be provided with or connected with an aircraft air positioning device. The aircraft air positioning device may be controlled in the present application to execute the aircraft air positioning method of the present application by controlling the aircraft air positioning device.
[0032] During the flight, the aircraft of the present application can perform high-precision positioning of low-altitude flight through RTK.
[0033] However, when the current aircraft performs high-precision positioning based on ground-based RTK, the flight altitude is limited by the coverage of the RTK communication link. When the aircraft leaves the coverage of the RTK communication link due to business needs or temporary scheduling by the low-altitude air traffic control system, or loses line of sight due to obstacles or the local RTK module fails, high-precision centimeter-level positioning may not be achieved, which will cause abnormal positioning results (defined as initial positioning results in this application).
[0034] It should be noted that the aircraft of the present application can directly and accurately determine whether there is an abnormality in the initial positioning result based on RTK according to the received RTK information and the corresponding communication protocol. The specific implementation process is not limited in this application.
[0035] It should be noted that when it is determined that there is an abnormality in the initial positioning result based on the real-time dynamic differential positioning technology, the aircraft can detect the error in the RTK output result. At this time, the emergency communication link between aircraft can be immediately initiated to establish two-way air emergency communication with other aircraft in the air within a preset range (such as the signal search range of the aircraft).
[0036] It should be noted that in this application, other aircraft that can establish two-way air emergency communication with the current aircraft are all aircraft within the coverage of the RTK communication link. That is, the positioning results of each other aircraft based on RTK are highly precise and accurate.
[0037] After establishing two-way emergency aerial communications with other aircraft, the aircraft can send a positioning request data to multiple other aircraft respectively. The positioning request data is used to request other aircraft that have received the positioning request data to return their location information and the receiving timestamp of the positioning request data to the aircraft, wherein the positioning request data carries the sending timestamp of the positioning request data.
[0038] Therefore, the aircraft can receive reply information of the corresponding aircraft returned by other aircraft based on the positioning request data, wherein each reply information can include the position information of the corresponding aircraft and the receiving timestamp of the positioning request data.
[0039] It should be noted that the above-mentioned location information may include high-precision latitude and longitude information and altitude information of the aircraft.
[0040] Furthermore, according to different situations of the quantity of received reply information, different methods are adopted to determine the target positioning result.
[0041] Among them, if the number of reply information is sufficient to achieve emergency high-precision positioning, positioning is performed directly based on the sending timestamp, the location information of each other aircraft and the corresponding receiving timestamp, and the positioning result (which can be defined as the first positioning result in this application) is determined as the target positioning result (that is, the final high-precision positioning result).
[0042] If the number of reply messages is not sufficient to achieve emergency high-precision positioning, after positioning is performed based on the sending timestamp, the location information of each other aircraft and the corresponding receiving timestamp, the positioning result (which can be defined as the second positioning result in this application) needs to be further corrected and the corrected positioning result is determined as the target positioning result.
[0043] In the method for positioning an aircraft in the air provided by the embodiment of the present application, when the aircraft determines that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, the aircraft sends positioning request data including a sending timestamp to at least one other aircraft within a preset range, thereby requesting the other aircraft to return its position information and the receiving timestamp of the positioning request data; and then, when receiving the reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data, the aircraft can accurately perform positioning based on the sending timestamp, the position information of each other aircraft and the receiving timestamp of the positioning request data, and obtain the target positioning result of the aircraft. Therefore, since when it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, accurate positioning can be performed based on the position information of each other aircraft combined with the sending timestamp of the positioning request data and the receiving timestamp of the other aircraft, which can improve the positioning accuracy and reduce the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency disposal.
[0044] This application adopts a high-precision aerial positioning algorithm that combines the Time Difference of Arrival (TDOA) algorithm with RTK. Without adding positioning or sensing hardware equipment, it can achieve high-precision aerial emergency positioning in the event of accidents or failures of low-altitude aircraft.
[0045] The emergency positioning network of low-altitude aircraft in this application is fully compatible with the existing RTK network. Through software functions, flexible and seamless switching between the two networking modes can be achieved, with good compatibility.
[0046] In one embodiment, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result, including: if the number of reply information is greater than or equal to a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, and the first positioning result obtained by positioning is determined as the target positioning result.
[0047] Furthermore, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp in combination with the time difference arrival algorithm, including: determining the time difference between the sending timestamp and the receiving timestamp of each other aircraft; performing three-dimensional coordinate solution based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solved coordinates.
[0048] Furthermore, three-dimensional coordinates are solved based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain solved coordinates, including: determining the distance to each other aircraft according to the time difference corresponding to each other aircraft; and three-dimensional coordinates are solved based on the position information of each other aircraft and the distance corresponding to each other aircraft to obtain solved coordinates.
[0049] It should be noted that in this application, since it is necessary to determine the high-precision three-dimensional coordinates of the aircraft, the number of other normal aircraft that return reply information must reach at least 4 to achieve emergency high-precision positioning in the air.
[0050] Based on this, when the present application performs positioning based on the sending timestamp, the location information of each other aircraft and the corresponding receiving timestamp, combined with the time difference arrival algorithm, it is necessary to first determine whether the number of reply messages is greater than or equal to the preset threshold. The preset threshold is used to determine whether the number of reply messages is sufficient to achieve emergency high-precision positioning. In a specific embodiment, the preset threshold can be 4.
[0051] If it is determined that the number of reply messages is greater than or equal to the preset threshold, positioning can be performed based on the sending timestamp, the location information of each other aircraft and the corresponding receiving timestamp, combined with the time difference arrival algorithm, and the first positioning result obtained by positioning can be directly determined as the target positioning result.
[0052] Specifically, the present application may first determine the time difference between the sending timestamp and the receiving timestamp of each other aircraft, and obtain the time difference corresponding to each other aircraft.
[0053] Furthermore, the distance to each other aircraft is determined respectively according to the time difference corresponding to each other aircraft.
[0054] Specifically, when calculating the distance between the aircraft and any other aircraft, the time difference corresponding to the other aircraft may be multiplied by the speed of light, and the multiplication result is the distance between the aircraft and the other aircraft.
[0055] After obtaining the distance between the aircraft and other aircraft, the coordinate information of the aircraft can be used as unknown variables, and the position information of other aircraft and the distance between the aircraft and other aircraft can be used as known variables to form a multivariate equation through the distance calculation formula between two points.
[0056] Furthermore, the multivariate equation is solved to obtain the three-dimensional coordinates of the aircraft as solution coordinates, and the solution coordinates can be further used as the positioning result.
[0057] When the number of reply messages is sufficient to achieve emergency high-precision positioning, the aircraft can be accurately positioned based on the sending timestamp, the location information of other aircraft and the corresponding receiving timestamp, which can improve the positioning accuracy and reduce the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency response.
[0058] In one embodiment, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result, including: if the number of reply information is less than a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, to obtain a second positioning result; the second positioning result is corrected to obtain a target positioning result.
[0059] Furthermore, the second positioning result is corrected to obtain a target positioning result, including: acquiring positioning coordinates of a global navigation satellite system; and correcting the second positioning result based on the positioning coordinates to obtain a target positioning result.
[0060] This application can only achieve emergency high-precision positioning in the air because the number of normal other aircraft that return reply information reaches at least 4.
[0061] Therefore, if it is determined that the number of reply messages is less than a preset threshold, positioning can be performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with the time difference arrival algorithm to obtain a second positioning result.
[0062] Specifically, the present application may first determine the time difference between the sending timestamp and the receiving timestamp of each other aircraft, and obtain the time difference corresponding to each other aircraft.
[0063] Furthermore, the distance to each other aircraft is determined respectively according to the time difference corresponding to each other aircraft.
[0064] Specifically, when calculating the distance between the aircraft and any other aircraft, the time difference corresponding to the other aircraft may be multiplied by the speed of light, and the multiplication result is the distance between the aircraft and the other aircraft.
[0065] After obtaining the distance between the aircraft and other aircraft, the coordinate information of the aircraft can be used as unknown variables, and the position information of other aircraft and the distance between the aircraft and other aircraft can be used as known variables to form a multivariate equation through the distance calculation formula between two points.
[0066] Furthermore, the multivariate equation is solved to obtain the three-dimensional coordinates of the aircraft as solution coordinates, and the solution coordinates are used as the second positioning result.
[0067] It should be noted that, since the calculated coordinates as the second positioning result are only calculated based on the relevant information of the three other aircraft, the calculated coordinates may have multiple different values. In this case, a unique and accurate value cannot be directly obtained as the final positioning result.
[0068] Therefore, in the present application, the final positioning result can be determined based on the second positioning result and the GNSS positioning result.
[0069] Specifically, in the present application, the positioning coordinates of GNSS can be obtained.
[0070] Furthermore, the positioning coordinates are compared with each coordinate value in the second positioning result.
[0071] The coordinate value in the second positioning result that is closest to the positioning coordinate is determined as the target positioning result.
[0072] When the number of reply messages is insufficient to achieve emergency high-precision positioning, after locating the aircraft based on the sending timestamp, the location information of other aircraft and the corresponding receiving timestamp, the positioning result can be corrected in combination with the GNSS positioning result, thereby obtaining accurate target positioning results. This can improve positioning accuracy and reduce the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency response.
[0073] The positioning method of this application is flexible and supports the flexible combination of time difference arrival algorithm, RTK and GNSS positioning methods in different scenarios, effectively improving the positioning accuracy without increasing hardware.
[0074] Figure 2 is a schematic diagram of a scenario of an aircraft aerial positioning method provided by this application, such as Figure 2 As shown, in one embodiment, aircraft 1, aircraft 2, ..., aircraft n and other aircraft can perform high-precision positioning based on ground RTK in combination with satellites such as satellite 1, satellite 2, satellite 3, satellite 4 and other satellites and RTK reference stations such as RTK reference station 1, RTK reference station 2, ..., RTK reference station n and other RTK reference stations.
[0075] Specifically, the GPS receiver on the RTK base station sends the observed satellite data and benchmark data in real time through the RTK communication link, while the GPS receiver of the nearby aircraft observes the satellite through the satellite link while also receiving the data link signal from the RTK base station, and performs real-time differential correction and solution on the received signals to obtain the high-precision centimeter-level three-dimensional coordinates of the aircraft.
[0076] However, when the RTK communication link cannot communicate due to the altitude of one or some aircraft exceeding the coverage range of RTK, the aircraft can detect the RTK output result error after detecting that the RTK positioning result is wrong and high-precision positioning cannot be achieved, thereby immediately starting the emergency air link between aircraft and establishing two-way air emergency communication with other normal aircraft in the surrounding air.
[0077] Furthermore, the aircraft sends positioning request data to other aircraft, carrying a high-precision timestamp.
[0078] After receiving the positioning request data, other aircraft within the emergency air link range will reply with data containing high-precision latitude and longitude, altitude and high-precision timestamp information to the requesting aircraft.
[0079] The requesting aircraft uses the time difference of arrival algorithm TDOA and the replied high-precision longitude, latitude and altitude solution to calculate the three-dimensional coordinates of the aircraft in the air.
[0080] Since the number of normal aircraft that reply to the request must reach at least 4 to achieve emergency high-precision positioning in the air, if the number of normal aircraft that reply to the request is less than 4, the time difference arrival algorithm combined with the GNSS positioning result can be used to correct the results and improve the positioning accuracy.
[0081] The aircraft aerial positioning device provided in the present application is described below. The aircraft aerial positioning device described below and the aircraft aerial positioning method described above can be referenced to each other.
[0082] Furthermore, the present application also provides an aircraft aerial positioning device.
[0083] The aircraft aerial positioning device may also include: a request module, which is used to send positioning request data to at least one other aircraft within a preset range if it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal; the positioning request data includes a sending timestamp; a receiving module, which is used to receive reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; a positioning module, which is used to perform positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
[0084] In one embodiment, the positioning module is specifically used to: if the number of reply messages is greater than or equal to a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, and the first positioning result obtained by positioning is determined as the target positioning result.
[0085] In one embodiment, the positioning module includes a first positioning unit, which is used to: determine the time difference between the sending timestamp and the receiving timestamp of each other aircraft; perform three-dimensional coordinate solution based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solved coordinates.
[0086] In one embodiment, the positioning module also includes a solving unit, which is used to: determine the distance to each other aircraft according to the time difference corresponding to each other aircraft; perform three-dimensional coordinate solving based on the position information of each other aircraft and the distance corresponding to each other aircraft to obtain solved coordinates.
[0087] In one embodiment, the positioning module is specifically used for: if the number of reply messages is less than a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with a time difference arrival algorithm, to obtain a second positioning result; and the second positioning result is corrected to obtain a target positioning result.
[0088] In one embodiment, the positioning module includes a correction unit, and the correction unit is used to: obtain positioning coordinates of a global navigation satellite system; and correct the second positioning result based on the positioning coordinates to obtain a target positioning result.
[0089] The aerial positioning device for aircraft provided in the embodiment of the present application, when determining that the initial positioning result based on the real-time dynamic differential positioning technology has an abnormality, sends positioning request data including a sending timestamp to at least one other aircraft within a preset range, thereby requesting the other aircraft to return its position information and the receiving timestamp of the positioning request data; and then, when receiving the reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data, it can accurately perform positioning based on the sending timestamp, the position information of each other aircraft and the receiving timestamp of the positioning request data, and obtain the target positioning result of the aircraft. Therefore, since it is determined that the initial positioning result based on the real-time dynamic differential positioning technology has an abnormality, it can accurately perform positioning based on the position information of each other aircraft combined with the sending timestamp of the positioning request data and the receiving timestamp of the other aircraft, which can improve the positioning accuracy and reduce the risks of management operations such as aircraft control, navigation, formation operation, return, and emergency disposal.
[0090] Figure 3 An example of a physical structure diagram of an aircraft is shown below. Figure 3 As shown, the aircraft may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the aircraft air positioning method, which includes: if it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, then send positioning request data to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp; receive the reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, positioning is performed to obtain the target positioning result.
[0091] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0092] On the other hand, the present application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the aircraft aerial positioning method provided by the above-mentioned methods. The method includes: if it is determined that there is an abnormality in the initial positioning result based on the real-time dynamic differential positioning technology, sending positioning request data to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp; receiving reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain the target positioning result.
[0093] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the aircraft aerial positioning method provided by the above-mentioned methods, the method comprising: if it is determined that an initial positioning result based on the real-time dynamic differential positioning technology is abnormal, sending positioning request data to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp; receiving reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
[0094] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
[0095] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution 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 ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.
[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. 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. However, 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.
Claims
1. A method for positioning an aircraft in the air, characterized in that: Applied to an aircraft, the method comprises: If it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal, sending positioning request data to at least one other aircraft within a preset range; the positioning request data includes a sending timestamp; Receiving reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; the reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; Positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
2. The method for positioning an aircraft in the air according to claim 1, characterized in that: The performing positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain the target positioning result includes: If the number of reply messages is greater than or equal to a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp combined with the time difference arrival algorithm, and the first positioning result obtained by positioning is determined as the target positioning result.
3. The method for positioning an aircraft in the air according to claim 2, characterized in that: The positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp, combined with the time difference arrival algorithm, includes: determining a time difference between the sending timestamp and a receiving timestamp of each other aircraft; The three-dimensional coordinates are solved based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solved coordinates.
4. The method for positioning an aircraft in the air according to claim 3, characterized in that: The three-dimensional coordinate solution is performed based on the position information of each other aircraft and the time difference corresponding to each other aircraft to obtain the solution coordinates, including: Determine the distance to each other aircraft respectively according to the time difference corresponding to each other aircraft; The three-dimensional coordinates are solved based on the position information of each other aircraft and the distance corresponding to each other aircraft to obtain the solved coordinates.
5. The method for positioning an aircraft in the air according to claim 2, characterized in that: The performing positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain the target positioning result includes: If the number of the reply messages is less than a preset threshold, positioning is performed based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp in combination with a time difference of arrival algorithm to obtain a second positioning result; The second positioning result is corrected to obtain a target positioning result.
6. The method for positioning an aircraft in the air according to claim 5, characterized in that: The correcting the second positioning result to obtain a target positioning result includes: Obtaining positioning coordinates from the Global Navigation Satellite System; The second positioning result is corrected based on the positioning coordinates to obtain a target positioning result.
7. An aircraft aerial positioning device, characterized in that: include: A request module, configured to send positioning request data to at least one other aircraft within a preset range if it is determined that the initial positioning result based on the real-time dynamic differential positioning technology is abnormal; the positioning request data includes a sending timestamp; A receiving module, used for receiving reply information of the corresponding aircraft returned by each other aircraft based on the positioning request data; The reply information includes the position information of the aircraft and the receiving timestamp of the positioning request data; The positioning module is used to perform positioning based on the sending timestamp, the position information of each other aircraft and the corresponding receiving timestamp to obtain a target positioning result.
8. An aircraft, 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 method for aerial positioning of an aircraft as claimed in any one of claims 1 to 6 is implemented.
9. A medium, the medium being a non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, the method for aerial positioning of an aircraft as claimed in any one of claims 1 to 6 is implemented.
10. A product, the product being a computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the method for aerial positioning of an aircraft as claimed in any one of claims 1 to 6 is implemented.