Unmanned aerial vehicle distribution method and unmanned aerial vehicle

Abstract

The invention relates to an unmanned aerial vehicle distribution method and an unmanned aerial vehicle, the method is applied to the unmanned aerial vehicle, the unmanned aerial vehicle is used for distributing goods to a balcony of a building, a plurality of pseudo base stations are arranged in a preset space of the building, and the method comprises the steps that the unmanned aerial vehicle obtains a first action space of the balcony of the building; the unmanned aerial vehicle flies into a first action space according to the unmanned aerial vehicle first positioning information; the unmanned aerial vehicle obtains pseudo base station signals from a plurality of pseudo base stations in the first action space; the unmanned aerial vehicle obtains a pseudo base station signal phase according to the RTK signal and the pseudo base station signal in the first action space; the unmanned aerial vehicle continues to fly, if the RTK signal cannot be received, it is confirmed that the unmanned aerial vehicle enters a second action space, and the real-time distances between the unmanned aerial vehicle and the multiple pseudo base stations are obtained according to the signal phases of the pseudo base stations; and the unmanned aerial vehicle obtains second positioning information of the unmanned aerial vehicle according to the real-time distance between the unmanned aerial vehicle and the multiple pseudo base stations and lands on the balcony of the building according to the second positioning information. Accurate positioning of the unmanned aerial vehicle can be realized.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a drone delivery method and a drone. Background Art

[0002] With the development of information technology, the Internet and drone technology, drone delivery has become a hot topic in the industry. Drone delivery is a new form of low-altitude economy that closely combines logistics with low-altitude economy.

[0003] In the existing technology, drone delivery is mainly used to achieve delivery between logistics stations, such as delivery from a logistics center to a logistics substation, etc. However, in actual applications, the pain point of express delivery and logistics transportation is the "last 100 meters" of delivery, that is, the journey from the logistics substation to the hands of consumers / end users.

[0004] Since the space in the end user's home is limited, drones are used to deliver directly to the end user. The first problem to be solved is how to realize the take-off and landing of drones in limited space. Accurate positioning is required to realize the take-off and landing of drones in the limited space of the balcony. Satellite positioning systems in the prior art, such as GPS and Beidou systems, can achieve relatively accurate positioning in open areas, but in the case of unmanned delivery to buildings, due to the obstruction of buildings such as buildings, the positioning signal of the satellite positioning system may be missing or blocked, resulting in poor positioning accuracy, making it difficult to achieve positioning requirements for limited spaces such as the balcony of a building. Summary of the invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present invention provides a drone delivery method and a drone.

[0006] In a first aspect, the present invention provides a drone delivery method, which is applied to a drone, wherein the drone is used to deliver goods to a balcony of a building, and a plurality of pseudo base stations are arranged in a preset space of the building, and the method comprises:

[0007] The drone acquires a first action space of the balcony of the building;

[0008] The drone flies into the first action space according to the first positioning information of the drone;

[0009] The drone obtains pseudo base station signals from the plurality of pseudo base stations in the first action space;

[0010] The UAV obtains the pseudo base station signal phase according to the RTK signal and the pseudo base station signal in the first action space;

[0011] The UAV continues to fly. If the RTK signal cannot be received, it is confirmed that it has entered the second action space, and the real-time distance between the UAV and the plurality of pseudo base stations is obtained according to the pseudo base station signal phase;

[0012] The drone obtains second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations;

[0013] The drone lands on the balcony of the building according to the second positioning information.

[0014] Optionally, before the drone flies into the first action space according to the first positioning information of the drone, the method further includes:

[0015] The drone obtains first positioning information of the drone according to an onboard navigation system arranged on the drone and / or according to a satellite navigation system.

[0016] Optionally, before the drone enters the second action space and obtains the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase, the method further includes:

[0017] The drone converts the pseudo base station coordinate system of the pseudo base station into a world coordinate system;

[0018] The drone obtains the second coordinates of each of the pseudo base stations in the world coordinate system.

[0019] Optionally, the drone obtains the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase, including:

[0020] The drone obtains coordinates of the first positioning information of the drone in the world coordinate system as first coordinates;

[0021] The UAV obtains the integer ambiguity of each of the pseudo base station signals according to the pseudo base station signal phase, the first coordinate and the second coordinate;

[0022] The drone obtains the real-time distance from each of the pseudo base stations based on the integer ambiguity.

[0023] Optionally, the drone obtains the integer ambiguity of each pseudo base station signal according to the pseudo base station signal phase, the first coordinate, and the second coordinate, and obtains it according to the following method:

[0024]

[0025] is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, Take the integer, is the pseudo base station signal phase of the ith pseudo base station at time t, λ is the wavelength of the pseudo base station signal of the ith pseudo base station, is the first coordinate, u i is the second coordinate of the ith pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0026] Optionally, after the drone receives the pseudo base station signal of the i-th pseudo base station, constant.

[0027] Optionally, the drone obtains a real-time distance from each of the pseudo base stations according to the integer ambiguity, including:

[0028]

[0029] Among them, |u t -u i | is the real-time distance between the drone and the ith pseudo base station at the tth moment, u i is the second coordinate of the ith pseudo base station, is the pseudo base station signal phase of the i-th pseudo base station at the t-th time, is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, λ is the wavelength of the pseudo base station signal of the i-th pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0030] Optionally, the drone obtains second positioning information of the drone according to the real-time distances from the plurality of pseudo base stations, including:

[0031] The drone obtains second positioning information of the drone according to a multi-lateration positioning method.

[0032] In a second aspect, a drone is provided, the drone being used to deliver goods to a balcony of a building, wherein a plurality of pseudo base stations are arranged in a preset space of the building, and the drone comprises:

[0033] A navigator, for obtaining a first action space of a balcony of the building;

[0034] A driver, configured to fly into the first action space according to the first positioning information of the UAV;

[0035] A receiver, used to obtain pseudo base station signals from the plurality of pseudo base stations in the first action space;

[0036] A controller, configured to obtain a phase of the pseudo base station signal according to the RTK signal and the pseudo base station signal in the first action space;

[0037] The controller is also used to confirm that the drone has entered the second action space when the drone continues to fly and fails to receive the RTK signal, and obtain the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase;

[0038] The navigator is also used to obtain the second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations;

[0039] The driver is further configured to land on the balcony of the building according to the second positioning information.

[0040] In a third aspect, a drone is provided, applying the method described in any of the above items.

[0041] The present invention provides a drone delivery method and a drone, the method is applied to a drone, the drone is used to deliver goods to the balcony of a building, and a plurality of pseudo base stations are set in the preset space of the building, the method comprises: the drone obtains the first action space of the balcony of the building; the drone flies into the first action space according to the first positioning information of the drone; the drone obtains pseudo base station signals from the plurality of pseudo base stations in the first action space; the drone obtains the pseudo base station signal phase according to the RTK signal and the pseudo base station signal in the first action space; the drone continues to fly, and if the RTK signal cannot be received, it is confirmed to enter the second action space, and the real-time distance between the drone and the plurality of pseudo base stations is obtained according to the pseudo base station signal phase; the drone obtains the second positioning information of the drone according to the real-time distance with the plurality of pseudo base stations; the drone lands on the balcony of the building according to the second positioning information. In an embodiment of the present invention, the drone first obtains the pseudo base station signal phase according to the RTK signal and the pseudo base station signal, and in the second area where the RTK signal cannot be used, the drone obtains the real-time distance with the plurality of pseudo base stations according to the pseudo base station phase, thereby confirming the second positioning information of the drone. The method of the embodiment of the present invention can solve the problem of inaccurate positioning caused by the inability to receive, interfere with, or be blocked RTK signals, and achieve accurate positioning of the drone, thereby realizing delivery of drones to the balconies of buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 The figure shows an application environment diagram of the drone delivery method according to an embodiment of the present invention;

[0045] Figure 2 FIG. 1 is a flow chart of a drone delivery method according to an embodiment of the present invention;

[0046] Figure 3 Shown is a structural block diagram of a drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Figure 1 The figure shows the application environment of the drone delivery method in the embodiment of the present invention. The drone in the embodiment of the present invention delivers to the target balcony.

[0049] In the embodiment of the present invention, the target balcony can be the balcony of the end user's home. The end user can be a consumer who shops online, or can be the recipient of the goods to be delivered, or can be a cohabitant, family member, etc. who is to be delivered, or can be a temporary depositor of the goods to be delivered, etc. The destination of the end user's drone delivery can usually be the balcony of a residential building, or can be the balcony of an office building. In the embodiment of the present invention, the end user can also refer to other users other than the logistics station and the professional logistics receiving yard.

[0050] In the embodiment of the present invention, "balcony" is a broad concept, which can be a balcony in a user's home in a narrow sense, such as Figure 1 As shown; it can also be a semi-open or open area such as a terrace, entrance garden, roof garden, etc.; it can also be an area that is changed from a closed space to a semi-open or open area by opening windows, entrance doors, sun room roof, etc.

[0051] In the embodiment of the present invention, the drone delivers to the balcony of the building. For high-rise buildings, the floors are high and there may be many balconies on each floor, which requires a higher positioning accuracy of the drone. However, the high-rise buildings are densely packed, which greatly shields the commonly used satellite positioning signals, making it difficult to use the commonly used satellite positioning signals to meet the positioning accuracy requirements of the drone.

[0052] To solve the above problem, in an embodiment of the present invention, a pseudo base station is set in a preset space of a building. The preset area can be a space centered on the building, for example, the pseudo base station can be set on the top floor of each building, or on the ground near the building.

[0053] When locating a pseudo base station, its coordinate system is a pseudo base station coordinate system established with the pseudo base station as the origin, and multiple pseudo base stations have multiple base station coordinate systems. Therefore, in the embodiment of the present invention, the pseudo base station coordinate system needs to be converted into a world coordinate system.

[0054] When converting the pseudo base station coordinate system into the world coordinate system, a total station can be used to measure and calibrate the pseudo base station. The pseudo base station coordinate system is converted into the world coordinate system by the total station, so that the coordinates of each pseudo base station in the world coordinate system can be obtained. The specific measurement and calibration process will not be repeated here.

[0055] Figure 2 FIG. 1 is a flow chart of a method for delivering residential goods by drone according to an embodiment of the present invention. Figure 2 As shown, the method includes:

[0056] Step 210, the drone acquires a first action space of the balcony of the building;

[0057] Step 220, the drone flies into the first action space according to the first positioning information of the drone;

[0058] Step 230: the drone obtains pseudo base station signals from the plurality of pseudo base stations in the first action space;

[0059] Step 240, the UAV obtains the phase of the pseudo base station signal according to the RTK signal and the pseudo base station signal in the first action space;

[0060] Step 250, the UAV continues to fly. If the RTK signal cannot be received, it is confirmed that the UAV has entered the second action space, and the real-time distance between the UAV and the plurality of pseudo base stations is obtained according to the pseudo base station signal phase;

[0061] Step 260, the drone obtains second positioning information of the drone according to the real-time distances from the plurality of pseudo base stations;

[0062] Step 270: the drone lands on the balcony of the building according to the second positioning information.

[0063] In an embodiment of the present invention, the drone flies from the drone take-off point to the building. After entering the first action space, the drone first obtains the pseudo base station signal phase based on the RTK signal and the pseudo base station signal. The drone continues to fly. In the second action space where the RTK signal cannot be received / used, the drone obtains the real-time distance from multiple pseudo base stations based on the pseudo base station phase, thereby confirming the second positioning information of the drone. The method of the embodiment of the present invention can solve the problem of inaccurate positioning caused by the inability to receive RTK signals, interference with RTK signals, or shielding of RTK signals, and realizes accurate positioning of the drone, thereby realizing delivery of drones to the balconies of buildings.

[0064] In the embodiment of the present invention, before step 210, before the drone flies into the first action space according to the first positioning information of the drone, the method further includes:

[0065] The drone obtains first positioning information of the drone according to an onboard navigation system arranged on the drone and / or according to a satellite navigation system.

[0066] In the embodiment of the present invention, before step 250, before the drone enters the second action space and obtains the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase, the method further includes:

[0067] The drone converts the pseudo base station coordinate system of the pseudo base station into a world coordinate system;

[0068] The drone obtains the second coordinates of each of the pseudo base stations in the world coordinate system.

[0069] In an embodiment of the present invention, after the drone takes off from the logistics site, it obtains first positioning information of the drone in real time based on the onboard navigation system and / or the satellite navigation system, and flies to the vicinity of the building according to a pre-planned path.

[0070] In the embodiment of the present invention, the first action space of the balcony of the building refers to the area near the building where the satellite navigation signal is not interfered with or blocked, so the signal strength is good and the positioning accuracy is good. The second action space is the area where the satellite navigation signal is blocked and the satellite navigation signal strength is poor. At this time, the drone cannot receive the RTK signal. The second action space can be near the balcony of the building, or the internal area of ​​the balcony of the building, etc.

[0071] In the first action space, the drone can be positioned relatively accurately through RTK (Real-time kinematic) signals based on the onboard navigation system installed on the drone and / or based on the satellite navigation system. However, in the second action space, the drone finds it difficult to accurately position itself only through the RTK signal, and therefore cannot accurately land on the balcony of the building.

[0072] RTK signal refers to the processing of satellite navigation signals through RTK. RTK is a carrier phase differential technology, which is a differential method for real-time processing of carrier phase observations of two measurement stations. The carrier phase collected by the base station is sent to the user receiver for coordinate difference calculation. RTK is a new and commonly used satellite positioning measurement method that can obtain centimeter-level positioning accuracy in real time in areas with good satellite navigation signals.

[0073] In the embodiment of the present invention, multiple pseudo base stations are set up near the building. The signal action space of the pseudo base station is not as good as that of the satellite navigation signal, but the pseudo base station signal has better penetration ability, so it will not be blocked by the building and has good positioning accuracy.

[0074] In the embodiment of the present invention, in step 250, obtaining the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase includes:

[0075] The drone obtains coordinates of the first positioning information of the drone in the world coordinate system as first coordinates;

[0076] The UAV obtains the integer ambiguity of each of the pseudo base station signals according to the pseudo base station signal phase, the first coordinate and the second coordinate;

[0077] The drone obtains the real-time distance from each of the pseudo base stations based on the integer ambiguity.

[0078] In the embodiment of the present invention, the drone obtains the integer ambiguity of each pseudo base station signal according to the pseudo base station signal phase, the first coordinate and the second coordinate, and obtains it according to the following method:

[0079]

[0080] is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, Take the integer, is the pseudo base station signal phase of the ith pseudo base station at time t, λ is the wavelength of the pseudo base station signal of the ith pseudo base station, is the first coordinate, u i is the second coordinate of the ith pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0081] In the embodiment of the present invention, after the drone receives the pseudo base station signal of the i-th pseudo base station, constant.

[0082] In the embodiment of the present invention, the drone obtains the real-time distance from each of the pseudo base stations according to the integer ambiguity, including:

[0083]

[0084] Among them, |u t -u i | is the real-time distance between the drone and the ith pseudo base station at the tth moment, u i is the second coordinate of the ith pseudo base station, is the pseudo base station signal phase of the i-th pseudo base station at the t-th time, is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, λ is the wavelength of the pseudo base station signal of the i-th pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0085] In the embodiment of the present invention, the UAV is in the first action space, and the pseudo base station signal phase The error of carrier phase can be directly detected during reception. It can also be detected by receiving RTK signals and multiple pseudo base station signals from multiple pseudo base stations, and by the phase of the pseudo base station signals The first coordinate of the drone and the second coordinate u of the pseudo base station i , other parameters are known, and the integer ambiguity of each pseudo base station signal can be calculated. The integer ambiguity of the pseudo base station signal is a characteristic parameter of the pseudo base station signal. The integer ambiguity of each pseudo base station signal received by the drone is constant. After the drone enters the second action space, although the RTK signal is missing, the integer ambiguity of the pseudo base station signal is known through the above formula The real-time distance between the drone and the ith pseudo base station at time t can be calculated. t -u i |.

[0086] In the embodiment of the present invention, each pseudo base station may periodically send multiple pseudo base station signals, but in the embodiment of the present invention, the pseudo base station signal from the same pseudo base station is considered to be one signal. Therefore, in the embodiment of the present invention, the drone receiving multiple pseudo base station signals from multiple pseudo base stations means that the drone receives pseudo base station signals from multiple pseudo base stations, and each pseudo base station signal corresponds to one pseudo base station.

[0087] In the embodiment of the present invention, the drone obtains the second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations, including:

[0088] The drone obtains second positioning information of the drone according to a multi-lateration positioning method.

[0089] In the embodiment of the present invention, the second positioning information of the drone can also be obtained by other means according to the real-time distances of the multiple pseudo base stations, which will not be described in detail here.

[0090] In the embodiment of the present invention, the drone first obtains the phase of the pseudo base station signal based on the RTK signal and the pseudo base station signal. In the second area where the RTK signal cannot be used, the drone obtains the real-time distance from multiple pseudo base stations based on the pseudo base station phase, thereby confirming the second positioning information of the drone. The method of the embodiment of the present invention can solve the problem of inaccurate positioning caused by the inability to receive, interfere with, or be blocked RTK signals, and realize accurate positioning of the drone, thereby realizing the delivery of drones to the balconies of buildings.

[0091] like Figure 3 As shown, the present invention also provides a drone, which is used to deliver goods to the balcony of a building, and a plurality of pseudo base stations are arranged in a preset space of the building, and the drone includes:

[0092] A navigator 310, for acquiring a first functional space of a balcony of the building;

[0093] A driver 320 is used to fly into the first action space according to the first positioning information of the UAV;

[0094] A receiver 330, configured to obtain pseudo base station signals from the plurality of pseudo base stations in the first action space;

[0095] A controller 340, configured to obtain a phase of the pseudo base station signal according to the RTK signal and the pseudo base station signal in the first action space;

[0096] The controller 340 is also used to confirm that the drone has entered the second action space when the drone continues to fly and fails to receive the RTK signal, and obtain the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase;

[0097] The navigator 310 is also used to obtain the second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations;

[0098] The driver 320 is further configured to land on the balcony of the building according to the second positioning information.

[0099] In the embodiment of the present invention, the navigator 310 is also used for the UAV to obtain the first positioning information of the UAV according to an onboard navigation system arranged on the UAV and / or according to a satellite navigation system.

[0100] In the embodiment of the present invention, the navigator 310 is further used for:

[0101] Converting the pseudo base station coordinate system of the pseudo base station into a world coordinate system;

[0102] The second coordinates of each of the pseudo base stations in the world coordinate system are obtained.

[0103] In the embodiment of the present invention, the controller 340 is further used for:

[0104] Obtaining coordinates of the first positioning information of the drone in a world coordinate system as first coordinates;

[0105] Acquire an integer ambiguity of each of the pseudo base station signals according to the pseudo base station signal phase, the first coordinate, and the second coordinate;

[0106] According to the integer ambiguity, the real-time distance between the drone and each of the pseudo base stations is obtained.

[0107] In the embodiment of the present invention, the controller 340 is further used for:

[0108] According to the pseudo base station signal phase, the first coordinate and the second coordinate, the integer ambiguity of each pseudo base station signal is obtained, and the integer ambiguity is obtained according to the following method:

[0109]

[0110] is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, Take the integer, is the pseudo base station signal phase of the ith pseudo base station at time t, λ is the wavelength of the pseudo base station signal of the ith pseudo base station, is the first coordinate, u i is the second coordinate of the ith pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0111] In the embodiment of the present invention, after the drone receives the pseudo base station signal of the i-th pseudo base station, constant.

[0112] In the embodiment of the present invention, the navigator 310 is further used for:

[0113] According to the integer ambiguity, the real-time distance between the drone and each of the pseudo base stations is obtained in the following manner:

[0114]

[0115] Among them, |u t -u i | is the real-time distance between the drone and the ith pseudo base station at the tth moment, u i is the second coordinate of the ith pseudo base station, is the pseudo base station signal phase of the i-th pseudo base station at the t-th time, is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, λ is the wavelength of the pseudo base station signal of the i-th pseudo base station, is the carrier phase error of the i-th pseudo base station.

[0116] In the embodiment of the present invention, the navigator 310 is further used for:

[0117] According to the multi-point positioning method, the second positioning information of the UAV is obtained.

[0118] The embodiments of the present invention can realize accurate positioning of the drone, thereby realizing delivery of the drone to the balcony of the building.

[0119] An embodiment of the present invention further provides a drone, to which the above method is applied.

[0120] Figure 2 FIG. 1 is a flow chart of a drone delivery method in one embodiment. It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0121] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0122] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants 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 "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0123] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A drone delivery method, characterized in that: Applied to a drone, the drone is used to deliver goods to a balcony of a building, and a plurality of pseudo base stations are arranged in a preset space of the building. The method comprises: The drone acquires a first action space of the balcony of the building; The drone flies into the first action space according to the first positioning information of the drone; The drone obtains pseudo base station signals from the plurality of pseudo base stations in the first action space; The UAV obtains the pseudo base station signal phase according to the RTK signal and the pseudo base station signal in the first action space; The UAV continues to fly. If the RTK signal cannot be received, it is confirmed that it has entered the second action space, and the real-time distance between the UAV and the plurality of pseudo base stations is obtained according to the pseudo base station signal phase; The drone obtains second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations; The drone lands on the balcony of the building according to the second positioning information.

2. The method according to claim 1, characterized in that Before the drone flies into the first action space according to the first positioning information of the drone, the method further includes: The drone obtains first positioning information of the drone according to an onboard navigation system arranged on the drone and / or according to a satellite navigation system.

3. The method according to claim 1, characterized in that Before the drone enters the second action space and obtains the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase, the method further includes: The drone converts the pseudo base station coordinate system of the pseudo base station into a world coordinate system; The drone obtains the second coordinates of each of the pseudo base stations in the world coordinate system.

4. The method according to claim 3, characterized in that The UAV obtains the real-time distance between the UAV and the plurality of the pseudo base stations according to the pseudo base station signal phase, including: The drone obtains coordinates of the first positioning information of the drone in the world coordinate system as first coordinates; The UAV obtains the integer ambiguity of each of the pseudo base station signals according to the pseudo base station signal phase, the first coordinate and the second coordinate; The drone obtains the real-time distance from each of the pseudo base stations based on the integer ambiguity.

5. The method according to claim 4, characterized in that The drone obtains the integer ambiguity of each pseudo base station signal according to the pseudo base station signal phase, the first coordinate and the second coordinate, and obtains it according to the following method: is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, Take the integer, is the pseudo base station signal phase of the ith pseudo base station at time t, λ is the wavelength of the pseudo base station signal of the ith pseudo base station, is the first coordinate, u i is the second coordinate of the ith pseudo base station, is the carrier phase error of the i-th pseudo base station.

6. The method according to claim 5, characterized in that After the UAV receives the pseudo base station signal of the i-th pseudo base station, constant.

7. The method according to claim 6, characterized in that The drone obtains a real-time distance from each of the pseudo base stations according to the integer ambiguity, including: Among them, |u t -u i | is the real-time distance between the drone and the ith pseudo base station at the tth moment, u i is the second coordinate of the ith pseudo base station, is the pseudo base station signal phase of the i-th pseudo base station at the t-th time, is the integer ambiguity of the pseudo base station signal of the i-th pseudo base station, λ is the wavelength of the pseudo base station signal of the i-th pseudo base station, is the carrier phase error of the i-th pseudo base station.

8. The method according to claim 1, characterized in that The drone obtains second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations, including: The drone obtains second positioning information of the drone according to a multi-lateration positioning method.

9. A drone, characterized in that: The drone is used to deliver goods to the balcony of a building, a plurality of pseudo base stations are arranged in a preset space of the building, and the drone includes: A navigator, for obtaining a first action space of a balcony of the building; A driver, configured to fly into the first action space according to the first positioning information of the UAV; A receiver, used to obtain pseudo base station signals from the plurality of pseudo base stations in the first action space; A controller, configured to obtain a pseudo base station signal phase according to the RTK signal and the pseudo base station signal in the first action space; The controller is also used to confirm that the drone has entered the second action space when the drone continues to fly and fails to receive the RTK signal, and obtain the real-time distance between the drone and the plurality of pseudo base stations according to the pseudo base station signal phase; The navigator is also used to obtain the second positioning information of the drone according to the real-time distance from the plurality of pseudo base stations; The driver is further configured to land on the balcony of the building according to the second positioning information.

10. A drone, characterized in that: The method according to any one of claims 1 to 8 is applied.

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