A positioning system for high-precision positioning antenna based on posture information measurement

Abstract

The present invention relates to the field of antenna positioning technology, and discloses a positioning system for a high-precision positioning antenna based on posture information measurement, including a data acquisition module and an antenna positioning module. The system obtains the longitude and latitude information of all target points in the target area, the measurement data of all measurement points and the motion data of all flight points through the data acquisition module, and classifies and forms a data set. The antenna positioning module is provided with a three-dimensional coordinate system for constructing a three-dimensional model of the target area, and then analyzes the farthest distance in the east-west direction, the farthest distance in the north-south direction, the maximum measurement height in the vertical direction and the vertical height of all flight points of the target area, generates corresponding model width, model length and model height, and constructs a three-dimensional model of the target area. The multi-dimensional analysis space model has a small error. The antenna positioning module obtains three-dimensional coordinates according to the three-dimensional model. The three-dimensional coordinates are high-precision posture information, and the positioning antenna is more accurate and reliable.

Description

Technical Field

[0001] The present invention relates to the field of antenna positioning technology, and in particular to a positioning system for a high-precision positioning antenna based on posture information measurement. Background Art

[0002] Although traditional positioning technologies such as GPS and GLONASS provide relatively accurate positioning services worldwide, their positioning accuracy is often greatly limited in complex environments, especially in urban canyons, indoor environments, and areas with strong electromagnetic interference. Therefore, the positioning system based on high-precision positioning antennas with posture information measurement significantly improves the accuracy of terminal positioning by accurately measuring the position and posture information of wireless positioning base stations, and plays a vital role in many fields such as aerospace, robot navigation, and three-dimensional reconstruction. As the core of precise positioning technology, posture information measurement requires the aggregation and optimization of information from multiple sensors. For example, the gyroscope data and accelerometer data in modern drones are used to determine their flight posture, provide comprehensive information in motion, and then infer the posture information of the terminal device, which can achieve autonomous positioning and build maps in unknown environments.

[0003] At present, the traditional positioning system based on posture information measurement has large errors in constructing spatial models in urban canyons, indoor environments, and areas with strong electromagnetic interference, resulting in poor positioning accuracy. The accuracy and reliability of the positioning antenna needs to be improved. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a positioning system for a high-precision positioning antenna based on posture information measurement, which has the advantages of small multi-dimensional analysis spatial model error and more accurate and reliable positioning antenna. It solves the problem that the traditional positioning system based on posture information measurement has large spatial model error and the accuracy of the positioning antenna needs to be improved.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a positioning system for a high-precision positioning antenna based on posture information measurement, comprising a data acquisition module and an antenna positioning module;

[0008] The data acquisition module is composed of a position acquisition unit, a static measurement unit and an inertial measurement unit. The position acquisition unit is connected to a GPS device through a network to collect a position data set, and the position data set includes the latitude and longitude information of all target points in the target area. The static measurement unit is connected to a total station through a network to collect a measurement data set, and the measurement data set includes the measurement data of all measurement points in the target area. The inertial measurement unit is connected to a drone through a network to collect a motion data set, and the motion data set includes the motion data of all flight points in the target area. The data acquisition module transmits the position data set, the measurement data set and the motion data set to the antenna positioning module through the network;

[0009] The antenna positioning module is composed of a two-dimensional analysis unit, a three-dimensional analysis unit and a positioning analysis unit. The antenna positioning module is provided with a three-dimensional coordinate system for constructing a three-dimensional model MX of the target area. The two-dimensional analysis unit analyzes the maximum distance in the east-west direction and the maximum distance in the north-south direction of the target area according to the three-dimensional coordinate system and the position data set, and generates a corresponding model width MX x and model length MX y , and transmitted to the positioning management unit through the network. The three-dimensional analysis unit analyzes the maximum measured height in the vertical direction of the target area according to the three-dimensional coordinate system and the measurement data set to generate the corresponding model height MX z , and transmitted to the positioning management unit through the network. The positioning analysis unit analyzes the vertical heights of all flight points in the target area according to the three-dimensional coordinate system and the motion data set, and then combines the model width MX x 、Model length MX y and model height MX z , constructs and generates a three-dimensional model MX of the target area, and the positioning analysis unit outputs the position and posture information of all target points, measurement points and flight points based on the three-dimensional model MX.

[0010] Preferably, the expression of the position data set is {P1, P2, P3, ..., P n}, P1 to P n The longitude and latitude information of each target point in the target area corresponds in sequence, and each target point is distributed at the edge of the target area. 1 to n means that there are n groups of longitude and latitude information in the target area.

[0011] Preferably, the expression of the measurement data set is {Q1 s 、Q2 S 、Q3 s , ..., Qw s}, Q1 s To Qw sThe measurement data corresponding to each measurement point in the target area are distributed inside the target area. The measurement data include the vertical angle and the horizontal distance from the measurement point to the nearest target point. s represents the time point when the total station collects the measurement data. 1 to w represent that there are w groups of measurement data collected by the total station.

[0012] Preferably, the expression of the motion data set is {Y1 t 、Y2 t 、Y3 t 、...、Yu t}, to The motion data corresponding to each flight point in the target area are distributed inside the target area. The motion data is the acceleration of the UAV flying to a single flight point. t represents the time point when the UAV collects the motion data. 1 to u represents that the UAV has collected u groups of motion data.

[0013] Preferably, the model width MX x The calculation process is as follows:

[0014] Extract the longitude and latitude information of the two target points with the same latitude that are the farthest apart from each other in the location data set and mark them as P a and P b , P a The longitude and latitude in the a , J a ), P b The longitude and latitude in the b , J b ), where W a =W b ;

[0015]

[0016] In the formula, MX x Indicates the model width, It represents the cosine value obtained by converting the latitude of the target point into radians according to the radian formula. 111.32 represents a fixed constant, which is the actual distance of 1 degree of longitude on the equator. J a -J b It represents the absolute value of the longitude difference between the two target points with the same latitude and the farthest distance in the target area. It represents the actual distance between the two target points with the same latitude and the farthest distance in the target area. The farthest distance in the east-west direction of the target area is the maximum width of the target model.

[0017] Preferably, the model length MX y The calculation process is as follows:

[0018] Extract the longitude and latitude information of the two target points with the same longitude that are the farthest apart from each other in the location data set and mark them as P c and P c , P c The longitude and latitude in the c , J c ), P d The longitude and latitude in the d , J d ), where J c =J d ;

[0019]

[0020] In the formula, MX y Indicates the model length, |W c -W d | represents the absolute value of the longitude difference between the two target points with the same longitude that are the farthest apart in the target area. It means that the absolute value of the longitude difference between the two target points is converted into radians according to the radian formula. R represents a fixed constant, which is the average radius of the earth. It represents the actual distance between the two target points with the same longitude and the farthest distance in the target area. The farthest distance in the north-south direction of the target area is the maximum length of the target model.

[0021] Preferably, the model height MX z The calculation process is as follows:

[0022] Extract the measurement data of the i-th measurement point in the measurement data set and mark it as Will The vertical angles in Will The horizontal distance from the i-th measurement point to the nearest target point is marked as

[0023]

[0024] MX z =H max

[0025] In the formula, MX z Indicates the model height, Indicates that the vertical height H of the i-th measuring point is calculated according to the tangent function i , and then calculate the vertical height of w measurement points at the same time, H max It represents the maximum measurement height of w measurement points, that is, the measurement height in the vertical direction of the target area.

[0026] Preferably, the vertical height calculation process of all flight points in the target area is as follows:

[0027] According to Y1 t The motion data in the figure, the initial vertical height of the first flight point is marked as CH1, and the initial vertical velocity of the first flight point is marked as CV1;

[0028] CV2=CV1+Y2 t ×Δt

[0029]

[0030] In the formula, CV2 represents the vertical speed of the drone flying to the second flight point, Y2 t represents the acceleration of the drone flying to the second flight point, Δt represents the flight time of the drone from the first flight point to the second flight point, It means that according to the dynamic acceleration relationship formula, the vertical height CH2 of the drone flying to the second flight point is calculated;

[0031] According to the motion data set, the vertical heights of u flight points are calculated simultaneously, that is, the vertical heights of all flight points in the target area.

[0032] Preferably, the positioning analysis unit calculates the model width MX x 、Model length MX y 、Model height MX z The vertical heights of the u flight points are substituted into the three-dimensional coordinate system, and a three-dimensional model MX of the target area is generated through three-dimensional design software.

[0033] Preferably, the positioning analysis unit obtains the three-dimensional coordinates of all target points, measurement points and flight points according to the three-dimensional model MX, and the three-dimensional coordinates are the position and posture information of all target points, measurement points and flight points.

[0034] Compared with the prior art, the present invention provides a positioning system of a high-precision positioning antenna based on posture information measurement, which has the following beneficial effects:

[0035] 1. The present invention connects the GPS device, the total station and the drone through the data acquisition module network to obtain the latitude and longitude information of all target points in the target area, the measurement data of all measurement points and the motion data of all flight points, and classifies them into position data sets, measurement data sets and motion data sets. The antenna positioning module is provided with a three-dimensional coordinate system for constructing a three-dimensional model MX of the target area, and then analyzes the farthest distance in the east-west direction, the farthest distance in the north-south direction, the maximum measurement height in the vertical direction and the vertical height of all flight points of the target area to generate the corresponding model width MX x 、Model length MX yand model height MX z , and then the model width MX x 、Model length MX y 、Model height MX z The vertical heights of u flight points are substituted into the three-dimensional coordinate system, and a three-dimensional model MX of the target area is generated through three-dimensional design software. The multi-dimensional analysis space model has small error.

[0036] 2. The present invention obtains the three-dimensional coordinates of all target points, measurement points and flight points according to the three-dimensional model MX through the antenna positioning module. The three-dimensional coordinates are the position and posture information of all target points, measurement points and flight points. Two points are arbitrarily marked in the three-dimensional model MX, and the straight-line distance between the two points is calculated by the Euclidean distance formula as the navigation path, or the connection between the two points is marked as a sea-sky line, which can provide high-precision position and posture information for subsequent positioning needs, and the positioning antenna is more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the system flow of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0039] Because the traditional positioning system based on posture information measurement has large errors in the constructed spatial model in urban canyons, indoor environments, and areas with strong electromagnetic interference, resulting in poor positioning accuracy, the accuracy and reliability of the positioning antenna need to be improved. Therefore, a positioning system based on posture information measurement and high-precision positioning antenna is provided. Please refer to Figure 1 ,The system includes a data acquisition module and an antenna positioning module;

[0040] The data acquisition module consists of a position acquisition unit, a static measurement unit and an inertial measurement unit. The position acquisition unit collects a position data set through a network connection to a GPS device. The position data set includes the latitude and longitude information of all target points in the target area. The target points define the approximate range of the target area. The expression of the position data set is {P1, P2, P3, ..., P n}, P1 to P nThe longitude and latitude information of each target point in the target area correspond to each other in sequence, and each target point is distributed at the edge of the target area. 1 to n means that there are n groups of longitude and latitude information in the target area. The longitude and latitude information can locate every location in the world and can standardize the precise coordinates of any location on the earth's surface, providing basic data for subsequent high-precision positioning antennas.

[0041] The static measurement unit is connected to the total station through the network to collect the measurement data set. The measurement data set includes the measurement data of all measurement points in the target area. The expression of the measurement data set is {Q1 s 、Q2 s 、Q3 s , ..., Qw s}, Q1 s To Qw s The measurement data of each measurement point in the target area correspond to each other in sequence, and each measurement point is distributed inside the target area. In the actual process of mapping the canyon, each measurement point can be set on both sides of the canyon mountain, which provides data support for the subsequent construction of an accurate spatial model. The measurement data includes the vertical angle and the horizontal distance from the measurement point to the nearest target point. s represents the time point when the total station collects the measurement data, and 1 to w represent that there are w groups of measurement data collected by the total station;

[0042] The inertial measurement unit connects to the drone through the network to collect the motion data set. The motion data set includes the motion data of all flight points in the target area. The expression of the motion data set is {Y1 t 、Y2 t 、Y3 t 、...、Yu t}, to The motion data of each flight point in the target area corresponds to each flight point in turn, and each flight point is distributed inside the target area. In the actual process of mapping the canyon, each flight point can be set at the bottom of the canyon, which provides data support for the subsequent construction of an accurate spatial model. The motion data is the acceleration of the drone flying to a single flight point. t represents the time point when the drone collects motion data, and 1 to u represents that the drone has collected u groups of motion data;

[0043] The data acquisition module transmits the position data set, the measurement data set and the motion data set to the antenna positioning module through the network;

[0044] The antenna positioning module consists of a two-dimensional analysis unit, a three-dimensional analysis unit and a positioning analysis unit. The antenna positioning module is provided with a three-dimensional coordinate system for constructing a three-dimensional model MX of the target area. The two-dimensional analysis unit analyzes the maximum distance in the east-west direction and the maximum distance in the north-south direction of the target area according to the three-dimensional coordinate system and the position data set, and generates the corresponding model width MX x and model length MXy , and transmitted to the positioning management unit through the network. The calculation process is as follows:

[0045] Since the geometric shape of the earth is approximately spherical, the actual distance corresponding to 1 degree of longitude at different latitudes is different. Therefore, it is necessary to extract the longitude and latitude information of the two target points that are the farthest apart and have the same latitude in the location data set and mark them as P. a and P b , P a The longitude and latitude in the a , J a ), P b The longitude and latitude in the b , J b ), where W a =W b ;

[0046]

[0047] In the formula, MX x Indicates the model width, It represents the cosine value obtained by converting the latitude of the target point into radians according to the radian formula. 111.32 represents a fixed constant, which is the actual distance of 1 degree of longitude on the equator. J a -J b It represents the absolute value of the longitude difference between the two target points with the same latitude and the farthest distance in the target area. It indicates the actual distance between the two target points with the same latitude and the farthest distance in the target area. The farthest distance in the east-west direction of the target area is the maximum width of the target model.

[0048] Similarly, the actual distance corresponding to 1 degree of latitude at different longitudes is different. Therefore, it is necessary to extract the longitude and latitude information of the two target points with the same longitude that are the farthest apart in the location data set and mark them as P. c and P c , P c The longitude and latitude in the c , J c ), P d The longitude and latitude in the d , J d ), where J c =J d ;

[0049]

[0050] In the formula, MX y Indicates the model length, |W c -W d| represents the absolute value of the longitude difference between the two target points with the same longitude that are the farthest apart in the target area. It means that the absolute value of the longitude difference between the two target points is converted into radians according to the radian formula. R represents a fixed constant, which is the average radius of the earth. It indicates the actual distance between the two target points with the same longitude and the farthest distance in the target area. The farthest distance in the north-south direction of the target area is the maximum length of the target model.

[0051] The 3D analysis unit analyzes the maximum measured height in the vertical direction of the target area based on the 3D coordinate system and the measurement data set, and generates the corresponding model height MX z , and transmitted to the positioning management unit through the network. The calculation process is as follows:

[0052] Extract the measurement data of the i-th measurement point in the measurement data set and mark it as Will The vertical angles in Will The horizontal distance from the i-th measurement point to the nearest target point is marked as

[0053]

[0054] MX z =H max

[0055] In the formula, MX z Indicates the model height, Indicates that the vertical height H of the i-th measuring point is calculated according to the tangent function i , and then calculate the vertical height of w measurement points at the same time, H max It represents the maximum measurement height of w measurement points, that is, the measurement height in the vertical direction of the target area. The measurement height is the area height that can be detected by the total station;

[0056] The positioning analysis unit analyzes the vertical heights of all flight points in the target area based on the three-dimensional coordinate system and motion data set. The calculation process is as follows:

[0057] According to Y1 t The motion data in the figure, the initial vertical height of the first flight point is marked as CH1, and the initial vertical velocity of the first flight point is marked as CV1;

[0058] CV2=CV1+Y2 t ×Δt

[0059]

[0060] In the formula, CV2 represents the vertical speed of the drone flying to the second flight point, Y2 t represents the acceleration of the drone flying to the second flight point, Δt represents the flight time of the drone from the first flight point to the second flight point, It means that according to the dynamic acceleration relationship formula, the vertical height CH2 of the drone flying to the second flight point is calculated;

[0061] According to the motion data set, the vertical heights of u flight points are calculated simultaneously, which is the vertical height of all flight points in the target area, making up for the height of the area that cannot be detected by the total station in the target area;

[0062] Positioning analysis unit will model width MX x 、Model length MX y 、Model height MX z The vertical heights of u flight points are substituted into the three-dimensional coordinate system, and a three-dimensional model MX of the target area is generated through three-dimensional design software. The multi-dimensional analysis space model has small error;

[0063] The positioning analysis unit obtains the three-dimensional coordinates of all target points, measurement points and flight points based on the three-dimensional model MX. The three-dimensional coordinates are the position and posture information of all target points, measurement points and flight points. Any two points are marked in the three-dimensional model MX, and the straight-line distance between the two points is calculated by the Euclidean distance formula as the navigation path, or the connection between the two points is marked as a sea-sky line, which can provide high-precision position and posture information for subsequent positioning needs, and the positioning antenna is more accurate and reliable.

[0064] Example 1: In this experiment, the area between two target points at 40°N 10°W and 40°N 15°W is selected as the experimental object. The model width of this area is MX x The calculation formula is as follows:

[0065]

[0066] In the formula, MX x Indicates the model width, It means that after converting the latitude of the target point into radians according to the radian formula, the cosine value is approximately 0.766. 111.32 represents a fixed constant, which is the actual distance of 1 degree of longitude on the equator. |10-15| represents the absolute value of the difference in longitude between the two target points with the same latitude that are the farthest apart in the target area. 426.5 represents the actual distance between the two target points with the same latitude that are the farthest apart in the target area. The farthest distance in the east-west direction of the target area is the maximum width of the target model.

[0067] Example 2: In this experiment, the area between two target points at 34°N 23°W and 40°N 23°W was selected as the experimental object. The model length of this area is MX x The calculation formula is as follows:

[0068]

[0069] In the formula, MX y represents the model length, |34-40| represents the absolute value of the longitude difference between the two target points with the same longitude that are the farthest apart in the target area. It means that the absolute value of the longitude difference between the two target points is converted into radians according to the radian formula. R represents a fixed constant, 6371 is the average radius of the earth, and 665.6 represents the actual distance between the two farthest target points with the same longitude in the target area. The farthest distance in the north-south direction of the target area is the maximum length of the target model.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A positioning system for a high-precision positioning antenna based on position information measurement, characterized in that: Including data acquisition module and antenna positioning module; The data acquisition module is composed of a position acquisition unit, a static measurement unit and an inertial measurement unit. The position acquisition unit is connected to a GPS device through a network to collect a position data set, and the position data set includes the latitude and longitude information of all target points in the target area. The static measurement unit is connected to a total station through a network to collect a measurement data set, and the measurement data set includes the measurement data of all measurement points in the target area. The expression of the measurement data set is {Q1 s 、Q2 s 、Q3 s , ..., Qw s }, Q1 s To Qw s The measurement data of each measurement point in the target area are sequentially corresponding, and each measurement point is distributed inside the target area. The measurement data include the vertical angle and the horizontal distance from the measurement point to the nearest target point. s represents the time point when the total station collects the measurement data. 1 to w represent that there are w groups of measurement data collected by the total station. The inertial measurement unit is connected to the drone through the network to collect the motion data set. The motion data set includes the motion data of all flight points in the target area. The expression of the motion data set is {Y1 t 、Y2 t 、Y3 t 、...、Yu t }, to The motion data corresponding to each flight point in the target area is distributed inside the target area. The motion data is the acceleration of the UAV flying to a single flight point. t represents the time point when the UAV collects the motion data. 1 to u represent that there are u groups of motion data collected by the UAV. The data collection module transmits the position data set, the measurement data set and the motion data set to the antenna positioning module through the network. The antenna positioning module is composed of a two-dimensional analysis unit, a three-dimensional analysis unit and a positioning analysis unit. The antenna positioning module is provided with a three-dimensional coordinate system for constructing a three-dimensional model MX of the target area. The two-dimensional analysis unit analyzes the maximum distance in the east-west direction and the maximum distance in the north-south direction of the target area according to the three-dimensional coordinate system and the position data set, and generates a corresponding model width MX x and model length MX y , and transmitted to the positioning management unit through the network. The three-dimensional analysis unit analyzes the maximum measured height in the vertical direction of the target area according to the three-dimensional coordinate system and the measurement data set to generate the corresponding model height MX z , and transmitted to the positioning management unit through the network. The positioning analysis unit analyzes the vertical heights of all flight points in the target area according to the three-dimensional coordinate system and the motion data set, and then combines the model width MX x 、Model length MX y and model height MX z , constructs and generates a three-dimensional model MX of the target area, and the positioning analysis unit outputs the position and posture information of all target points, measurement points and flight points based on the three-dimensional model MX.

2. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 1, characterized in that: The expression of the position data set is {P1, P2, P3, ..., P n }, P1 to P n The longitude and latitude information of each target point in the target area corresponds in sequence, and each target point is distributed at the edge of the target area. 1 to n means that there are n groups of longitude and latitude information in the target area.

3. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 2, characterized in that: The model width MX x The calculation process is as follows: Extract the longitude and latitude information of the two target points with the same latitude that are the farthest apart from each other in the location data set and mark them as P a and P b , P a The longitude and latitude in the a , J a ), P b The longitude and latitude in the b , J b ), where W a =W b ; In the formula, MX x Indicates the model width, It represents the cosine value obtained by converting the latitude of the target point into radians according to the radian formula. 111.32 represents a fixed constant, which is the actual distance of 1 degree of longitude on the equator. J a -J b It represents the absolute value of the longitude difference between the two target points with the same latitude and the farthest distance in the target area. It represents the actual distance between the two target points with the same latitude and the farthest distance in the target area. The farthest distance in the east-west direction of the target area is the maximum width of the target model.

4. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 3 is characterized in that: The model length MX y The calculation process is as follows: Extract the longitude and latitude information of the two target points with the same longitude that are the farthest apart from each other in the location data set and mark them as P c and P c , P c The longitude and latitude in the c , J c ), P d The longitude and latitude in the d , J d ), where J c =J d ; In the formula, MX y Indicates the model length, |W c -W d | represents the absolute value of the longitude difference between the two target points with the same longitude that are the farthest apart in the target area. It means that the absolute value of the longitude difference between the two target points is converted into radians according to the radian formula. R represents a fixed constant, which is the average radius of the earth. It represents the actual distance between the two target points with the same longitude and the farthest distance in the target area. The farthest distance in the north-south direction of the target area is the maximum length of the target model.

5. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 4, characterized in that: The model height MX z The calculation process is as follows: Extract the measurement data of the i-th measurement point in the measurement data set and mark it as Will The vertical angles in Will The horizontal distance from the i-th measurement point to the nearest target point is marked as MX z =H max In the formula, MX z Indicates the model height, Indicates that the vertical height H of the i-th measuring point is calculated according to the tangent function i , and then calculate the vertical height of w measurement points at the same time, H max It represents the maximum measurement height of w measurement points, that is, the measurement height in the vertical direction of the target area.

6. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 5, characterized in that: The vertical height calculation process of all flight points in the target area is as follows: According to Y1 t The motion data in the figure, the initial vertical height of the first flight point is marked as CH1, and the initial vertical velocity of the first flight point is marked as CV1; CV2=CV1+Y2 t ×Δp In the formula, CV2 represents the vertical speed of the drone flying to the second flight point, Y2 t represents the acceleration of the drone flying to the second flight point, Δt represents the flight time of the drone from the first flight point to the second flight point, It means that according to the dynamic acceleration relationship formula, the vertical height CH2 of the drone flying to the second flight point is calculated; According to the motion data set, the vertical heights of u flight points are calculated simultaneously, that is, the vertical heights of all flight points in the target area.

7. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 6, characterized in that: The positioning analysis unit calculates the model width MX x 、Model length MX y 、Model height MX z The vertical heights of the u flight points are substituted into the three-dimensional coordinate system, and a three-dimensional model MX of the target area is generated through three-dimensional design software.

8. The positioning system of a high-precision positioning antenna based on position information measurement according to claim 7, characterized in that: The positioning analysis unit obtains the three-dimensional coordinates of all target points, measurement points and flight points according to the three-dimensional model MX, and the three-dimensional coordinates are the position and posture information of all target points, measurement points and flight points.

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