Method and system for positioning aircraft in underground space

Abstract

The invention relates to a method for positioning an aircraft in an underground space, and the method specifically comprises the following steps: S1, transmitting a signal to a signal receiving module of the aircraft through a control terminal, and controlling the aircraft to carry a relay device to enter an operation area; the signal detection module of the aircraft detects the signal strength between the control terminal and the signal receiving module of the aircraft, S3, if the signal detection module detects that the signal strength is lower than a set threshold value, the relay-like device starts the motion module and is separated from the aircraft, and the relay-like device is fixed to the surface near the position where the aircraft is located, and S4, the relay-like device starts the motion module and is separated from the aircraft. The relay-like device is internally provided with a positioning node module, the positioning node module is ejected in at least two directions, and the positioning node module is used for determining the motion information of the aircraft, S5, controlling the motion of the relay-like device through the control terminal, and repeating the operation of S4, and S6, a signal sent by the control terminal passes through a signal receiving module of the relay-like device, and is transmitted to the aircraft through the signal receiving module of the relay-like device. And sending the operation instruction to the aircraft.

Description

Technical Field

[0001] The invention belongs to the field of geological surveying and mapping, and relates to a method and system for positioning an aircraft in an underground space. Background Art

[0002] In complex, enclosed and complex spaces such as underground mines, tunnels, and box girders, surveyors are unable to directly map them. The technology of mapping spatial structures such as underground mines is developing rapidly by combining drones and three-dimensional (3D) lidar scanning systems. Unlike above-ground buildings, drones and other aircraft cannot use satellite positioning to achieve real-time control of drones due to closed working spaces, weak signals or lack of GPS coverage. They are easily interfered with or difficult to locate. In enclosed spaces such as underground mines, the commonly used visual inertial positioning method is suitable for enclosed spaces, but it is prone to cumulative errors and is difficult to eliminate. Relay technology can divide the traditional single-hop link into multiple multi-hop links. Due to the shortened distance, this will greatly reduce path loss, help improve transmission quality, and expand communication range.

[0003] Chinese patent CN 116654311 A discloses a method for using a drone in a closed complex environment, including the following steps: S1, a control terminal sends a signal to a signal receiving module of a first drone to control the first drone to enter an operating area; S2, a signal detection module of the first drone detects the signal strength between the control terminal and the signal receiving module; S3, when the signal detection module detects that the signal strength is lower than a set threshold, the first drone stops moving and transmits the signal of the control terminal through the signal sending module of the first drone as a relay station; S4, a control terminal sends a signal to a signal receiving module of the first drone and / or a second drone to control the second drone to enter an operating area. The patent locates and controls the drone by networking the first drone and the second drone.

[0004] In the prior art, in order to more accurately locate and control aircraft in underground spaces, it is necessary to manually enter the underground in advance to set up base stations; however, this can easily cause danger to the human body in complex environments such as mines and tunnels. Therefore, a new and safer method and system for locating aircraft in underground spaces is urgently needed. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for positioning an aircraft in an underground space. In the field of geological surveying by aircraft, the technical solution has the characteristics of remote control, multi-directional positioning node modules, and applicability to a variety of positioning technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution, a method for positioning an aircraft in an underground space, comprising the following steps:

[0007] S1, a signal is sent to the signal receiving module of the aircraft through the control terminal to control the aircraft equipped with the relay-like device to enter the operating area. S2, the signal detection module of the aircraft detects the signal strength between the control terminal and the signal receiving module of the aircraft. S3, if the signal detection module detects that the aforementioned signal strength is lower than the set threshold, the relay-like device starts the motion module and detaches from the aircraft, and the relay-like device will be fixed to the surface near the position of the aircraft. S4, a positioning node module is provided in the relay-like device, and the positioning node module is ejected in at least two directions, and the positioning node module is used to determine the movement information of the aircraft. S5, the movement of the relay-like device is controlled by the control terminal, and the operation of S4 can be repeated. S6, the signal sent by the control terminal sends the operation instruction to the aircraft via the signal receiving module of the relay-like device.

[0008] The present invention also provides a positioning system for an aircraft in an underground space that adopts the above-mentioned positioning method, including a relay-like device, a control terminal and an aircraft that are signal-connected to each other, the relay-like device including a repeater module and a positioning node module, the repeater module is also provided with a signal detection module, an information storage module, an environment detection module, a positioning module and a motion module, the relay-like device can transmit the positioning node module, the positioning node module and the repeater module form a coordinate reference system to realize the positioning and control of the aircraft in the underground space.

[0009] Furthermore, the repeater module is also provided with a cabin, in which an ejection mechanism is provided, and the ejection mechanism includes an ejection tube, a transmission track and a gravity ball. The gravity ball reaches the vicinity of the corresponding ejection tube through the transmission track and starts the ejection to eject the positioning node module.

[0010] Furthermore, the ejection tube includes a tube body, a push plate, a clamping and releasing assembly located inside the tube body, and an elastic member wrapped around the outside of the tube body; the clamping and releasing assembly is arranged along the axis of the tube body, and the clamping and releasing assembly includes a push rod and a claw, the push rod extends out of the tube body, and the gravity ball presses the push rod downward to release the claw; one end of the elastic member is connected to the clamping and releasing assembly, and the other end is connected to the push plate, and one side of the push plate is connected to the elastic member.

[0011] Furthermore, an inclined groove is provided inside the cylinder body at one end close to the push plate, and the clamping release assembly can move along the inclined groove to change the advancing direction of the push plate.

[0012] Furthermore, one end of the push rod is hinged to the claw; the push rod is hinged to the first connecting rod and the second connecting rod at the same end; the claw includes a first hinged rod and a second hinged rod that are crossed in an "X" shape and hinged at a fixed position at the same time, and the first connecting rod and the second connecting rod are hinged to one end of the first hinged rod and the second hinged rod respectively; the intersection of the first hinged rod and the second hinged rod is arranged outside the cylinder body.

[0013] Furthermore, the other ends of the first hinge rod and the second hinge rod are brought together to form a clamping cavity for clamping the push plate; a push pin adapted to the clamping cavity is arranged on a surface of the push plate close to the clamping cavity.

[0014] Furthermore, the motion module of the relay-like device includes a support leg and a wheel foot, the end of the support leg is movably connected to the wheel foot, and the angle between the wheel foot and the support leg can be set according to different modes of the motion module.

[0015] Furthermore, the positioning node module is provided with an adsorption component, a signal transceiver component, a positioning component and a power supply component; the adsorption component is one of negative pressure adsorption, bonding and plugging, and is used to fix the positioning node module on the surface of the material; the signal transceiver component is used for signal transmission between the repeater module, the aircraft and the control terminal;

[0016] The positioning component is used to determine the position coordinate data of the positioning node module and feed the data back to the control terminal.

[0017] Due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art, as an example:

[0018] 1. After the aircraft enters the underground space, the positioning coordinate reference is automatically completed through a relay-like device, without the need for manual operation underground.

[0019] 2. By designing a motion module of a relay-like device, the relay-like device can adapt to a variety of underground environments and has strong applicability. In the field of geological surveying and mapping, the invention has the characteristics of remote control, strong environmental adaptability, and applicability to a variety of positioning technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A block diagram of a method for positioning an aircraft in an underground space provided by an embodiment of the present invention.

[0021] Figure 2 A schematic diagram of a positioning system for an aircraft in an underground space provided by an embodiment of the present invention.

[0022] Figure 3 A schematic structural diagram of a relay-like device is provided for an embodiment of the present invention.

[0023] Figure 4 A schematic diagram of the structure of an ejection mechanism provided in an embodiment of the present invention.

[0024] Figure 5 A schematic diagram of the structure of a positioning node module provided in an embodiment of the invention.

[0025] Description of reference numerals:

[0026] Relay device, 110-repeater module, 111-signal detection module, 112-information storage module, 120-positioning node module, 121-adsorption component, 122-signal transceiver component, 123-positioning component, 124-power component, 130-environmental detection module, 131-camera, 132-groove, 133-rotation axis, 134-liquid analysis component, 140-positioning module, 150-motion module, 151-accommodation cabin, 152-support leg, 153-wheel foot, 160-cabin, 170-gravity ball, 180-transmission track;

[0027] 200-control terminal; 300-aircraft;

[0028] 400 ejection mechanism, 411-cylinder body, 412-clamping release assembly, 413-elastic member, 414-push plate, 415-rotating disk;

[0029] Inclined groove, 421-push rod, 422-claw, 423-first connecting rod, 424-second connecting rod, 425-first hinged rod, 426-second hinged rod, 427-intersection point, 428 ejector pin, 430-transmission track, 440-gravity ball. DETAILED DESCRIPTION

[0030] The following is a further detailed description of the method and system for positioning an aircraft in an underground space disclosed by the present invention in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated, and they can be combined with each other to achieve better technical effects. In the drawings of the following embodiments, the same reference numerals appearing in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the invention. Any modification of the structure, change of the proportion relationship or adjustment of the size should fall within the scope of the technical content disclosed by the invention without affecting the effects and purposes that can be achieved by the invention. The scope of the preferred embodiments of the present invention includes other implementations, in which the functions can be performed in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by those skilled in the art of the technical field to which the embodiments of the present invention belong.

[0032] Example 1

[0033] In this embodiment, the aircraft is a drone, and the drone is equipped with a relay-like device. As an example but not a limitation, the carrying method is one of mounting, setting a belly load compartment, or pop-up load.

[0034] Preferably, the drone is mounted in a mounted manner, and a clamp-like clamp is provided under the drone for fixing the relay-like device.

[0035] Correspondingly, grooves are provided on both sides of the relay-like device, and the clamp-like clamp can be embedded in the aforementioned grooves to ensure that the relay-like device is not easy to fall off during the movement of the drone.

[0036] Under the control of the control terminal, the UAV carries the relay-like device and enters the underground working area.

[0037] Common underground working areas include mines, traffic tunnels, cable tunnels, etc.

[0038] Taking underground mine operations as an example, see Figure 1 The block diagram of the method for positioning an aircraft in an underground space provided by an embodiment of the present invention is shown. The control terminal 200 controls the drone to carry the relay-like device 100 into the underground mine. During the descent of the drone, the location information of the drone can be fed back to the control terminal 200 in real time.

[0039] According to the signal strength between the control terminal and the signal receiving module of the drone, a preset threshold of the signal is set, and the preset threshold needs to be determined according to the working area. Usually, the threshold is set to 20%-30% of the initial signal strength. When the signal strength of the drone is detected to be reduced to the preset threshold, the drone enters a pause state, and accordingly, the relay-like device starts the environmental detection component.

[0040] See also Figure 2, a schematic diagram of a positioning system for an aircraft in an underground space provided by an embodiment of the present invention. When the drone enters a pause state, the coordinate data of the drone is calculated and determined, and fed back to the control terminal. The relay-like device 100 starts the motion module 150.

[0041] Preferably, the environment detection module 130 is first started before the relay-like device 100 starts the motion module 150. As an example but not limitation, the environment detection module 130 is one or more of an image acquisition component, an ultrasonic measurement component or an electromagnetic wave measurement component.

[0042] In this embodiment, the environment detection module 130 is a high-definition camera 131 and an ultrasonic measurement component. A small lighting lamp is arranged around the camera, and the image information obtained by the camera is fed back to the control terminal 200.

[0043] Preferably, the bottom surface of the relay-like device 100 is provided with two mutually intersecting grooves 132, and a rotating shaft 133 is provided at the intersection of the two grooves. The camera is arranged on the rotating shaft, and the camera can rotate around the rotating shaft in the groove, so that the camera can collect image information in multiple directions.

[0044] Preferably, the length of the camera 131 does not exceed half the length of the groove 132 .

[0045] The ultrasonic measuring component is used to measure the distance between the quasi-relay device 100 and the surrounding wall surface. As an example and not a limitation, the environmental detection module 130 measures the distance between the quasi-relay device 100 and the surrounding surface. The detection result shows the distance in at least two directions except the vertical downward direction. By comparison, the direction with the shortest distance is selected, that is, the direction in which the quasi-relay device 100 and the wall surface are the shortest at this time.

[0046] If it is determined that the distance in the vertical downward direction is the shortest, it means that the quasi-relay device 100 is closest to the ground below. At this time, the drone is controlled to directly release the quasi-relay device 100, and the motion module 150 is started.

[0047] If it is determined that the nearest wall is in a certain direction of the plane where the relay device 100 is located, the flight direction of the drone is adjusted to the direction, the relay device 100 is facing the direction, and the motion module 150 is started.

[0048] As an example but not a limitation, the relay-like device 100 extends the support leg 152 to control the drone to move in the above direction until the support leg 152 can touch the wall. The support leg surface 152 is provided with a sensor, and when the support leg 152 touches the wall, a signal is fed back to the control terminal 200, indicating that the relay-like device 100 has reached the wall.

[0049] The environment in the mine is complex, and water may accumulate on the ground. When the water is too deep, it is not suitable for the relay device 100 to land directly.

[0050] In actual operation, when the environment detection module 130 feedbacks that the nearest surface is a liquid surface, the environment detection module 130 starts the liquid analysis component 134 to obtain one or more of the information such as liquid depth, density and liquid viscosity through measurement.

[0051] Preferably, when the measured liquid depth exceeds a preset depth threshold, the motion module 150 of the relay-like device 100 starts the floating mode.

[0052] As an example and not limitation, the wheel feet 153 adjust the angle with the liquid surface to make the angle close to 180°. The wheel feet 153 rotate to enable the relay-like device 100 to move on the water surface.

[0053] Preferably, the preset depth threshold is calculated as 60% of the normal working height of the supporting legs.

[0054] When the measured liquid viscosity exceeds the preset viscosity threshold, it is judged as unsuitable for contact. At this time, the drone is returned a certain distance by controlling the terminal 200, and the relay-like device will start the environment detection module 130 again to perform environment detection until a suitable landing point is found.

[0055] Preferably, the preset viscosity threshold is determined according to the material properties used in the relay-like device.

[0056] When the environment detection module 130 determines that it is suitable for landing, the motion module of the relay-like device is activated. When the measured liquid depth is less than a preset depth threshold and the liquid viscosity is lower than a preset viscosity threshold, the motion module 150 activates the landing mode, and the wheel foot 153 lands perpendicular to the ground.

[0057] In this embodiment, after the relay-like device 100 is fixed to a certain surface, the positioning node module 120 in the relay-like device 100 is started. The positioning node module 120 is ejected from the cabin 160, and at least two different directions are selected to eject the corresponding positioning node module 120, which is used to determine and calculate the position of the drone.

[0058] The movement of the quasi-relay device 100 is controlled by the control terminal 200, and the position information of the quasi-relay device 100 is fed back in real time. After the quasi-relay device 100 moves for a period of time, it can still eject the positioning node module 120 in different directions, so as to continuously provide the control terminal 200 with the movement information of the drone.

[0059] Reference Figure 2 As shown, the present invention also provides a positioning system for an aircraft in an underground space. The system includes a quasi-relay device 100, a control terminal 200, and an aircraft 300 that are signal-connected to each other. The quasi-relay device 100 can transmit a positioning node module, and the positioning node module 120 and the repeater module 110 form a coordinate reference system to realize the positioning and control of the aircraft in the underground space.

[0060] As an example but not limitation, the relay-like device 100 and the control terminal 200 are both provided with a power supply component, which may be a lithium battery, a hydrogen battery, or the like.

[0061] Reference Figure 3 The structure diagram of the relay-like device provided by the embodiment of the present invention is shown. The relay-like device 100 includes a relay module 110 and a positioning node module 120. The relay module 110 is also provided with a signal detection module 111, an information storage module 112, an environment detection module 130, a positioning module 140 and a motion module 150. The relay-like device is used to realize the positioning and control of the aircraft 300 in the underground space.

[0062] In this embodiment, the relay-like device 100 is further provided with a cabin 160, and the cabin 160 may also be provided with a door that can be opened and closed automatically. An ejection mechanism 400 is provided in the cabin 160, and the ejection mechanism 400 is used to eject the positioning node module 120.

[0063] Reference Figure 3 As shown, the motion module 150 includes a receiving compartment 151 and a supporting leg 152. The receiving compartment 151 is disposed at a side position of the relay-like device 100, and the supporting leg 152 extends out of the receiving compartment 151.

[0064] Preferably, a wheel foot 153 is provided at the end of the support leg 152, and the angle between the wheel foot 153 and the support leg 152 can be changed as needed. When the relay-like device 100 performs a landing mode, the wheel foot is perpendicular to the ground or has an acute angle with the ground, so that the relay-like device 100 can be fixed or moved on the ground.

[0065] When the relay-like device 100 executes the floating mode, the wheel feet 153 turn to the horizontal direction, and the wheel feet 153 rotate to enable the relay-like device 100 to float on the liquid surface.

[0066] As an example but not a limitation, the outer edge of the wheel foot 153 may also be provided with teeth to improve the grip of the wheel foot 153 .

[0067] When the relay-like device 100 needs to land on the side wall, the suction cup arm structure set in the relay-like device 100 pops out and is adsorbed on the side wall surface. The end of the support leg 152 extends a hook, which together with the suction cup arm fixes the relay-like device 100 on the side wall.

[0068] After the quasi-relay device 100 is fixed, the positioning module 140 feeds back the current position information of the quasi-relay device 100 to the control terminal 200. After the drone releases the quasi-relay device, the signal is amplified and transmitted again through the repeater module 110, so that the aircraft 300 can continue to move forward and can be positioned.

[0069] As an example and not a limitation, the aircraft 300 may also be equipped with a 3D laser radar scanning device to perform 3D scanning of the underground space.

[0070] Reference Figure 4 The ejection mechanism 400 is a schematic diagram of an ejection mechanism provided in an embodiment of the present invention. The ejection mechanism 400 includes an ejection tube 410, a transmission track 430 and a gravity ball 440. The ejection tube 410 includes a tube body 411, a push plate 414, a clamping release assembly 412 located inside the tube body 411 and an elastic member 413 wound around the outside of the tube body 411. The clamping release assembly 412 is arranged along the axis of the tube body 411. One end of the elastic member 413 is connected to the clamping release assembly 412, and the other end is connected to the push plate 414. One side of the push plate 414 is connected to the elastic member 413. The clamping release assembly 412 includes a push rod 421 and a claw 422. The push rod 421 extends out of the tube body 411 and connects to the adjacent transmission track.

[0071] Preferably, the conveying track 430 is composed of a plurality of controllable lifting track blocks, and the conveying track 430 is arranged around the ejection tube 410, and the height that can be lifted is just flush with the initial position of the push rod 421. The gravity ball 440 can move in the conveying track 430, and when the control terminal 200 issues an instruction, the gravity ball 440 can press the corresponding push rod 421, thereby starting the ejection mechanism 400.

[0072] As an example but not a limitation, there may be a plurality of gravity balls 440, each ejection tube 410 being equipped with a gravity ball 440. The corresponding transmission track 430 may be a track block connected to the push rod 421. When receiving a command from the control terminal, the track block tilts, and the gravity ball 440 located thereon is pressed onto the push rod 421, thereby triggering the ejection mechanism 400.

[0073] Preferably, refer to Figure 4 As shown, an inclined groove 420 is provided at one end of the cylinder body 411 near the push plate 414, and the clamping release assembly 412 can move along the inclined groove 420 to change the forward direction of the push plate.

[0074] As an example but not limitation, the ejection tube 410 is further provided with a rotatable rotating disk 415 , and the forward direction of the push plate can also be changed by adjusting the rotation angle of the rotating disk 415 .

[0075] One end of the push rod 421 is hinged to the claw 422; the push rod 421 is hinged to the first connecting rod 423 and the second connecting rod 424 at the same end; the claw 422 includes two first hinged rods 425 and second hinged rods 426 that are crossed in an "X" shape and hinged at fixed positions at the same time, and the first connecting rod 423 and the second connecting rod 424 are hinged to one end of the first hinged rod 425 and the second hinged rod 426 respectively; the intersection 427 of the first hinged rod 425 and the second hinged rod 426 is arranged outside the cylinder body 411.

[0076] During specific operation, when the first connecting rod 423 and the second connecting rod 424 of the clamping release assembly 412 move along the spiral groove 420, correspondingly, the first connecting rod 423 and the second connecting rod 424, the first hinge rod 425 and the second hinge rod 426 form a parallelogram, thereby changing the angle between the push plate 414 and the cylinder body 411, and the forward direction of the positioning node module 120 also changes accordingly.

[0077] Preferably, the other ends of the first hinge rod 425 and the second hinge rod 426 are brought close to each other to form a clamping cavity for clamping the push plate 414; a push pin 428 adapted to the clamping cavity is provided on one surface of the push plate 414 close to the clamping cavity.

[0078] As an example and not a limitation, a grid is provided in the cabin, and the grid separates each ejection mechanism 400 to make them independent of each other.

[0079] The control terminal 200 sends an ejection instruction to the quasi-relay device 100 , and the corresponding positioning node module 120 can be ejected in a set direction and adsorbed and fixed on a corresponding surface.

[0080] Reference Figure 5 The structure diagram of the positioning node module provided by the present invention is shown, and the positioning node module 120 is provided with an adsorption component 121, a signal transceiver component 122, a positioning component 123 and a power supply component 124. The adsorption component 121 includes a tentacles and an adsorption plate. The adsorption component 121 is used to fix the positioning node module 120 on the surface of a material; the signal transceiver component 122 is used for signal transmission between the repeater module 110, the aircraft 300 and the control terminal 200; the positioning component 123 is used to determine the position coordinate data of the positioning node module 120 and feed the data back to the control terminal 200; the power supply component 124 is used to supply energy to the positioning node module.

[0081] Preferably, the adsorption component is one of negative pressure adsorption, bonding, and plug-in.

[0082] As an example but not limitation, the adsorption component 121 may be provided with a plurality of tentacles, and a plurality of adsorption disks may be provided at the ends of the tentacles and / or on the tentacles to grip the surface of the material.

[0083] The location information of the positioning node module 120 is sent to the control terminal 200. The location information of the positioning node module 120 is used to determine the spatial position of the aircraft 300 in combination with the relay-like device 100, and is fed back to the control terminal. The motion module 150 of the relay-like device 100 can receive and implement the action instructions of the control terminal 200.

[0084] It should be noted that the above embodiments are not intended to limit the protection scope of the present invention, and equivalent changes or substitutions made on the basis of the above technical solutions all fall within the protection scope of the claims of the present invention.

Claims

1. A method for positioning an aircraft in an underground space, characterized in that: The method comprises the following steps: S1, send a signal to the signal receiving module of the aircraft through the control terminal, control the aircraft to carry the relay-like device to enter the operation area, S2, the signal detection module of the aircraft detects the signal strength between the control terminal and the signal receiving module of the aircraft. S3, if the signal detection module detects that the signal strength is lower than the set threshold, the quasi-relay device starts the motion module and separates from the aircraft. The quasi-relay device is fixed to a surface near the position of the aircraft. S4, a positioning node module is provided in the relay-like device, and the positioning node module is ejected in at least two directions, wherein the positioning node module is used to determine the motion information of the aircraft, S5, through the control terminal control relay device movement, and can repeat the operation of S4, S6, the signal sent by the control terminal sends an operation instruction to the aircraft via the signal receiving module of the relay-like device.

2. A positioning system for an aircraft in an underground space, characterized in that: It includes a relay-like device, a control terminal and an aircraft that are signal-connected to each other. The relay-like device includes a repeater module and a positioning node module. The repeater module is also provided with a signal detection module, an information storage module, an environment detection module, a positioning module and a motion module. The relay-like device can transmit the positioning node module. The positioning node module and the repeater module form a coordinate reference system to realize the positioning and control of the aircraft in the underground space. The control terminal sends instructions to the relay-like device and the aircraft. The relay-like device and the aircraft execute the instructions and feed back information to the control terminal.

3. The positioning system for an aircraft in an underground space according to claim 2, characterized in that: The repeater module is also provided with a cabin, in which an ejection mechanism is provided. The ejection mechanism includes an ejection tube, a transmission track and a gravity ball. The gravity ball reaches the vicinity of the corresponding ejection tube through the transmission track and starts the ejection to eject the positioning node module.

4. The positioning system for an aircraft in an underground space according to claim 3, characterized in that: The ejection tube includes a tube body, a push plate, a clamping release assembly located inside the tube body, and an elastic member wrapped around the outside of the tube body; the clamping release assembly is arranged along the axis of the tube body, and the clamping release assembly includes a push rod and a claw, the push rod extends out of the tube body, and the gravity ball presses the push rod downward to release the claw; one end of the elastic member is connected to the clamping release assembly, and the other end is connected to the push plate, and one side of the push plate is connected to the elastic member.

5. The positioning system for an aircraft in an underground space according to claim 4, characterized in that: An inclined groove is arranged at one end of the cylinder body near the push plate, and the clamping release assembly can move along the inclined groove to change the advancing direction of the push plate.

6. The positioning system for an aircraft in an underground space according to claim 5, characterized in that: One end of the push rod is hinged to the claw; the push rod is hinged to the first connecting rod and the second connecting rod at the same end; the claw includes a first hinged rod and a second hinged rod that are crossed in an "X" shape and hinged at a fixed position at the same time, and the first connecting rod and the second connecting rod are hinged to one end of the first hinged rod and the second hinged rod respectively; the intersection of the first hinged rod and the second hinged rod is set outside the cylinder body.

7. The positioning system for an aircraft in an underground space according to claim 6, characterized in that: The other ends of the first hinge rod and the second hinge rod are brought together to form a clamping cavity for clamping the push plate; a push pin adapted to the clamping cavity is arranged on one surface of the push plate close to the clamping cavity.

8. The positioning system for an aircraft in an underground space according to claim 6, characterized in that: The motion module of the relay-like device comprises a support leg and a wheel foot, the end of the support leg is movably connected to the wheel foot, and the angle between the wheel foot and the support leg can be set according to different modes of the motion module.

9. The positioning system for an aircraft in an underground space according to claim 8, characterized in that: The positioning node module is provided with an adsorption component, a signal transceiver component, a positioning component and a power supply component. The adsorption component is one of negative pressure adsorption, bonding, and plugging, and is used to fix the positioning node module on the surface of the material; The signal transceiver component is used for signal transmission between the repeater module, the aircraft and the control terminal; The positioning component is used to determine the position coordinate data of the positioning node module and feed the data back to the control terminal.

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