Unmanned aerial vehicle positioning method and system

Abstract

The embodiment of the invention provides an unmanned aerial vehicle positioning method and system. The method is used for improving the positioning precision of unmanned aerial vehicle positioning. The method comprises the steps that first position information and second position information are acquired, the first position information is acquired by the unmanned aerial vehicle through position calculation based on first positioning data, and the second position information is acquired by a satellite constellation through position calculation based on second positioning data; and determining a target position of the unmanned aerial vehicle based on the first position information and the second position information.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle positioning, and in particular to a method and system for positioning an unmanned aerial vehicle. Background Art

[0002] As drone technology becomes more mature, drones have been used in more and more military or civilian scenarios. In order to better monitor and control drones, obtaining the location of drones has become a prerequisite for many applications.

[0003] At present, in order to ensure the reliability and accuracy of navigation and positioning, the global navigation satellite system (GNSS) and inertial navigation system are mainly used as the basis for combined positioning, integrating barometers, altimeters, magnetometers, visual cameras, lidar and other multi-source sensors to achieve UAV navigation and positioning, which requires a lot of calculations. However, the computing power of the onboard processors of small and medium-sized UAVs is generally low, and it takes a lot of time to use the onboard processors to solve the position, resulting in poor positioning timeliness and low reliability and accuracy. Summary of the invention

[0004] The present application provides a method and system for positioning a drone, which are used to improve the positioning accuracy of the drone.

[0005] In a first aspect, a method for positioning a drone is provided, which can be implemented by a drone, and the method includes: acquiring first position information and second position information, the first position information being obtained by the drone through position solution based on first positioning data, the second position information being obtained by a satellite constellation through position solution based on second positioning data, the second positioning data including the first positioning data and data collected by at least one sensor in the drone; and determining the target position of the drone based on the first position information and the second position information.

[0006] In a possible implementation, the first positioning data includes data collected by a navigation satellite system and an inertial navigation system.

[0007] In a possible implementation, the method further includes: receiving a navigation enhancement signal from the satellite constellation; acquiring navigation enhancement data and positioning observation data based on the navigation enhancement signal, the positioning observation data including one or more of the following: a pseudorange between the UAV and a first satellite, a carrier phase measurement value or a Doppler measurement value of the navigation enhancement signal, and the first satellite is a satellite in the satellite constellation that sends the navigation enhancement signal.

[0008] In a possible implementation manner, the first positioning data further includes the navigation enhancement data and the positioning observation data.

[0009] In a possible implementation, determining the target position of the UAV based on the first position information and the second position information includes: determining the difference between a first moment and a second moment, the first moment being the moment when the UAV determines the first position information, and the second moment being the moment when the satellite constellation determines the second position information; if the difference is greater than a first threshold, determining that the position corresponding to the first position information is the target position; if the difference is less than or equal to the first threshold, determining that the position corresponding to the second position information is the target position.

[0010] In a possible implementation, the method further includes: sending first information to the satellite constellation, the first information carrying the location information of the target location, the first information being used to instruct the satellite constellation to send the location information of the target location to the UAV measurement and control module, so that the UAV measurement and control module operates the UAV based on the location information.

[0011] In a possible implementation, the method further includes: sending the second positioning data to the satellite constellation.

[0012] In a second aspect, a UAV positioning system is provided, which includes a UAV and a satellite constellation; wherein the UAV is used to perform position calculation based on first positioning data to obtain first position information, and the first positioning data includes data collected by a navigation satellite system and an inertial navigation system; the UAV is also used to send second positioning data to the satellite constellation, and the second positioning data includes the first positioning data and data collected by at least one sensor; the satellite network constellation is used to perform position calculation for the second positioning data to obtain second position information; and send the second position information to the UAV; the UAV is also used to determine the target position based on the first position information and the second position information.

[0013] In one possible implementation, the satellite constellation is also used to: send a navigation enhancement signal to the UAV; the UAV is also used to: obtain navigation enhancement data and positioning observation data based on the navigation enhancement signal, the positioning observation data including one or more of the following: a pseudorange between the UAV and a first satellite, a carrier phase measurement value or a Doppler measurement value of the navigation enhancement signal, and the first satellite is a satellite in the satellite constellation that sends the navigation enhancement signal.

[0014] In a possible implementation manner, the first positioning data further includes the navigation enhancement data and the positioning observation data.

[0015] In a possible implementation, the drone is specifically used to determine the target position based on the following method: determine the difference between a first moment and a second moment, the first moment being the moment when the drone determines the first position information, and the second moment being the moment when the satellite constellation determines the second position information; if the difference is greater than a first threshold, determine that the position corresponding to the first position information is the target position; if the difference is less than or equal to the first threshold, determine that the position corresponding to the second position information is the target position.

[0016] In a possible implementation, the UAV positioning system also includes a UAV measurement and control module; the UAV is further used to send first information to the satellite constellation, the first information carries the location information of the target location, and the first information is used to instruct the satellite constellation to send the location information of the target location to the UAV measurement and control module; the satellite constellation is further used to send the location information of the target location to the UAV measurement and control module; the UAV measurement and control module is used to operate the UAV based on the location information of the target location.

[0017] In a possible implementation, the satellite constellation includes a second satellite, which is a satellite that receives the second positioning data: the second satellite determines the number of tasks to be processed when receiving the second positioning data; when the number is less than or equal to a threshold, the second satellite determines the second position information based on the navigation enhancement data and the second positioning data; when the number of tasks to be processed for the second satellite is greater than a threshold, the second satellite determines a third satellite from the satellite constellation and sends the second positioning data to the third satellite, the third satellite determines the second position information based on the navigation enhancement data and the second positioning data, and the number of tasks to be processed for the third satellite is less than or equal to the threshold.

[0018] According to a third aspect, a communication device is provided, the communication device comprising:

[0019] A memory for storing program instructions;

[0020] The processor is used to call the program instructions stored in the memory, and execute the steps included in any one of the methods described in the first aspect according to the obtained program instructions.

[0021] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the steps included in any one of the methods described in the first aspect.

[0022] In a fifth aspect, a computer program product comprising instructions is provided. When the computer program product is run on a computer, the computer executes the drone positioning method described in the above-mentioned various possible implementation methods.

[0023] In an embodiment of the present application, a drone can obtain first position information obtained by the drone for position solution, and obtain second position information obtained by the satellite constellation for position solution based on second positioning data, and determine the target position of the drone based on the first position information and the second position information, wherein the second positioning data includes the first positioning data and data collected by at least one sensor of the drone. In other words, the data for the drone for position solution does not include data collected by at least one sensor of the drone, which reduces the complexity of data processing, thereby reducing the time spent by the airborne processor for position solution and improving the efficiency of the airborne processor for position solution. In addition, the drone sends its first positioning data for position solution and the data collected by the at least one sensor to the satellite constellation, and through the satellite constellation for position solution, it can obtain higher-precision position information. In this way, the positioning of the drone is achieved based on the position information obtained by the drone for position solution and the position information obtained by the satellite constellation for position solution, which can improve the positioning accuracy of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application.

[0025] Figure 1 A schematic diagram of a network architecture of a drone positioning system provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the structure of a drone provided in an embodiment of the present application;

[0027] Figure 3 A flowchart of a method for positioning a drone provided in an embodiment of the present application;

[0028] Figure 4 A flowchart of another drone positioning method provided in an embodiment of the present application;

[0029] Figure 5 An architecture diagram of a distributed filtering provided in an embodiment of the present application;

[0030] Figure 6 A structural block diagram of a drone positioning provided in an embodiment of the present application;

[0031] Figure 7Schematic diagram of the structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other arbitrarily. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0033] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0034] Before introducing the embodiments of the present application, some technical features in the present application are first introduced to facilitate understanding by those skilled in the art.

[0035] GNSS: It is a navigation system based on satellite positioning that can provide high-precision position and time information.

[0036] Inertial Navigation System: An inertial measurement unit based on accelerometers and gyroscopes that can measure the acceleration and angular velocity of the drone, thereby calculating the position, speed and attitude of the drone.

[0037] Combined positioning of GNSS and inertial navigation system: refers to the navigation technology that integrates the measurement results of inertial navigation system and GNSS to improve positioning accuracy and reliability.

[0038] The design concept of this application is introduced below.

[0039] As mentioned above, the computing power of the onboard processors of small and medium-sized drones is limited, resulting in poor positioning timeliness and low accuracy. In related technologies, in order to solve this technical problem, one solution is to equip the drone with a high-performance onboard processor. However, equipping the drone with a high-performance onboard processor will greatly increase the cost of the drone, and will greatly increase the power consumption of the drone, shorten the drone's endurance, and restrict the industry application of the drone.

[0040] In view of this, an embodiment of the present application provides a method for positioning a drone, in which a drone can obtain first position information obtained by performing position solution on the drone, and obtain second position information obtained by performing position solution on the satellite constellation based on second positioning data, and determine the target position of the drone based on the first position information and the second position information, wherein the second positioning data includes the first positioning data and data collected by at least one sensor of the drone. In this way, since the data for performing position solution on the drone does not include the data of the sensor, an airborne processor with lower computing power can also obtain the first position information in a shorter time, thereby ensuring the timeliness of positioning and reducing the performance requirements for the airborne processor, thereby reducing the cost of the drone and enabling the drone to be promoted on a large scale. Moreover, since the satellite constellation has the characteristics of global coverage, high bandwidth, low latency, communication and navigation fusion, high signal power, and strong anti-interference ability, the position information determined by the satellite constellation has the characteristics of real-time, stable, reliable, and high precision, which helps to improve the positioning accuracy of the drone.

[0041] After introducing the design ideas of the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0042] In the embodiments of the present application, the provided UAV positioning method can be applied to a UAV positioning system. Figure 1 As shown, Figure 1 A drone positioning system is provided in an embodiment of the present application, the drone positioning system includes a drone and a satellite constellation, and the satellite constellation can communicate with the drone. The satellite constellation may include one or more of a low-orbit satellite constellation, a medium-orbit satellite constellation, or a high-orbit satellite constellation, and the satellite constellation may include multiple satellites. For example, the satellite constellation includes a low-orbit satellite constellation, and the satellite is, for example, a low earth orbit (LEO) satellite.

[0043] The drone may include a navigation enhancement module, a communication module, a navigation satellite system and an inertial navigation system, at least one sensor, an onboard processor, and a data aggregation and distribution module. The at least one sensor may include, for example, a visual sensor, a laser radar, a barometer, an altimeter, a magnetometer, and the like, and the navigation satellite system may be, for example, a GNSS. For example, please refer to Figure 2 , is a drone provided in an embodiment of the present application.

[0044] Among them, the navigation enhancement module is used to receive the navigation enhancement signal from the satellite constellation, obtain the navigation enhancement data carried in the navigation enhancement signal, and obtain positioning observation data based on the navigation enhancement signal. The positioning observation data includes, for example, pseudorange, carrier phase or Doppler frequency shift of the navigation enhancement signal and other data.

[0045] At least one sensor is used with the GNSS and inertial navigation system to collect positioning data in real time. For example, the GNSS and inertial navigation system are used to collect the GNSS coordinates, three-axis acceleration and three-axis angular velocity data of the drone. The visual sensor is used to capture image sequences and point cloud data within the range. The barometer is used to collect the current atmospheric pressure. The altimeter is used to collect the height of the drone from the ground, etc.

[0046] A data aggregation and distribution module is used to aggregate data collected by at least one sensor, data collected by GNSS and inertial navigation systems, and navigation enhancement data and positioning observation data acquired by the navigation enhancement module, and distribute the navigation enhancement data, positioning observation data and data collected by GNSS and inertial navigation systems (i.e., first positioning data) to an onboard processor, and distribute the first positioning data and the data collected by the at least one sensor to a communication module.

[0047] The communication module is used to send the first positioning data and the data collected by the at least one sensor to the satellite constellation, so that the satellite constellation performs position calculation based on the first positioning data and the data collected by the at least one sensor to obtain the second position information of the drone. And, the communication module is also used to receive the second position information from the satellite constellation and transmit the second position information to the data aggregation and distribution module, so that the data aggregation and distribution module distributes the second position information to the airborne processor.

[0048] The airborne processor is used to perform position calculation based on the first positioning data to obtain the first position information of the UAV, and determine the target position of the UAV based on the first position information and the second position information to realize the positioning of the UAV.

[0049] Optionally, the UAV positioning system may also include a UAV measurement and control module (not shown in the figure), which can communicate with the satellite constellation and be used to operate the UAV based on the UAV positioning information from the satellite constellation.

[0050] Based on the above content, the drone positioning method provided in the embodiment of the present application is introduced below in conjunction with the drawings in the specification.

[0051] See also Figure 3 , is a flow chart of a method for positioning a drone provided in an embodiment of the present application, which can be performed by Figure 1 The drone positioning system shown is implemented.

[0052] S301: The drone obtains first location information and second location information.

[0053] The first position information is obtained by calculating the position of the drone based on the first positioning data, and the second positioning data is obtained by calculating the position of the satellite constellation based on the second positioning data. Therefore, before executing S301, the following may also be executed: Figure 4 Steps shown.

[0054] S1: The UAV performs position calculation based on the first positioning data to determine the first position information of the UAV.

[0055] Among them, the first positioning data includes data collected by the GNSS and inertial navigation systems of the drone, and the second positioning data includes the first positioning data and data collected by at least one sensor of the drone. Optionally, the first positioning data may also include navigation enhancement data and positioning observation data obtained by the drone based on the navigation enhancement signal from the satellite constellation. Among them, the positioning observation data, for example, includes one or more of the following: the pseudorange between the drone and the first satellite, the carrier phase measurement value of the navigation enhancement signal, or the Doppler measurement value of the navigation enhancement signal. The first satellite is a satellite in the satellite constellation that sends a navigation enhancement signal to the drone. It can be understood that the above-mentioned positioning observation data is only an example. In other embodiments, other data may also be included, and the embodiments of the present application are not limited to this.

[0056] Therefore, optionally, before executing S1, the satellite constellation (i.e., the first satellite in the satellite constellation) may also send a navigation enhancement signal to the drone, the navigation enhancement signal carrying the navigation enhancement data, and when the drone receives the navigation enhancement signal, it may obtain the navigation enhancement data carried in the navigation enhancement signal. And the drone may measure the received navigation enhancement signal to obtain the positioning observation data.

[0057] After obtaining the first positioning data, the UAV can use a combination of precise point positioning (PPP) technology and real-time kinematic (RTK) technology to solve the first positioning data to obtain the first position information. Optionally, the UAV uses PPP-RTK technology to solve the first positioning data, and can also obtain information such as the speed, attitude and heading of the UAV.

[0058] S2: The UAV sends the second positioning data to the satellite constellation. Correspondingly, the satellite constellation receives the second positioning data from the UAV.

[0059] The at least one sensor may include, for example, at least one of a visual sensor, a laser radar, a barometer, an altimeter, a magnetometer, etc. Optionally, as described in S1, the first positioning data also includes navigation enhancement data, and the navigation enhancement data is carried by the satellite constellation in the navigation enhancement signal and sent to the drone, that is, the satellite constellation stores the navigation enhancement data, so the second positioning data sent by the drone to the satellite constellation may not include the navigation enhancement data.

[0060] S3: The satellite constellation performs position calculation based on the second positioning data to determine the second position information of the UAV.

[0061] Optionally, if the second positioning data from the drone received by the satellite constellation includes navigation enhancement data, the satellite constellation can directly perform position solution based on the second positioning data from the drone to determine the second position information. If the second positioning data from the drone received by the satellite constellation does not include navigation enhancement data, the satellite constellation can also obtain the navigation enhancement data stored in it when performing position solution, and perform position solution based on the navigation enhancement data and the second positioning data from the drone to determine the second position information. In the embodiment of the present application, the example in which the second positioning data from the drone received by the satellite constellation does not include navigation enhancement data is taken as an example.

[0062] The satellite constellation includes multiple satellites, for example, satellite 1, satellite 2 and satellite 3. Among them, the satellite used for position solution in the satellite constellation may be the satellite that receives the second positioning data (for example, the second satellite), or it may be other satellites. Among them, the second satellite may be the first satellite, that is, the satellite that sends the navigation enhancement signal to the drone as described in S1, or it may be other satellites in the satellite constellation. Therefore, optionally, after the second satellite receives the second positioning data from the drone, it can also determine the target satellite for position solution. If the target satellite is another satellite (that is, not the second satellite), the second satellite can also send the second positioning data to the other satellite after determining the target satellite. For example, the second satellite can send the second positioning data to the other satellite through the intersatellite link between the second satellite and the other satellite, so as to perform position solution through the other satellite and obtain the second position information.

[0063] Several methods for determining the target satellite are introduced below.

[0064] Mode 1: After receiving the second positioning data, the second satellite can determine the number of pending tasks for the second satellite. If the number of pending tasks is less than or equal to the threshold, it indicates that the second satellite has the ability to perform position calculation for the UAV, and the second satellite can determine itself as the target satellite. If the number of pending tasks is greater than the threshold, it indicates that the tasks of the second satellite are saturated and it does not have the ability to perform position calculation for the UAV. At this time, the second satellite can determine a third satellite from the satellite constellation whose number of pending tasks is less than or equal to the threshold, and determine the third satellite as the target satellite.

[0065] Taking the satellite constellation including satellite 1, satellite 2 and satellite 3 as an example, if satellite 1 receives the second positioning data from the UAV, satellite 1 can determine the number of its own pending tasks, and if the number of pending tasks is less than or equal to the threshold, satellite 1 is determined to be the target satellite. If the number of pending tasks is greater than the threshold, satellite 1 can determine the number of pending tasks of satellite 2 and satellite 3, and if it is determined that the number of pending tasks of satellite 2 is less than or equal to the threshold, satellite 2 is determined to be the target satellite.

[0066] In this manner, the satellite receiving the second positioning data first determines whether it has the capability to calculate the position, and if so, calculates the position by itself, thus reducing the data transmission time and improving the positioning efficiency.

[0067] Mode 2: When the second satellite receives the second positioning data from the UAV, it can also determine the number of pending tasks for each satellite in the satellite constellation, and select the satellite with the smallest pending tasks as the target satellite.

[0068] Method 3: When the second satellite receives the second positioning data from the UAV and determines that it does not have the position solution capability, the second satellite can determine the number of pending tasks for each satellite in the satellite constellation in order from near to far, and determine the satellite with the closest distance and the number of pending tasks less than or equal to the threshold as the target satellite.

[0069] It can be understood that the above-mentioned methods of determining the target satellite are only examples. In other embodiments, the target satellite can also be determined by other methods, which are not limited in the embodiments of the present application.

[0070] Optionally, the satellite (for example, the second satellite) performing position calculation in the satellite constellation may perform position calculation by distributed filtering to obtain the second position information. The distributed filtering may be, for example, a Kalman filter, and the architecture of the distributed filtering may be, for example, referenced to Figure 5 . Figure 5 In the example, at least one sensor includes a visual sensor and a laser radar. Figure 5 As shown, after receiving the second positioning data from the UAV, the second satellite can input the data collected by the GNSS and inertial navigation system in the second positioning data, the positioning observation data and the navigation enhancement data stored locally by the second satellite into sub-filter 1, input the data collected by the visual sensor in the second positioning data into sub-filter 2, and input the data collected by the laser radar into sub-filter 3. Sub-filters 1, 2 and 3 filter the input data and then input them into the main filter. The main filter obtains the second position information after filtering the input data. It should be noted that a sub-filter can filter one type of data or multiple types of data at the same time. For example, the second positioning data includes data collected by three sensors. The second satellite can input the data collected by the three sensors into different sub-filters respectively, or input the data collected by the three sensors into one sub-filter. The embodiment of the present application does not limit the type of data that can be processed by each sub-filter.

[0071] S4: The satellite constellation sends the second position information to the drone.

[0072] After obtaining the second position information, the satellite constellation may send the second position information to the drone. Optionally, if the satellite performing position calculation in the satellite constellation is a satellite that receives the second positioning data of the drone (for example, the aforementioned second satellite), then after obtaining the second position information, the second satellite may send the second position information to the drone. If the satellite performing position calculation in the satellite constellation is not the second satellite, for example, the aforementioned third satellite, then after obtaining the second position information, the third satellite may send the second position information to the second satellite, and forward the second position information to the drone via the second satellite.

[0073] S302: The drone determines a target position of the drone based on the first position information and the second position information.

[0074] After obtaining the first position information and the second position information, the drone can determine the target position of the drone based on the time when the drone determines the first position information (for example, the first time) and the time when the satellite constellation determines the second position information (for example, the second time). For example, if the difference between the first time and the second time is greater than the first threshold, it indicates that the communication delay between the drone and the satellite constellation may be large, and the error between the position corresponding to the second position information determined by the satellite constellation and the current position is large. At this time, the drone can determine that the position corresponding to the first position information is the target position of the drone.

[0075] If the difference between the first moment and the second moment is less than or equal to the first threshold, it indicates that the communication delay between the UAV and the satellite constellation may be small, and the error between the position corresponding to the second position information determined by the satellite constellation and the current position is small. Moreover, since the data used by the satellite constellation to determine the second position information also includes data from at least one sensor, the second position information is more accurate than the first position information. At this time, the UAV can determine that the position corresponding to the second position information is the target position of the UAV.

[0076] Optionally, after determining the target location, the drone may also send a first message to the satellite constellation, where the first message carries the location information of the target location. After receiving the first message, the satellite constellation may send the location information carried in the first message to the drone measurement and control module, so that the drone measurement and control module can operate the drone based on the location information.

[0077] In the embodiment of the present application, the data collected by the sensor is not included in the data for the position solution of the drone, which reduces the complexity of data processing, thereby reducing the time spent by the airborne processor for position solution and improving the efficiency of the airborne processor for position solution. In addition, the drone sends the positioning observation data obtained based on the navigation enhancement signal, the data collected by at least one sensor, and the data collected by the GNSS and inertial navigation system to the satellite constellation, and performs position solution through the satellite constellation to obtain high-precision position information.

[0078] Based on the same inventive concept, the embodiment of the present application provides a drone positioning device, which can realize the functions corresponding to the aforementioned drone positioning method. The drone positioning device can be a hardware structure, a software module, or a hardware structure plus a software module. The drone positioning device can be implemented by a chip system, which can be composed of a chip or include a chip and other discrete devices. Please refer to Figure 6 As shown, the drone positioning device includes an acquisition module 601 and a processing module 602. Among them:

[0079] An acquisition module 601 is used to acquire first position information and second position information, where the first position information is obtained by the drone performing position solution based on the first positioning data, and the second position information is obtained by performing position solution based on the second positioning data by a satellite constellation, where the second positioning data includes the first positioning data and data collected by at least one sensor in the drone;

[0080] The processing module 602 is used to determine the target position of the UAV based on the first position information and the second position information.

[0081] In a possible implementation, the first positioning data includes data collected by a navigation satellite system and an inertial navigation system.

[0082] In a possible implementation, the UAV positioning device also includes a communication module 603, which is used to receive a navigation enhancement signal from the satellite constellation; the processing module 602 is also used to obtain navigation enhancement data and positioning observation data based on the navigation enhancement signal, and the positioning observation data includes one or more of the following: a pseudorange between the UAV and a first satellite, a carrier phase measurement value or a Doppler measurement value of the navigation enhancement signal, and the first satellite is a satellite in the satellite constellation that sends the navigation enhancement signal.

[0083] In a possible implementation manner, the first positioning data also includes the navigation enhancement data and the positioning observation data.

[0084] In a possible implementation, the processing module 602 is specifically used to: determine the difference between a first moment and a second moment, the first moment being the moment when the drone determines the first position information, and the second moment being the moment when the satellite constellation determines the second position information; if the difference is greater than a first threshold, then determine that the position corresponding to the first position information is the target position; if the difference is less than or equal to the first threshold, then determine that the position corresponding to the second position information is the target position.

[0085] In a possible implementation, the communication module 603 is also used to: send first information to the satellite constellation, the first information carrying the location information of the target location, and the first information is used to instruct the satellite constellation to send the location information of the target location to the UAV measurement and control module, so that the UAV measurement and control module operates the UAV based on the location information.

[0086] In a possible implementation, the communication module 603 is further configured to: send the second positioning data to the satellite constellation.

[0087] All relevant contents of each step involved in the embodiment of the aforementioned drone positioning method can be referred to the functional description of the functional module corresponding to the drone positioning device in the embodiment of the present application, and will not be repeated here.

[0088] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0089] Based on the same inventive concept, the present application embodiment provides an electronic device. Figure 7 As shown, the electronic device includes at least one processor 701 and a memory 702 connected to the at least one processor. The specific connection medium between the processor 701 and the memory 702 is not limited in the embodiment of the present application. Figure 7 In the example, the processor 701 and the memory 702 are connected via a bus 700. Figure 7 The connections between other components are shown in bold lines, and are not intended to be limiting. The bus 700 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0090] In an embodiment of the present application, the memory 702 stores instructions that can be executed by at least one processor 701. The at least one processor 701 can execute the steps included in the aforementioned drone positioning method by executing the instructions stored in the memory 702.

[0091] Among them, the processor 701 is the control center of the electronic device, which can use various interfaces and lines to connect various parts of the entire electronic device, and monitor the electronic device as a whole by running or executing instructions stored in the memory 702 and calling data stored in the memory 702, various functions of the electronic device and processing data. Optionally, the processor 701 may include one or more processing units, and the processor 701 may integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 701. In some embodiments, the processor 701 and the memory 702 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on independent chips.

[0092] The processor 701 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the drone positioning method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0093] The memory 702 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 702 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 702 is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 702 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0094] By designing and programming the processor 701, the code corresponding to the drone positioning method introduced in the aforementioned embodiment can be solidified into the chip, so that the chip can execute the steps of the aforementioned drone positioning method during operation. How to design and program the processor 701 is a technology well known to those skilled in the art and will not be repeated here.

[0095] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the steps of the aforementioned drone positioning method.

[0096] In some possible implementations, various aspects of the drone positioning method provided in the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on an electronic device, the program code is used to enable the detection device to execute the steps of the drone positioning method according to various exemplary embodiments of the present application described above in this specification.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0098] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for positioning a drone, characterized in that: Applied to a drone, the method comprises: Acquire first location information and second location information, where the first location information is obtained by the drone performing location solution based on the first positioning data, and the second location information is obtained by performing location solution based on the second positioning data by a satellite constellation, where the second positioning data includes the first positioning data and data collected by at least one sensor in the drone; The target position of the UAV is determined based on the first position information and the second position information.

2. The method according to claim 1, characterized in that The first positioning data includes data collected by a navigation satellite system and an inertial navigation system.

3. The method according to claim 1, characterized in that The method further comprises: receiving a navigation augmentation signal from the satellite constellation; Navigation enhancement data and positioning observation data are acquired based on the navigation enhancement signal, and the positioning observation data includes one or more of the following: a pseudorange between the UAV and a first satellite, a carrier phase measurement value or a Doppler measurement value of the navigation enhancement signal, and the first satellite is a satellite in the satellite constellation that sends the navigation enhancement signal.

4. The method according to claim 3, characterized in that The first positioning data also includes the navigation enhancement data and the positioning observation data.

5. The method according to any one of claims 1 to 4, characterized in that: The determining the target position of the drone based on the first position information and the second position information includes: Determine a difference between a first moment and a second moment, the first moment being a moment when the drone determines the first position information, and the second moment being a moment when the satellite constellation determines the second position information; If the difference is greater than a first threshold, determining that the position corresponding to the first position information is the target position; If the difference is less than or equal to the first threshold, it is determined that the position corresponding to the second position information is the target position.

6. The method according to claim 1, characterized in that The method further comprises: Sending first information to the satellite constellation, the first information carrying the location information of the target location, the first information being used to instruct the satellite constellation to send the location information of the target location to the UAV measurement and control module, so that the UAV measurement and control module operates the UAV based on the location information.

7. The method according to claim 1, characterized in that The method further comprises: The second positioning data is sent to the satellite constellation.

8. A drone positioning system, characterized in that: The UAV positioning system includes a UAV and a satellite constellation; wherein, The drone is used to perform position calculation based on first positioning data to obtain first position information, where the first positioning data includes data collected by a navigation satellite system and an inertial navigation system; The drone is further configured to send second positioning data to the satellite constellation, where the second positioning data includes the first positioning data and data collected by at least one sensor in the drone; The satellite constellation is used to perform position calculation based on the second positioning data to obtain second position information; and send the second position information to the drone; The drone is further used to determine a target position based on the first position information and the second position information.

9. The unmanned aerial vehicle positioning system according to claim 8, characterized in that: The satellite constellation is also used to: send a navigation enhancement signal to the drone; The UAV is also used to obtain navigation enhancement data and positioning observation data based on the navigation enhancement signal, and the positioning observation data includes one or more of the following: a pseudorange between the UAV and a first satellite, a carrier phase measurement value or a Doppler measurement value of the navigation enhancement signal, and the first satellite is a satellite in the satellite constellation that sends the navigation enhancement signal.

10. The unmanned aerial vehicle positioning system according to claim 9, characterized in that: The first positioning data also includes the navigation enhancement data and the positioning observation data.

11. The unmanned aerial vehicle positioning system according to any one of claims 8 to 10, characterized in that: The drone is specifically used to determine the target position based on the following method: Determine a difference between a first moment and a second moment, the first moment being a moment when the drone determines the first position information, and the second moment being a moment when the satellite constellation determines the second position information; If the difference is greater than a first threshold, determining that the position corresponding to the first position information is the target position; If the difference is less than or equal to the first threshold, it is determined that the position corresponding to the second position information is the target position.

12. The unmanned aerial vehicle positioning system according to claim 8, characterized in that: The UAV positioning system also includes a UAV measurement and control module; The drone is further configured to send first information to the satellite constellation, where the first information carries the location information of the target location, and the first information is configured to instruct the satellite constellation to send the location information of the target location to the drone measurement and control module; The satellite constellation is also used to send the location information of the target location to the UAV measurement and control module; The UAV measurement and control module is used to operate the UAV based on the position information of the target position.

13. The unmanned aerial vehicle positioning system according to claim 8, characterized in that: The satellite constellation includes a second satellite, and the second satellite is a satellite that receives the second positioning data: The second satellite determines the number of tasks to be processed when receiving the second positioning data; When the number is less than or equal to a threshold, the second satellite determines the second position information based on the navigation augmentation data and the second positioning data; When the number of pending tasks for the second satellite is greater than a threshold, the second satellite determines a third satellite from the satellite constellation and sends the second positioning data to the third satellite, the third satellite determines the second position information based on the navigation enhancement data and the second positioning data, and the number of pending tasks for the third satellite is less than or equal to the threshold.

14. The unmanned aerial vehicle positioning system according to claim 8, characterized in that: The satellite constellation is specifically used for: The second positioning data is filtered by a filter to obtain the second position information.

15. A communication device, characterized in that: include: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory, and execute the steps included in any one of claims 1-7 according to the obtained program instructions.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 7.

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