Unmanned aerial vehicle positioning system and method

Abstract

The invention provides an unmanned aerial vehicle positioning system and method, and relates to the technical field of indoor unmanned aerial vehicle positioning, and the system comprises three outdoor unmanned aerial vehicles which are respectively provided with a global positioning device and a first distance measurement device; a second distance measuring device and a controller are carried on each indoor unmanned aerial vehicle, and the controller controls the second distance measuring devices to continuously interact with the first distance measuring devices when receiving an external flight instruction so as to continuously obtain real-time distances between the indoor unmanned aerial vehicles and the outdoor unmanned aerial vehicles and obtain first space coordinates of the outdoor unmanned aerial vehicles; and then processing according to each first space coordinate and each real-time distance to obtain a second space coordinate of the indoor unmanned aerial vehicle as an indoor positioning result of the indoor unmanned aerial vehicle, so as to control the indoor unmanned aerial vehicle to execute a corresponding indoor flight task in the building according to the indoor positioning result. The system has the beneficial effects that the indoor unmanned aerial vehicle is effectively positioned through the outdoor unmanned aerial vehicle, equipment installation in a building is not needed, the cost is saved, and operation is convenient.

Description

Technical Field

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

[0002] The applicability of drones is not limited to outdoor applications. Drones can also be used in indoor environments for manufacturing / services (such as hospitals, greenhouses, production companies, and nuclear power plants, etc.). However, most drones today have a fatal weakness, which is that they rely heavily on GPS (Global Positioning System). Without GPS, drones are like blind and cannot fly at all. However, in indoor environments, GPS signals are usually weak.

[0003] In order to solve the problem of weak indoor GPS signals and inability to position, the existing technology either loads multiple sensors on the drone, or installs corresponding base stations indoors. This relies on many types of sensors and requires additional equipment to be installed indoors, which is costly and has a heavy operating load. It also easily leads to complex structures and fusion algorithms for the drone. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a drone positioning system for providing positioning services for at least one indoor drone in a building. The drone positioning system comprises:

[0005] Three outdoor drones, each of which is equipped with a global positioning device and a first distance measuring device, and each of which is located outside the building;

[0006] Each of the indoor drones is equipped with a second distance measuring device and a controller, and the controller includes:

[0007] A data acquisition module, configured to, upon receiving an external flight instruction, control the second distance measuring device to continuously interact with each of the first distance measuring devices, so as to continuously obtain the real-time distance between the indoor UAV and each of the outdoor UAVs, and obtain the first spatial coordinates collected by each of the outdoor UAVs through the global positioning device;

[0008] A real-time positioning module is connected to the data acquisition module and is used to obtain the second spatial coordinates of the indoor drone as the indoor positioning result of the indoor drone according to each of the first first spatial coordinates and each of the real-time distances, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

[0009] Preferably, the three outdoor drones and the one indoor drone form a triangular pyramid in space; then the real-time positioning module includes:

[0010] an equation construction unit, configured to use the planes where the three outdoor drones are located as the bottom surfaces of the triangular pyramid, and to construct a set of equations corresponding to the edges of the triangular pyramid except the bottom surfaces according to the first spatial coordinates and the real-time distances;

[0011] An equation solving unit, connected to the equation building unit, is used to solve the equation group to obtain the second spatial coordinates of the indoor drone.

[0012] Preferably, the three outdoor drones are outdoor drone A, outdoor drone B and outdoor drone C, and the equation group is:

[0013]

[0014] Among them, (x a ,y a ,z a ) is used to represent the first spatial coordinate of the outdoor UAV A; (x b ,y b ,z b ) is used to represent the first spatial coordinate of the outdoor UAV B; (x c ,y c ,z c ) is used to represent the first spatial coordinate of the outdoor UAV C; (x d ,y d ,z d ) is used to represent the first spatial coordinate of the outdoor drone C; a is used to represent the real-time distance between the outdoor drone A and the indoor drone; b is used to represent the real-time distance between the outdoor drone B and the indoor drone; c is used to represent the real-time distance between the outdoor drone C and the indoor drone.

[0015] Preferably, the real-time positioning module further includes:

[0016] A storage unit, connected to the equation building unit, for storing pre-configured first distance parameters between the center position of each of the outdoor drones and the signal transceiver component of the first ranging device, and a second distance parameter between the center position of the indoor drone and the signal transceiver component of the second ranging device;

[0017] a correction unit, connected to the equation building unit, the storage unit and the equation solving unit respectively, and used for obtaining a first corrected coordinate of the signal transceiver component of the first distance measuring device according to the first distance parameter and the first space coordinate;

[0018] The equation construction unit constructs the equation group using the first corrected coordinate as the first spatial coordinate;

[0019] The correction unit is further used to obtain second corrected coordinates of the center position of the indoor drone according to the second distance parameter and the second spatial coordinates, and use the second corrected coordinates as the indoor positioning result of the indoor drone.

[0020] Preferably, a control platform is further included to connect the outdoor drones and the indoor drones, and the control platform includes:

[0021] A model building module, used to respectively model each of the outdoor UAVs and the indoor UAVs, and to build a corresponding outdoor body coordinate system and indoor body coordinate system;

[0022] A first processing module, connected to the model building module, is used to process the center position of each outdoor drone and the first body coordinates of the signal transceiver component of the first ranging device in the outdoor body coordinate system according to the pre-acquired size parameters of each outdoor drone, and to process the center position of the indoor drone and the second body coordinates of the signal transceiver component of the second ranging device in the indoor body coordinate system according to the pre-acquired size parameters of the indoor drone;

[0023] A second processing module, connected to the first processing module, is used to obtain an outdoor body distance parameter between the center position of each outdoor UAV and the corresponding signal transceiver component of the first ranging device in the outdoor body coordinate system according to each first body coordinate processing, and to obtain an indoor body distance parameter between the center position of each indoor UAV and the corresponding signal transceiver component of the second ranging device in the indoor body coordinate system according to each second body coordinate processing;

[0024] a third processing module, connected to the second processing module, configured to perform coordinate conversion to obtain the first distance parameter of the outdoor machine body distance parameter in the global coordinate system, and the second distance parameter of the indoor machine body distance parameter in the global coordinate system;

[0025] A parameter configuration module is connected to the third processing module and is used to send the first distance parameter and the second distance parameter to the indoor drone for storage before the indoor drone executes the flight instruction.

[0026] Preferably, the control platform also includes a flight control module, which is used to control each outdoor drone to fly to a preset range outside the building, and then send the flight command to the indoor drone, and plan a target flight route based on the acquired indoor positioning results, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the planned target flight route.

[0027] Preferably, the control platform also includes a position display interface for obtaining and displaying the indoor positioning result of the indoor drone to the operator to form a real-time flight route, and superimposing the real-time flight route with the target flight route.

[0028] Preferably, both the first ranging device and the second ranging device are ultra-wideband ranging devices.

[0029] The present invention also provides a drone positioning method, which is applied to the above-mentioned drone positioning system, and three outdoor drones and at least one indoor drone are pre-configured; the drone positioning method comprises:

[0030] Step S1, when receiving an external flight command, the indoor drone controls the second distance measuring device carried by itself to continuously interact with the first distance measuring device carried by each outdoor drone, so as to continuously obtain the real-time distance between the indoor drone and each outdoor drone, and obtain the first spatial coordinates collected by the global positioning device carried by each outdoor drone;

[0031] In step S2, the indoor drone obtains the second spatial coordinates of the indoor drone according to each of the first spatial coordinates and each of the real-time distances as the indoor positioning result of the indoor drone, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

[0032] Preferably, the three outdoor drones and the one indoor drone form a triangular pyramid in space; then step S2 includes:

[0033] Step S21, the indoor drone uses the planes where the three outdoor drones are located as the bottom surfaces of the triangular pyramid, and constructs a set of equations corresponding to the edges of the triangular pyramid except the bottom surfaces according to the first spatial coordinates and the real-time distances;

[0034] Step S22: the indoor drone solves the set of equations to obtain the second spatial coordinates of the indoor drone.

[0035] The above technical solution has the following advantages or beneficial effects:

[0036] 1) To effectively locate indoor drones through outdoor drones, it is only necessary to install distance measuring devices on outdoor drones and indoor drones, without the need to install equipment inside buildings, which saves costs and facilitates operation. It is especially suitable for the rapid execution of temporary indoor flight missions;

[0037] 2) The hardware configuration requirements for the drone are low. The structure of the drone is simple, and the data calculation process involved is relatively simple. It has low dependence on the computing power of the controller, which further saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a structural schematic diagram of a UAV positioning system in a preferred embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the distribution of outdoor drones and indoor drones in a preferred embodiment of the present invention;

[0040] Figure 3 The figure is a flow chart of a method for positioning a drone in a preferred embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a sub-process of step S2 in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0043] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a drone positioning system is provided. Figure 1 and Figure 2 As shown, the drone positioning system is used to provide positioning services for at least one indoor drone 1 in a building 100, and includes:

[0044] Three outdoor drones 2, each outdoor drone 2 is equipped with a global positioning device 21 and a first distance measuring device 22, and each outdoor drone 2 is located outside the building;

[0045] Each indoor drone 1 is equipped with a second distance measuring device 11 and a controller 12, and the controller 12 includes:

[0046] The data acquisition module 121 is used to control the second distance measuring device 11 to continuously interact with each first distance measuring device 22 when receiving an external flight instruction, so as to continuously obtain the real-time distance between the indoor drone 1 and each outdoor drone 2, and obtain the first spatial coordinates of each outdoor drone 2 collected by the global positioning device 21;

[0047] The real-time positioning module 122 is connected to the data acquisition module 121, and is used to obtain the second spatial coordinates of the indoor drone 1 as the indoor positioning result of the indoor drone 1 according to each first spatial coordinate and each real-time distance processing, so as to control the indoor drone 1 to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

[0048] Specifically, in this embodiment, the three outdoor drones 2 are preferably located on at least two sides of the building 100, and each outdoor drone 2 can be in a hovering state, or can simultaneously perform corresponding outdoor flight tasks outside the building while providing positioning services, including but not limited to transportation, cruising, monitoring and other tasks, so as to achieve effective utilization of resources. The indoor drone 1 can be remotely controlled to fly into the building, and preferably can be configured in the controller 12 of the indoor drone 1, so that when the indoor drone 1 cannot receive the outdoor GPS signal, it controls itself to hover and wait until it receives the external flight command, and then locates itself based on the first spatial coordinates collected by each outdoor drone 2 and the real-time distance between the indoor drone 1 and the three outdoor drones 2, and obtains the indoor positioning result of the indoor drone 1 in the same coordinate system as each outdoor drone 2.

[0049] The implementation of this technical solution only requires loading ranging devices on outdoor drones and indoor drones, without the need to install equipment inside buildings, which saves costs and facilitates operation. It is especially suitable for the rapid execution of temporary indoor flight missions.

[0050] In a preferred embodiment of the present invention, three outdoor drones 2 and one indoor drone 1 form a triangular pyramid in space; the real-time positioning module 122 includes:

[0051] The equation construction unit 1221 is used to use the plane where the three outdoor drones are located as the bottom surface of the triangular pyramid, and construct a set of equations corresponding to each edge of the triangular pyramid except the bottom surface according to each first spatial coordinate and each real-time distance;

[0052] The equation solving unit 1222 is connected to the equation building unit 1221 and is used to solve the equation group to obtain the second spatial coordinates of the indoor drone.

[0053] Specifically, in this embodiment, the plane where the three outdoor drones are located is used as the ground of the triangular pyramid, and the plane formed by the indoor drone and any two outdoor drones is used as the side of the triangular pyramid. In the triangular pyramid, the spatial coordinates of the three points on the bottom (the first spatial coordinates corresponding to the three indoor drones) are known, and the lengths of each edge on the side of the triangular pyramid (the real-time distances between the indoor drone and the three outdoor drones respectively) are known. By constructing a group of equations, the spatial coordinates of the remaining vertex of the triangular pyramid, that is, the second spatial coordinates of the indoor drone, can be solved.

[0054] In a preferred embodiment of the present invention, the three outdoor drones are outdoor drone A, outdoor drone B and outdoor drone C, and the equation group is:

[0055]

[0056] Among them, (x a ,y a ,z a ) is used to represent the first spatial coordinate of the outdoor UAV A; (x b ,y b ,z b ) is used to represent the first spatial coordinate of the outdoor drone B; (x c ,y c ,z c ) is used to represent the first spatial coordinate of the outdoor drone C; (x d ,y d ,z d ) is used to represent the first spatial coordinate of the outdoor drone C; a is used to represent the real-time distance between the outdoor drone A and the indoor drone; b is used to represent the real-time distance between the outdoor drone B and the indoor drone; c is used to represent the real-time distance between the outdoor drone C and the indoor drone.

[0057] In a preferred embodiment of the present invention, the real-time positioning module 122 also includes:

[0058] The storage unit 1223 is connected to the equation construction unit 1221, and is used to store the pre-configured first distance parameter between the center position of each outdoor drone and the signal transceiver component of the first distance measuring device, and the second distance parameter between the center position of the indoor drone and the signal transceiver component of the second distance measuring device;

[0059] The correction unit 1224 is connected to the equation construction unit 1221, the storage unit 1223 and the equation solving unit 1222, respectively, and is used to obtain the first correction coordinates of the signal transceiver component of the first distance measuring device according to the first distance parameter and the first space coordinates;

[0060] The equation construction unit 1221 constructs an equation group using the first corrected coordinate as the first space coordinate;

[0061] The correction unit 1224 is further configured to obtain a second corrected coordinate of the center position of the indoor UAV according to the second distance parameter and the second spatial coordinate, and use the second corrected coordinate as the indoor positioning result of the indoor UAV.

[0062] Specifically, considering the size of the indoor drone 1 itself and the need to perform flight missions within the building 100, the environment within the building 100 is usually complex, and even a small distance difference may cause the flight route of the indoor drone 1 to deviate, especially for flight missions with high precision requirements. In this embodiment, taking into account the size of the indoor drone 1 and the outdoor drone 2 and the installation positions of the corresponding second ranging device 11 and the first ranging device 22, the ranging principle of the second ranging device 11 and the first ranging device 22 (based on the flight time of the pulse signal between the second ranging device 11 and the first ranging device to confirm the flight distance), the second spatial coordinates obtained by solving the equation group are corrected to obtain a more accurate indoor positioning result. In this embodiment, since the installation position of the corresponding ranging device on the drone is not limited, it can be installed on one of the wings of the drone, or it can be installed on the bottom, top or head of the drone, etc. When collecting real-time distance, theoretically, what is measured is the distance between the signal transceiver components of the two ranging devices, which is still somewhat different from the center position of the drone (which can be considered as the geometric center or center of the drone). Therefore, the correction unit is used to eliminate this difference, so that the final real-time distance obtained is the distance between the center position of the indoor drone and the center position of the outdoor drone, and the second corrected coordinate is the spatial coordinate of the center position of the indoor drone.

[0063] In a preferred embodiment of the present invention, a control platform 3 is further included to connect the outdoor drones 2 and the indoor drones 1. The control platform 3 includes:

[0064] A model building module 31 is used to model each outdoor UAV and indoor UAV respectively, and to build a corresponding outdoor body coordinate system and indoor body coordinate system;

[0065] The first processing module 32 is connected to the model building module 31, and is used to process the center position of each outdoor drone and the first body coordinates of the signal transceiver component of the first ranging device in the outdoor body coordinate system according to the pre-acquired size parameters of each outdoor drone, and to process the center position of the indoor drone and the second body coordinates of the signal transceiver component of the second ranging device in the indoor body coordinate system according to the pre-acquired size parameters of the indoor drone;

[0066] The second processing module 33 is connected to the first processing module 32, and is used to obtain the outdoor body distance parameter between the center position of each outdoor UAV and the signal transceiver component of the corresponding first ranging device in the outdoor body coordinate system according to each first body coordinate processing, and to obtain the indoor body distance parameter between the center position of each indoor UAV and the signal transceiver component of the corresponding second ranging device in the indoor body coordinate system according to each second body coordinate processing;

[0067] The third processing module 34 is connected to the second processing module 33 and is used for performing coordinate conversion to obtain a first distance parameter of the outdoor unit distance parameter in the global coordinate system and a second distance parameter of the indoor unit distance parameter in the global coordinate system;

[0068] The parameter configuration module 35 is connected to the third processing module 34 and is used to send the first distance parameter and the second distance parameter to the indoor drone for storage before the indoor drone executes the flight instruction.

[0069] Specifically, in this embodiment, before the indoor drone performs a flight mission, the indoor drone 1 can be configured with parameters through the control platform 3 so that the indoor drone 1 can automatically correct the indoor positioning result when performing the flight mission. Among them, the above-mentioned first distance parameter represents the distance difference between the signal transceiver component of the first ranging device and the center position of the outdoor drone 2 in the x-axis, y-axis and z-axis directions of the global coordinate system. Similarly, the second distance parameter represents the distance difference between the signal transceiver component of the second ranging device and the center position of the indoor drone 2 in the x-axis, y-axis and z-axis directions of the global coordinate system.

[0070] In a preferred embodiment of the present invention, the control platform 3 also includes a flight control module 36, which is used to control each outdoor drone to fly to a preset range outside the building, and then send flight instructions to the indoor drone, and plan a target flight route based on the obtained indoor positioning results, so as to control the indoor drone to perform corresponding indoor flight tasks in the building according to the planned target flight route.

[0071] In a preferred embodiment of the present invention, the control platform 4 also includes a position display interface 37 for obtaining and displaying the indoor positioning result of the indoor UAV to the operator to form a real-time flight route, and superimpose the real-time flight route and the target flight route.

[0072] Specifically, in this embodiment, by superimposing and displaying the real-time flight route and the target flight route, the operator can intuitively check whether the indoor drone is flying according to the target flight route, and can respond and adjust in time when the flight route deviates.

[0073] In a preferred embodiment of the present invention, both the first distance measuring device 22 and the second distance measuring device 11 are ultra-wideband distance measuring devices.

[0074] The present invention also provides a drone positioning method, which is applied to the above-mentioned drone positioning system, and pre-configures three outdoor drones and at least one indoor drone; Figure 3 As shown, the UAV positioning method includes:

[0075] Step S1, when the indoor drone receives an external flight command, it controls the second distance measuring device carried by itself to continuously interact with the first distance measuring device carried by each outdoor drone, so as to continuously obtain the real-time distance between the indoor drone and each outdoor drone, and obtain the first spatial coordinates collected by the global positioning device carried by each outdoor drone;

[0076] In step S2, the indoor drone obtains the second spatial coordinates of the indoor drone according to the first spatial coordinates and the real-time distances as the indoor positioning result of the indoor drone, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

[0077] In a preferred embodiment of the present invention, three outdoor drones and one indoor drone form a triangular pyramid in space; Figure 4 As shown, step S2 includes:

[0078] Step S21, the indoor drone uses the planes where the three outdoor drones are located as the bottom surface of the triangular pyramid, and constructs a set of equations corresponding to each edge of the triangular pyramid except the bottom surface according to each first spatial coordinate and each real-time distance;

[0079] Step S22: The indoor drone solves the equation group to obtain the second spatial coordinates of the indoor drone.

[0080] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A drone positioning system, characterized in that: Used to provide positioning services for at least one indoor drone in a building, the drone positioning system comprises: Three outdoor drones, each of which is equipped with a global positioning device and a first distance measuring device, and each of which is located outside the building; Each of the indoor drones is equipped with a second distance measuring device and a controller, and the controller includes: A data acquisition module, configured to, upon receiving an external flight instruction, control the second distance measuring device to continuously interact with each of the first distance measuring devices, so as to continuously obtain the real-time distance between the indoor UAV and each of the outdoor UAVs, and obtain the first spatial coordinates collected by each of the outdoor UAVs through the global positioning device; A real-time positioning module is connected to the data acquisition module and is used to obtain the second spatial coordinates of the indoor drone as the indoor positioning result of the indoor drone according to each of the first first spatial coordinates and each of the real-time distances, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

2. The drone positioning system according to claim 1, characterized in that: The three outdoor drones and the one indoor drone form a triangular pyramid in space; Then the real-time positioning module includes: an equation construction unit, configured to use the planes where the three outdoor drones are located as the bottom surfaces of the triangular pyramid, and to construct a set of equations corresponding to the edges of the triangular pyramid except the bottom surfaces according to the first spatial coordinates and the real-time distances; An equation solving unit, connected to the equation building unit, is used to solve the equation group to obtain the second spatial coordinates of the indoor drone.

3. The unmanned aerial vehicle positioning system according to claim 2, characterized in that: The three outdoor drones are outdoor drone A, outdoor drone B and outdoor drone C, and the equation group is: Among them, (x a ,y a ,z a ) is used to represent the first spatial coordinate of the outdoor UAV A; (x b ,y b ,z b ) is used to represent the first spatial coordinate of the outdoor UAV B; (x c ,y c ,z c ) is used to represent the first spatial coordinate of the outdoor UAV C; (x d ,y d ,z d ) is used to represent the first spatial coordinate of the outdoor drone C; a is used to represent the real-time distance between the outdoor drone A and the indoor drone; b is used to represent the real-time distance between the outdoor drone B and the indoor drone; c is used to represent the real-time distance between the outdoor drone C and the indoor drone.

4. The unmanned aerial vehicle positioning system according to claim 2, characterized in that: The real-time positioning module also includes: A storage unit, connected to the equation building unit, for storing pre-configured first distance parameters between the center position of each of the outdoor drones and the signal transceiver component of the first ranging device, and a second distance parameter between the center position of the indoor drone and the signal transceiver component of the second ranging device; a correction unit, connected to the equation building unit, the storage unit and the equation solving unit respectively, and used for obtaining a first corrected coordinate of the signal transceiver component of the first distance measuring device according to the first distance parameter and the first space coordinate; The equation construction unit constructs the equation group using the first corrected coordinate as the first spatial coordinate; The correction unit is further used to obtain second corrected coordinates of the center position of the indoor drone according to the second distance parameter and the second spatial coordinates, and use the second corrected coordinates as the indoor positioning result of the indoor drone.

5. The unmanned aerial vehicle positioning system according to claim 4, characterized in that: It also includes a control platform, connecting the outdoor drones and the indoor drones, and the control platform includes: A model building module, used to respectively model each of the outdoor UAVs and the indoor UAVs, and to build a corresponding outdoor body coordinate system and indoor body coordinate system; A first processing module, connected to the model building module, is used to process the center position of each outdoor drone and the first body coordinates of the signal transceiver component of the first ranging device in the outdoor body coordinate system according to the pre-acquired size parameters of each outdoor drone, and to process the center position of the indoor drone and the second body coordinates of the signal transceiver component of the second ranging device in the indoor body coordinate system according to the pre-acquired size parameters of the indoor drone; A second processing module, connected to the first processing module, is used to obtain an outdoor body distance parameter between the center position of each outdoor UAV and the corresponding signal transceiver component of the first ranging device in the outdoor body coordinate system according to each first body coordinate processing, and to obtain an indoor body distance parameter between the center position of each indoor UAV and the corresponding signal transceiver component of the second ranging device in the indoor body coordinate system according to each second body coordinate processing; a third processing module, connected to the second processing module, configured to perform coordinate conversion to obtain the first distance parameter of the outdoor machine body distance parameter in the global coordinate system, and the second distance parameter of the indoor machine body distance parameter in the global coordinate system; A parameter configuration module is connected to the third processing module and is used to send the first distance parameter and the second distance parameter to the indoor drone for storage before the indoor drone executes the flight instruction.

6. The unmanned aerial vehicle positioning system according to claim 5, characterized in that: The control platform also includes a flight control module, which is used to control each outdoor drone to fly to a preset range outside the building, then send the flight command to the indoor drone, and plan a target flight route based on the acquired indoor positioning result, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the planned target flight route.

7. The unmanned aerial vehicle positioning system according to claim 6, characterized in that: The control platform also includes a position display interface for obtaining and displaying the indoor positioning result of the indoor UAV to the operator to form a real-time flight route, and superimposing the real-time flight route with the target flight route for display.

8. The unmanned aerial vehicle positioning system according to claim 1, characterized in that: The first distance measuring device and the second distance measuring device are both ultra-wideband distance measuring devices.

9. A method for positioning a drone, characterized in that: Applied to the drone positioning system as claimed in any one of claims 1 to 8, three outdoor drones and at least one indoor drone are pre-configured; the drone positioning method comprises: Step S1, when receiving an external flight command, the indoor drone controls the second distance measuring device carried by itself to continuously interact with the first distance measuring device carried by each outdoor drone, so as to continuously obtain the real-time distance between the indoor drone and each outdoor drone, and obtain the first spatial coordinates collected by the global positioning device carried by each outdoor drone; In step S2, the indoor drone obtains the second spatial coordinates of the indoor drone according to each of the first spatial coordinates and each of the real-time distances as the indoor positioning result of the indoor drone, so as to control the indoor drone to perform the corresponding indoor flight mission in the building according to the indoor positioning result.

10. The method for positioning a UAV according to claim 9, characterized in that: The three outdoor drones and the one indoor drone form a triangular pyramid in space; then step S2 includes: Step S21, the indoor drone uses the planes where the three outdoor drones are located as the bottom surfaces of the triangular pyramid, and constructs a set of equations corresponding to the edges of the triangular pyramid except the bottom surfaces according to the first spatial coordinates and the real-time distances; Step S22: the indoor drone solves the set of equations to obtain the second spatial coordinates of the indoor drone.

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