Unmanned aerial vehicle indoor and outdoor seamless switching navigation method and system

Abstract

The invention discloses an indoor and outdoor seamless switching navigation method and system for an unmanned aerial vehicle, and the method comprises the steps: obtaining the global positioning data of the unmanned aerial vehicle through a global navigation satellite system, obtaining the local positioning data of the unmanned aerial vehicle through a laser radar, and carrying out the initial calibration of a global coordinate system and a local coordinate system; performing secondary calibration of a global coordinate system and a local coordinate system based on the path matrix of the unmanned aerial vehicle and a least square method; and after the secondary calibration is completed, connecting a ground station through an ad-hoc network and acquiring route data, automatically calculating global positioning data by the unmanned aerial vehicle to a local coordinate system, planning and executing an obstacle avoidance route in real time until the automatic route is completed, and finally hovering or landing at a target point position. Indoor and outdoor position analysis of an automatic route under a global coordinate system can be carried out, and route issuing can be carried out indoors and outdoors through general ground station software, so that the problem of issuing an indoor and outdoor obstacle avoidance route through a general ground station is solved.

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 seamless indoor and outdoor switching navigation of unmanned aerial vehicles. Background Art

[0002] At present, the autonomous navigation of drones indoors and outdoors is isolated from each other. When working outdoors, the drone obtains the GPS position through the GPS module, sends the GPS route to the drone, and the drone executes the route through the GPS position of the geodetic coordinate system; when working indoors, the drone obtains the local position of the drone through external sensors, sends the route in the local coordinate system to the drone, and the drone executes the route through its own local position. With the development of drone positioning technology, drones can now freely perform tasks indoors and outdoors, but the route planning of drone ground stations is still in the outdoor GPS route stage, and the indoor route software is still in the robot debugging stage and is not universal.

[0003] However, general ground stations can only draw outdoor routes and send GPS locations, but cannot control drones to enter indoor areas to perform tasks; robot debugging software can only send local routes to drones, but cannot control drones to perform tasks on distant external routes, and the software can only be used for temporary debugging and has poor stability. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a method and system for seamless indoor and outdoor switching navigation of unmanned aerial vehicles, which uses universal ground station software to draw a global position route, and the route includes indoor position points. When the unmanned aerial vehicle starts local positioning, the relationship between the local coordinate system and the global coordinate system is calibrated, and the local target point of the unmanned aerial vehicle is calculated according to the received global position point, and the unmanned aerial vehicle is controlled to perform tasks indoors.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A method for seamlessly switching indoor and outdoor navigation of a drone, comprising:

[0007] The global positioning data of the UAV is obtained through the global navigation satellite system, the local positioning data of the UAV is obtained through the laser radar, and the global coordinate system and the local coordinate system are initially calibrated; based on the collected path matrix of the UAV, the least squares algorithm is used to perform secondary calibration of the global coordinate system and the local coordinate system;

[0008] After the secondary calibration is completed, the drone connects to the ground station through the self-organizing network and obtains the route data. The drone automatically solves the global positioning data into the local coordinate system, and performs real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

[0009] Furthermore, the obtaining of the global positioning data of the UAV through the global navigation satellite system, the obtaining of the local positioning data of the UAV through the laser radar, and the initial calibration of the global coordinate system and the local coordinate system include:

[0010] The global position of the drone is obtained through the global navigation satellite system, and the local position of the drone is obtained through the lidar;

[0011] After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system;

[0012] When the lidar is started, the initial global position of the drone is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

[0013] Furthermore, the least squares algorithm is used based on the collected path matrix of the UAV to perform secondary calibration of the global coordinate system and the local coordinate system, including:

[0014] Record the global position and local position of the drone after the initial position, and record a position point at a preset distance until n position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position;

[0015] The two obtained path matrices are solved using the least square method to obtain the rotation matrix between the two path matrices;

[0016] Convert the rotation matrix into the quaternion value required for coordinate transformation, and publish the calibrated coordinate transformation relationship.

[0017] Furthermore, the drone automatically calculates the global positioning data into the local coordinate system by connecting to the ground station through the self-organizing network and obtaining the route data, and performs real-time planning and execution of the obstacle avoidance route, including:

[0018] The drone obtains the route sent by the ground station through the self-organizing network, automatically enters the route execution state, and performs route analysis;

[0019] The status bit is used to determine whether the coordinate system calibration has been completed. If the coordinate system calibration and initialization have been completed, the entire route is parsed to obtain the waypoints.

[0020] The UAV executes waypoint flight missions in sequence. After the current waypoint flight mission is completed, the waypoint action is judged and the waypoint action is executed. After the waypoint action is completed, the next waypoint flight mission is continued until the entire route is completed.

[0021] Further, judging whether the coordinate system calibration has been completed by the status bit includes:

[0022] When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed;

[0023] When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed;

[0024] When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

[0025] A drone indoor and outdoor seamless switching navigation system, comprising:

[0026] The calibration module is configured to obtain the global positioning data of the UAV through the global navigation satellite system, obtain the local positioning data of the UAV through the laser radar, and perform initial calibration of the global coordinate system and the local coordinate system; based on the collected path matrix of the UAV, use the least squares algorithm to perform secondary calibration of the global coordinate system and the local coordinate system;

[0027] The analysis module is configured to connect to the ground station through the ad hoc network and obtain route data after the secondary calibration is completed, automatically solve the global positioning data of the drone into the local coordinate system, and perform real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

[0028] Furthermore, in the calibration module, the global positioning data of the UAV is obtained through the global navigation satellite system, the local positioning data of the UAV is obtained through the laser radar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including:

[0029] The global position of the drone is obtained through the global navigation satellite system, and the local position of the drone is obtained through the lidar;

[0030] After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system;

[0031] When the lidar is started, the initial global position of the drone is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

[0032] Furthermore, in the calibration module, a least squares algorithm is used based on the collected path matrix of the UAV to perform secondary calibration of the global coordinate system and the local coordinate system, including:

[0033] Record the global position and local position of the drone after the initial position, and record a position point at a preset distance until n position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position;

[0034] The two obtained path matrices are solved using the least square method to obtain the rotation matrix between the two path matrices;

[0035] Convert the rotation matrix into the quaternion value required for coordinate transformation, and publish the calibrated coordinate transformation relationship.

[0036] Furthermore, in the analysis module, the ground station is connected through an ad hoc network to obtain route data, the global positioning data of the drone is automatically calculated into a local coordinate system, and the obstacle avoidance route is planned and executed in real time, including:

[0037] The drone obtains the route sent by the ground station through the self-organizing network, automatically enters the route execution state, and performs route analysis;

[0038] The status bit is used to determine whether the coordinate system calibration has been completed. If the coordinate system calibration and initialization have been completed, the entire route is parsed to obtain the waypoints.

[0039] The UAV executes waypoint flight missions in sequence. After the current waypoint flight mission is completed, the waypoint action is judged and the waypoint action is executed. After the waypoint action is completed, the next waypoint flight mission is continued until the entire route is completed.

[0040] Furthermore, in the analysis module, judging whether the coordinate system calibration has been completed through the status bit includes:

[0041] When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed;

[0042] When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed;

[0043] When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

[0044] The beneficial effects of the present invention are:

[0045] The present invention can automatically calibrate the local coordinate system and the global coordinate system, and can perform indoor and outdoor position analysis of the automatic route in the global coordinate system, and finally realize that routes can be sent both indoors and outdoors through universal ground station software, thereby solving the problem of universal ground stations sending indoor and outdoor obstacle avoidance routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of a method for seamlessly switching indoor and outdoor navigation of a drone according to Embodiment 1 of the present invention.

[0047] Figure 2 This is a coordinate system calibration flow chart of Example 1 of the present invention.

[0048] Figure 3 This is a route analysis flow chart of Example 1 of the present invention. DETAILED DESCRIPTION

[0049] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0050] Example 1

[0051] Currently, general ground stations can only draw outdoor routes and send GPS locations, but cannot control drones to enter indoor areas to perform tasks. Robot debugging software can only send local routes for drones, but cannot control drones to perform tasks on distant routes. Moreover, the software can only be used for temporary debugging and has poor stability.

[0052] Based on this, this embodiment provides a method for seamlessly switching indoor and outdoor navigation of a drone. Figure 1 As shown, including:

[0053] Coordinate system calibration: obtain the global positioning data of the drone through the global navigation satellite system (such as the Beidou Satellite Navigation System BDS, the Global Positioning System GPS), obtain the local positioning data of the drone through the laser radar (or external sensors, such as distance sensors), and perform initial calibration of the global coordinate system and the local coordinate system; perform secondary calibration of the global coordinate system and the local coordinate system based on the collected drone path matrix using the least squares algorithm;

[0054] Route analysis: After the secondary calibration is completed, the drone connects to the ground station through the self-organizing network and obtains the route data. The drone automatically calculates the global positioning data into the local coordinate system, and performs real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

[0055] Preferably, if Figure 2 As shown, the coordinate system calibration can be achieved by the following steps:

[0056] S101. Coordinate transformation: The global position of the UAV is obtained through the global navigation satellite system, and the local position of the UAV is obtained through the laser radar. After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system. When the laser radar is started, the initial global position of the UAV is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

[0057] S102. Path matrix: record the global position and local position of the drone after the initial position, record a position point every preset distance (e.g., 0.2 meters), until n (e.g., 50) position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position;

[0058] S103. Rotation matrix: Solve the two obtained path matrices using the least square method to obtain a rotation matrix between the two path matrices;

[0059] S104. Transformation publishing: converting the rotation matrix into the quaternion value required for coordinate transformation, and publishing the calibrated coordinate transformation relationship.

[0060] Preferably, if Figure 3 As shown, route parsing can be achieved by following the steps below:

[0061] S201. Route acquisition: The drone obtains the route sent by the ground station through the self-organizing network and automatically enters the route execution state;

[0062] S202. Transformation reception: receiving the coordinate transformation relationship obtained by calibration and performing route analysis;

[0063] S203. Waypoint analysis: determine whether the coordinate system calibration has been completed through the status bit. If the coordinate system calibration and initialization have been completed, the entire route is analyzed to obtain the waypoints;

[0064] S204. Waypoint sending: sending the waypoint to the regulation and control module, which controls the drone to avoid obstacles;

[0065] S205. Planning and control: Control the sequential sending of waypoints, and make judgments by monitoring the waypoint execution status of the planning and control module; after the current waypoint is executed, judge the waypoint action, and execute waypoint actions such as hovering and waiting, taking pictures, and recording videos; after completing the waypoint action execution, continue to send the next waypoint to the planning and control module until the execution of the entire route is completed.

[0066] More preferably, judging whether the coordinate system calibration has been completed by the status bit includes:

[0067] When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed;

[0068] When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed;

[0069] When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

[0070] In summary, the method of this embodiment performs automatic calibration when the indoor and outdoor coordinates are unified, and realizes that the drone can execute continuous indoor and outdoor routes by issuing routes. The improved drone has two state modes, one is the remote control mode, the pilot operates the drone normally to fly, and all movements are performed according to the instructions of the remote control. The other is the autonomous obstacle avoidance land and air route mode. The drone autonomously plans the obstacle avoidance path through the route preset by the ground station to complete the execution of the route task. In the autonomous route mode, after the pilot sets the route execution, there is no need to perform any operation on the drone, just wait for the drone to complete the autonomous route task by itself. During the execution, when the pilot needs manual intervention, it is necessary to toggle the seven channels of the remote control to switch the mode, switching from the autonomous route mode to the remote control mode for manual intervention.

[0071] In this embodiment, the drone can use the onboard computer to obtain GPS location data through the global navigation satellite system, obtain local positioning data through the laser radar, and obtain route data through the self-organizing network connection ground station. When the drone is started for the first time, it is necessary to manually or automatically fly a preset distance to automatically calibrate the coordinate system. After the calibration is completed, the automatic route is sent through the ground station, and the drone automatically calculates the satellite positioning position to the local coordinate system, and then performs real-time planning of the obstacle avoidance route, while controlling the movement of the drone until the automatic route is completed, and finally hovers or lands at the target point.

[0072] Example 2

[0073] This embodiment provides a drone indoor and outdoor seamless switching navigation system, including:

[0074] The calibration module is configured to obtain the global positioning data of the UAV through the global navigation satellite system, obtain the local positioning data of the UAV through the laser radar, and perform initial calibration of the global coordinate system and the local coordinate system; based on the collected path matrix of the UAV, use the least squares algorithm to perform secondary calibration of the global coordinate system and the local coordinate system;

[0075] The analysis module is configured to connect to the ground station through the ad hoc network and obtain route data after the secondary calibration is completed, automatically solve the global positioning data of the drone into the local coordinate system, and perform real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

[0076] Preferably, in the calibration module, the global positioning data of the UAV is obtained through the global navigation satellite system, the local positioning data of the UAV is obtained through the laser radar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including:

[0077] The global position of the drone is obtained through the global navigation satellite system, and the local position of the drone is obtained through the lidar;

[0078] After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system;

[0079] When the lidar is started, the initial global position of the drone is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

[0080] Preferably, in the calibration module, a least squares algorithm is used based on the collected path matrix of the drone to perform secondary calibration of the global coordinate system and the local coordinate system, including:

[0081] Record the global position and local position of the drone after the initial position, and record a position point at a preset distance until n position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position;

[0082] The two obtained path matrices are solved using the least square method to obtain the rotation matrix between the two path matrices;

[0083] Convert the rotation matrix into the quaternion value required for coordinate transformation, and publish the calibrated coordinate transformation relationship.

[0084] Preferably, in the analysis module, the ground station is connected through an ad hoc network to obtain route data, the global positioning data of the drone is automatically calculated into a local coordinate system, and the obstacle avoidance route is planned and executed in real time, including:

[0085] The drone obtains the route sent by the ground station through the self-organizing network, automatically enters the route execution state, and performs route analysis;

[0086] The status bit is used to determine whether the coordinate system calibration has been completed. If the coordinate system calibration and initialization have been completed, the entire route is parsed to obtain the waypoints.

[0087] The UAV executes waypoint flight missions in sequence. After the current waypoint flight mission is completed, the waypoint action is judged and the waypoint action is executed. After the waypoint action is completed, the next waypoint flight mission is continued until the entire route is completed.

[0088] Preferably, in the analysis module, judging whether the coordinate system calibration has been completed by the status bit includes:

[0089] When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed;

[0090] When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed;

[0091] When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

[0092] Example 3

[0093] This embodiment is based on embodiment 1:

[0094] This embodiment provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for seamless indoor and outdoor switching navigation of a drone in embodiment 1 is implemented. The computer program may be in source code form, object code form, executable file, or some intermediate form.

[0095] Example 4

[0096] This embodiment is based on embodiment 1:

[0097] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for seamless indoor and outdoor switching navigation of a drone in embodiment 1. The computer program may be in source code form, object code form, executable file, or some intermediate form. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. It should be noted that the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the storage medium does not include electric carrier signals and telecommunication signals.

[0098] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

Claims

1. A method for seamlessly switching indoor and outdoor navigation of a drone, characterized in that: include: The global positioning data of the UAV is obtained through the global navigation satellite system, the local positioning data of the UAV is obtained through the laser radar, and the global coordinate system and the local coordinate system are initially calibrated; based on the collected path matrix of the UAV, the least squares algorithm is used to perform secondary calibration of the global coordinate system and the local coordinate system; After the secondary calibration is completed, the drone connects to the ground station through the self-organizing network and obtains the route data. The drone automatically solves the global positioning data into the local coordinate system, and performs real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

2. The method for seamlessly switching indoor and outdoor navigation of a drone according to claim 1, characterized in that: The method of obtaining the global positioning data of the UAV through the global navigation satellite system, obtaining the local positioning data of the UAV through the laser radar, and performing initial calibration of the global coordinate system and the local coordinate system includes: The global position of the drone is obtained through the global navigation satellite system, and the local position of the drone is obtained through the lidar; After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system; When the lidar is started, the initial global position of the drone is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

3. The method for seamless indoor and outdoor switching navigation of a drone according to claim 2, characterized in that: The least squares algorithm is used based on the collected UAV path matrix to perform secondary calibration of the global coordinate system and the local coordinate system, including: Record the global position and local position of the drone after the initial position, and record a position point at a preset distance until n position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position; The two obtained path matrices are solved using the least square method to obtain the rotation matrix between the two path matrices; Convert the rotation matrix into the quaternion value required for coordinate transformation, and publish the calibrated coordinate transformation relationship.

4. The method for seamlessly switching indoor and outdoor navigation of a drone according to claim 1, characterized in that: The drone automatically calculates the global positioning data into the local coordinate system by connecting to the ground station through the self-organizing network and obtaining the route data, and performs real-time planning and execution of the obstacle avoidance route, including: The drone obtains the route sent by the ground station through the self-organizing network, automatically enters the route execution state, and performs route analysis; The status bit is used to determine whether the coordinate system calibration has been completed. If the coordinate system calibration and initialization have been completed, the entire route is parsed to obtain the waypoints. The UAV executes waypoint flight missions in sequence. After the current waypoint flight mission is completed, the waypoint action is judged and the waypoint action is executed. After the waypoint action is completed, the next waypoint flight mission is continued until the entire route is completed.

5. The method for seamless indoor and outdoor switching navigation of a drone according to claim 4, characterized in that: The step of judging whether the coordinate system calibration has been completed by using the status bit includes: When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed; When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed; When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

6. A drone indoor and outdoor seamless switching navigation system, characterized in that: include: The calibration module is configured to obtain the global positioning data of the UAV through the global navigation satellite system, obtain the local positioning data of the UAV through the laser radar, and perform initial calibration of the global coordinate system and the local coordinate system; based on the collected path matrix of the UAV, use the least squares algorithm to perform secondary calibration of the global coordinate system and the local coordinate system; The analysis module is configured to connect to the ground station through the ad hoc network and obtain route data after the secondary calibration is completed, automatically solve the global positioning data of the drone into the local coordinate system, and perform real-time planning and execution of the obstacle avoidance route until the automatic route is completed and finally hovers or lands at the target point.

7. The drone indoor and outdoor seamless switching navigation system according to claim 6, characterized in that: In the calibration module, the global positioning data of the UAV is obtained through the global navigation satellite system, the local positioning data of the UAV is obtained through the laser radar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including: The global position of the drone is obtained through the global navigation satellite system, and the local position of the drone is obtained through the lidar; After receiving the global position of the UAV, the global position in the earth coordinate system is converted to the ENU coordinate system, that is, the station center coordinate system; When the lidar is started, the initial global position of the drone is recorded as the initial calibration result of the local coordinate system and the global coordinate system.

8. The unmanned aerial vehicle indoor and outdoor seamless switching navigation system according to claim 7, characterized in that: In the calibration module, a least squares algorithm is used based on the collected path matrix of the UAV to perform secondary calibration of the global coordinate system and the local coordinate system, including: Record the global position and local position of the drone after the initial position, and record a position point at a preset distance until n position points are recorded, thereby obtaining two path matrices of the drone with n position data, one of which is the path matrix of the global position and the other is the path matrix of the local position; The two obtained path matrices are solved using the least square method to obtain the rotation matrix between the two path matrices; Convert the rotation matrix into the quaternion value required for coordinate transformation, and publish the calibrated coordinate transformation relationship.

9. The UAV indoor and outdoor seamless switching navigation system according to claim 6, characterized in that: In the analysis module, the ground station is connected through the self-organizing network to obtain the route data, the global positioning data of the drone is automatically calculated into the local coordinate system, and the obstacle avoidance route is planned and executed in real time, including: The drone obtains the route sent by the ground station through the self-organizing network, automatically enters the route execution state, and performs route analysis; The status bit is used to determine whether the coordinate system calibration has been completed. If the coordinate system calibration and initialization have been completed, the entire route is parsed to obtain the waypoints. The UAV executes waypoint flight missions in sequence. After the current waypoint flight mission is completed, the waypoint action is judged and the waypoint action is executed. After the waypoint action is completed, the next waypoint flight mission is continued until the entire route is completed.

10. The unmanned aerial vehicle indoor and outdoor seamless switching navigation system according to claim 9, characterized in that: In the analysis module, judging whether the coordinate system calibration has been completed by the status bit includes: When the status bit is 0, it means that the drone’s global position has not been obtained; the drone returns an alarm message, there is no global position initialization data, and the current route cannot be executed; When the status bit is 1, it means that the drone's global position is normal, but initialization has not yet been completed; the drone first resolves the waypoints of the first route, waits for the initialization of the coordinate system calibration after the flight process, and re-parses the waypoints after initialization is completed; When the status bit is 2, it means that the initialization process of coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

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