A method and system for seamless indoor and outdoor switching navigation of unmanned aerial vehicles

Abstract

The present invention discloses a method and system for seamless indoor and outdoor navigation switching of unmanned aerial vehicles (UAVs), wherein the method comprises: obtaining the UAV's global positioning data through a global navigation satellite system, obtaining the UAV's local positioning data through a laser radar, and performing initial calibration of the global coordinate system and the local coordinate system; performing secondary calibration of the global coordinate system and the local coordinate system based on the UAV's path matrix and the least squares method; after the secondary calibration is completed, connecting to a ground station through an ad hoc network and obtaining route data, the UAV automatically calculates the global positioning data into a local coordinate system, and performs real-time planning and execution of an obstacle avoidance route until the automatic route is completed and the UAV finally hovers or lands at a target point. The present invention can perform indoor and outdoor position analysis of the automatic route in a global coordinate system, and ultimately achieves that routes can be issued both indoors and outdoors through universal ground station software, thereby solving the problem of universal ground stations issuing indoor and outdoor obstacle avoidance routes.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) positioning technology, and in particular to a method and system for seamless indoor and outdoor switching navigation of a UAV. Background Art

[0002] Currently, autonomous indoor and outdoor drone navigation is isolated. Outdoors, a drone uses its GPS module to obtain its GPS position, which is then transmitted to the drone. The drone then executes the route based on the GPS position in the geodetic coordinate system. Indoors, the drone uses external sensors to obtain its local position, which is then transmitted to the drone in the local coordinate system. The drone then executes the route based on its own local position. With the advancement of drone positioning technology, drones are now able to freely perform missions both indoors and outdoors. However, drone ground station route planning remains at the outdoor GPS route stage, and indoor route software is still in the robot debugging stage and lacks universal applicability.

[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 routes. Moreover, the software can only be used for temporary debugging and has poor stability. Summary of the Invention

[0004] To address these issues, the present invention proposes a method and system for seamless indoor and outdoor navigation of unmanned aerial vehicles (UAVs). This method uses universal ground station software to plot a global positioning route, which includes indoor locations. When the UAV initiates local positioning, the relationship between the local coordinate system and the global coordinate system is calibrated. Based on the received global location, the UAV's local target point is calculated, allowing the UAV to perform its mission indoors.

[0005] The technical solution adopted in 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, and the local positioning data of the UAV is obtained through the lidar. The global coordinate system and the local coordinate system are initially calibrated. The global coordinate system and the local coordinate system are then recalibrated using the least squares algorithm based on the collected UAV path matrix.

[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 lidar, and the initial calibration of the global coordinate system and the local coordinate system include:

[0010] The global position of the UAV is obtained through the global navigation satellite system, while the local position of the UAV 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 between the local coordinate system and the global coordinate system.

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

[0014] Record the global and local positions of the drone after its initial position, and record a position point at a preset distance until n position points are recorded. This will result in two path matrices of the drone with n position data, one of which is the global position path matrix and the other is the local position path matrix.

[0015] The two 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 global positioning data into a local coordinate system by connecting to a ground station through an ad hoc network and obtaining route data, and performs real-time planning and execution of obstacle avoidance routes, 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] Furthermore, judging whether the coordinate system calibration has been completed by using 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, and 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-resolves the waypoints after initialization is completed;

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

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

[0026] The calibration module is configured to obtain the drone's global positioning data through the global navigation satellite system, obtain the drone's local positioning data through the lidar, and perform initial calibration of the global coordinate system and the local coordinate system; and perform secondary calibration of the global coordinate system and the local coordinate system using a least squares algorithm based on the collected drone's path matrix;

[0027] The parsing module is configured to connect to the ground station through the ad hoc network and obtain route data after the secondary calibration is completed. It automatically calculates the drone's global positioning data into the local coordinate system and performs real-time planning and execution of obstacle avoidance routes until the automatic route is completed and the drone 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 lidar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including:

[0029] The global position of the UAV is obtained through the global navigation satellite system, while the local position of the UAV 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 between 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 UAV path matrix to perform secondary calibration of the global coordinate system and the local coordinate system, including:

[0033] Record the global and local positions of the drone after its initial position, and record a position point at a preset distance until n position points are recorded. This will result in two path matrices of the drone with n position data, one of which is the global position path matrix and the other is the local position path matrix.

[0034] The two 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, the analysis module connects to the ground station through an ad hoc network and obtains route data, automatically solves the drone's global positioning data into a local coordinate system, and performs real-time planning and execution of obstacle avoidance routes, 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, and 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-resolves the waypoints after initialization is completed;

[0043] When the status bit is 2, it means that the initialization process of the 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 automatically completes the calibration of 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 ultimately realizes that routes can be issued both indoors and outdoors through universal ground station software, thereby solving the problem of universal ground stations issuing 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 embodiments 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, not all 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] Since the current general ground station can only draw outdoor routes and send GPS locations, it cannot control the drone to enter indoors to perform tasks; the robot debugging software can only send the drone's local route and cannot control the drone to perform external route tasks farther away. The software can only be used for temporary debugging and has poor stability.

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

[0053] Coordinate system calibration: Obtain the drone's global positioning data through a global navigation satellite system (such as the Beidou Satellite Navigation System (BDS) and the Global Positioning System (GPS), and obtain the drone's local positioning data through a lidar (or external sensors, such as range sensors), and perform an initial calibration of the global and local coordinate systems. Perform a secondary calibration of the global and local coordinate systems using a least squares algorithm based on the collected drone's path matrix.

[0054] Route analysis: After the secondary calibration is completed, the drone connects to the ground station through the ad hoc network and obtains 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 it 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 drone's global position is obtained through the Global Navigation Satellite System (GNSS) and its local position is obtained through the LiDAR. After receiving the drone's global position, the global position in the Earth coordinate system is converted to the ENU coordinate system (i.e., the station-centered coordinate system). When the LiDAR is activated, the drone's initial global position is recorded as the initial calibration result between the local and global coordinate systems.

[0057] S102. Path Matrix: Record the global and local positions of the UAV after its initial position, recording a position point every preset distance (e.g., 0.2 meters) until n (e.g., 50) positions have been recorded. This results in two path matrices for the UAV with n positions: one for the global position and the other for the local position.

[0058] S103. Rotation Matrix: Solve the two obtained path matrices using the least squares 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 coordinate transformation relationship obtained by calibration.

[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 issued 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: 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 analyzed to obtain the waypoints.

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

[0065] S205. Planning and Control: Control the sequential delivery of waypoints, and make judgments by monitoring the execution of waypoints by the planning and control module. After the current waypoint is executed, the waypoint action is determined, and waypoint actions such as hovering, taking photos, and recording videos are executed. After the waypoint action is completed, the next waypoint is sent to the planning and control module until 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, and 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-resolves the waypoints after initialization is completed;

[0069] When the status bit is 2, it means that the initialization process of the 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 automatically calibrates when indoor and outdoor coordinates are unified, enabling the drone to execute continuous indoor and outdoor routes by issuing routes. The improved drone has two modes: remote control mode, in which the pilot operates the drone normally, with all movements following the remote control's instructions. The other is autonomous obstacle avoidance land and air route mode. The drone autonomously plans an obstacle avoidance path based on a route preset by the ground station to complete the route mission. In autonomous route mode, after the pilot sets the route for execution, there is no need to operate the drone; they simply wait for the drone to complete the autonomous route mission. If manual intervention is required during the flight, the pilot can switch the mode by toggling channel seven of the remote control, switching from autonomous route mode to remote control mode for manual intervention.

[0071] In this embodiment, the drone uses an onboard computer to obtain GPS location data via the Global Navigation Satellite System (GNSS), local positioning data via LiDAR, and route data via an ad hoc network connection to a ground station. When the drone is first started, it must automatically calibrate its coordinate system, either manually or by automatically flying a preset distance. Once the calibration is complete, the ground station sends an automatic route, and the drone automatically calculates its satellite positioning position into a local coordinate system. It then performs real-time obstacle avoidance route planning while controlling the drone's movement until it completes its automatic route and ultimately hovers or lands at the target location.

[0072] Example 2

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

[0074] The calibration module is configured to obtain the drone's global positioning data through the global navigation satellite system, obtain the drone's local positioning data through the lidar, and perform initial calibration of the global coordinate system and the local coordinate system; and perform secondary calibration of the global coordinate system and the local coordinate system using a least squares algorithm based on the collected drone's path matrix;

[0075] The parsing module is configured to connect to the ground station through the ad hoc network and obtain route data after the secondary calibration is completed. It automatically calculates the drone's global positioning data into the local coordinate system and performs real-time planning and execution of obstacle avoidance routes until the automatic route is completed and the drone 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 lidar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including:

[0077] The global position of the UAV is obtained through the global navigation satellite system, while the local position of the UAV 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 between 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 UAV path matrix to perform secondary calibration of the global coordinate system and the local coordinate system, including:

[0081] Record the global and local positions of the drone after its initial position, and record a position point at a preset distance until n position points are recorded. This will result in two path matrices of the drone with n position data, one of which is the global position path matrix and the other is the local position path matrix.

[0082] The two 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, the analysis module connects to the ground station through an ad hoc network and obtains route data, automatically solves the drone's global positioning data into a local coordinate system, and performs real-time planning and execution of obstacle avoidance routes, 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, and 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-resolves the waypoints after initialization is completed;

[0091] When the status bit is 2, it means that the initialization process of the 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. The memory stores a computer program, and when the processor executes the computer program, it implements the method for seamless indoor and outdoor navigation of a drone according to Embodiment 1. The computer program may be in source code form, object code form, an 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 according to embodiment 1. The computer program may be in source code form, object code form, an executable file, or some intermediate form. The storage medium includes any entity or device capable of carrying computer program code, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunications signal, and a software distribution medium. It should be noted that the content of the storage medium may be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, the storage medium does not include electric carrier signals and telecommunications signals.

[0098] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this 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 this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Claims

1. A method for seamless 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, and the local positioning data of the UAV is obtained through the lidar. The global coordinate system and the local coordinate system are initially calibrated. The global coordinate system and the local coordinate system are then recalibrated using the least squares algorithm based on the collected UAV path matrix. 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. 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 lidar, and performing initial calibration of the global coordinate system and the local coordinate system includes: The global position of the UAV is obtained through the global navigation satellite system, while the local position of the UAV 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 between the local coordinate system and the global coordinate system; 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 and local positions of the drone after the initial position, and record a position point every preset distance until the record is n End at the position point, thus obtaining two n The path matrix of the UAV with 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 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.

2. The method for seamless indoor and outdoor switching navigation of a drone according to claim 1, characterized in that: The drone automatically calculates global positioning data into a local coordinate system and performs real-time planning and execution of obstacle avoidance routes by connecting to the ground station through the self-organizing network and obtaining route data. 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.

3. The method for seamless indoor and outdoor switching navigation of a drone according to claim 2, characterized in that: The determination of 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, and 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-resolves the waypoints after initialization is completed; When the status bit is 2, it means that the initialization process of the coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

4. A drone navigation system for seamless indoor and outdoor switching, characterized by: include: The calibration module is configured to obtain the drone's global positioning data through the global navigation satellite system, obtain the drone's local positioning data through the lidar, and perform initial calibration of the global coordinate system and the local coordinate system; and perform secondary calibration of the global coordinate system and the local coordinate system using a least squares algorithm based on the collected drone's path matrix; The parsing module is configured to connect to the ground station through the ad hoc network after the secondary calibration is completed and obtain the route data. It automatically calculates the global positioning data of the UAV into the local coordinate system and performs real-time planning and execution of the obstacle avoidance route until the automatic route is completed and the UAV finally hovers or lands at the target point. 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 lidar, and the initial calibration of the global coordinate system and the local coordinate system is performed, including: The global position of the UAV is obtained through the global navigation satellite system, while the local position of the UAV 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 between the local coordinate system and the global coordinate system; Based on the collected UAV path matrix, the least squares algorithm is used to perform secondary calibration of the global coordinate system and the local coordinate system, including: Record the global and local positions of the drone after the initial position, and record a position point every preset distance until the record is n End at the position point, thus obtaining two n The path matrix of the UAV with 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 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.

5. The UAV indoor and outdoor seamless switching navigation system according to claim 4 is characterized in that: The analysis module connects to the ground station through an ad hoc network and obtains route data, automatically calculates the drone's global positioning data into a local coordinate system, and performs real-time planning and execution of obstacle avoidance routes, 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.

6. The UAV indoor and outdoor seamless switching navigation system according to claim 5, 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, and 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-resolves the waypoints after initialization is completed; When the status bit is 2, it means that the initialization process of the coordinate system calibration is completed; the drone will parse the entire route to obtain waypoints and perform obstacle avoidance operation.

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