Self-adaptive positioning method and device, equipment and storage medium

Abstract

The invention discloses a self-adaptive positioning method and device, equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme provided by the invention, the method comprises the steps: determining the convergence condition of a precise point positioning mode according to the task precision of mobile equipment and / or the convergence speed of the precise point positioning mode; after a positioning system of the mobile equipment is powered on, first position information of the mobile equipment is solved in a self-differential positioning mode, and second position information of the mobile equipment is solved in a precise single-point positioning mode; under the condition that the second position information does not meet the convergence condition, determining that the first position information is target position information of the mobile equipment; and under the condition that the second position information meets the convergence condition, determining target position information of the mobile equipment based on the second position information. Through the technical means, the convergence efficiency and the convergence precision of the positioning system can be balanced by adjusting the convergence condition, so that the operation precision of the mobile equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to an adaptive positioning method, device, equipment and storage medium. Background Art

[0002] With the development of unmanned equipment technology, more and more unmanned equipment is being used for high-altitude operations on various plots, such as spraying or sowing on farmland plots and other plant protection operations. Before performing plant protection operations on the plot, the plot is surveyed by unmanned equipment or surveyors to obtain the location of the plot. Whether it is plant protection or surveying of the plot, the unmanned equipment or surveyor needs to confirm its own location information through the positioning system to fly or determine the location information of the plot based on its own location information. At present, the three mainstream positioning technologies in the field of unmanned equipment are RTK (Real-Time Kinematic) positioning, PPP (Precise Point Positioning) positioning and VRTK (Virtual RTK or self-differential) positioning. RTK positioning can only be used in a network environment, while PPP positioning and VRTK positioning can be used in a networkless or weak network environment. The first positioning convergence solution time of PPP positioning is long, but the positioning accuracy is high after successful convergence. The initial positioning convergence solution of VRTK positioning is fast, but over time, due to changes in satellite movement and atmospheric factors, the error will gradually increase, so VRTK positioning can only maintain relatively high accuracy in a short period of time.

[0003] In the related art, when there is no network, the positioning system can perform PPP positioning and VRTK positioning solutions at the same time after it is powered on. VRTK positioning is used to determine the location information of the unmanned equipment or surveyor before the PPP positioning solution is successful, and PPP positioning is used to determine the location information of the unmanned equipment or surveyor after the PPP positioning solution is successful. The solution time of PPP positioning is proportional to the convergence accuracy of PPP positioning. When the convergence accuracy of PPP positioning is high, the positioning system needs to wait for a long time to switch from VRTK positioning to PPP positioning. The requirements for convergence accuracy are different in different situations. If a unified accuracy threshold is used for PPP positioning without distinguishing the situations, the convergence efficiency and convergence accuracy of the positioning system cannot be balanced, which in turn affects the operating accuracy of the mobile device. Summary of the invention

[0004] The present application provides an adaptive positioning method, apparatus, device and storage medium, which adaptively adjusts the convergence conditions of a precise single-point positioning method according to the task accuracy of a mobile device and / or the convergence speed of the precise single-point positioning method, so that the adjusted convergence conditions can balance the convergence efficiency and convergence accuracy of the positioning system, thereby improving the operating accuracy of the mobile device.

[0005] In a first aspect, the present application provides an adaptive positioning method, comprising:

[0006] Determining a convergence condition of the precise point positioning method according to the mission accuracy of the mobile device and / or the convergence speed of the precise point positioning method;

[0007] After the positioning system of the mobile device is powered on, the first position information of the mobile device is solved by a self-differential positioning method, and the second position information of the mobile device is solved by a precise single point positioning method;

[0008] If the second location information does not satisfy the convergence condition, determining the first location information as the target location information of the mobile device;

[0009] In a case where the second location information satisfies the convergence condition, the target location information of the mobile device is determined based on the second location information.

[0010] In a second aspect, the present application provides an adaptive positioning device, comprising:

[0011] A convergence condition determination module is configured to determine a convergence condition of the precise point positioning method according to a task accuracy of the mobile device and / or a convergence speed of the precise point positioning method;

[0012] A position calculation module is configured to calculate the first position information of the mobile device by a self-differential positioning method and calculate the second position information of the mobile device by a precise single point positioning method after the positioning system of the mobile device is powered on;

[0013] A first positioning module is configured to determine that the first location information is the target location information of the mobile device when the second location information does not meet the convergence condition;

[0014] The second positioning module is configured to determine the target location information of the mobile device based on the second location information when the second location information satisfies the convergence condition.

[0015] In a third aspect, the present application provides an adaptive positioning device, including:

[0016] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the adaptive positioning method as described in the first aspect.

[0017] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform the adaptive positioning method as described in the first aspect.

[0018] In the present application, the convergence condition of the precise point positioning method is determined by the task accuracy of the mobile device, so that the expected convergence accuracy of the precise point positioning method matches the task accuracy, and / or, the convergence condition of the precise point positioning method is determined by the convergence speed of the precise point positioning method, so that the expected solution speed of the precise point positioning method matches the convergence speed, thereby balancing the convergence efficiency and convergence accuracy of the positioning system, avoiding the situation where the mobile device uses the positioning coordinates with larger errors to operate, and improving the operation accuracy of the mobile device. After the positioning system is powered on and started, the position of the mobile device is solved by the self-differential positioning method and the precise point positioning method at the same time. Since the solution speed of the self-differential positioning method is faster, when the precise point positioning method has not yet been successfully solved, the first position information solved by the self-differential positioning method is used as the target position information of the mobile device, thereby ensuring the positioning efficiency and operation efficiency of the mobile device. When the second position information solved by the precise point positioning method meets the convergence condition, it is confirmed that the precise point positioning method is successfully solved, thereby determining the target position information of the mobile device based on the second position information, realizing high-precision positioning of the mobile device, and ensuring the operation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of an adaptive positioning method provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart for determining task accuracy provided by an embodiment of the present application;

[0021] Figure 3 It is one of the schematic diagrams of a mobile device performing a sowing operation on a task plot provided in an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of a mobile device in different task areas provided by an embodiment of the present application;

[0023] Figure 5 is a flow chart of determining the convergence speed of a precise point positioning method provided in an embodiment of the present application;

[0024] Figure 6 It is one of the schematic diagrams of multiple task areas provided in the embodiments of the present application;

[0025] Figure 7 This is the second schematic diagram of multiple task areas provided in the embodiment of the present application;

[0026] Figure 8 This is a schematic diagram of a mobile device marking a task plot provided by an embodiment of the present application;

[0027] Fig. 9This is a second schematic diagram of a mobile device performing a sowing operation on a task plot provided in an embodiment of the present application;

[0028] Fig.10 is a structural schematic diagram of an adaptive positioning device provided in an embodiment of the present application;

[0029] Fig.11 It is a structural diagram of a mobile device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0032] In the relevant implementation, when there is no network, the positioning system can perform PPP positioning and VRTK positioning solutions at the same time after it is powered on. Before the PPP positioning solution is successful, VRTK positioning is used to determine the location information of the unmanned equipment or surveyor, and after the PPP positioning solution is successful, PPP positioning is used to determine the location information of the unmanned equipment or surveyor. The convergence accuracy of PPP positioning is adjustable, for example, it can converge to 20cm, 15cm or 10cm, etc. When the PPP positioning solution converges to the set accuracy threshold, it is confirmed that the PPP positioning solution is successful. The solution time of PPP positioning is proportional to the convergence accuracy of PPP positioning, that is, the higher the accuracy threshold set for PPP positioning, the longer the solution time is required. When the accuracy threshold set for PPP positioning is high, the positioning system needs to wait for a long time to switch from VRTK positioning to PPP positioning, and VRTK positioning will begin to diverge after a period of time, causing the positioning error to gradually increase, resulting in a large positioning error of the positioning system during the time after VRTK positioning diverges and before PPP positioning converges, affecting the operation accuracy. In this regard, if different situations require different positioning accuracy, if the PPP positioning does not use a unified accuracy threshold, the system cannot balance convergence efficiency and convergence accuracy, which in turn affects the operating accuracy of the mobile device. For example, in some operating scenarios, the positioning accuracy requirement for PPP positioning is only 15cm, but if the accuracy threshold of PPP positioning is set to 10cm, then after the positioning accuracy of PPP positioning converges to 15cm, it will continue to solve until the coordinates with a positioning accuracy of 10cm are solved. Before the coordinates with a positioning accuracy of 10cm are successfully solved, the positioning system uses the coordinates solved by VRTK positioning for operation. Since the positioning error of VRTK positioning will gradually increase over time, the positioning error of VRTK positioning will be greater than the positioning error of PPP positioning. The problem of using the coordinates solved by VRTK positioning for operation will reduce the positioning accuracy of the positioning system, thereby affecting the operating accuracy of the mobile device. Even in some cases, the positioning accuracy of PPP positioning can only converge to 15cm, but its set accuracy threshold is 10cm, resulting in the PPP positioning not being successfully solved after the VRTK positioning starts to diverge after a period of time. As a result, the mobile device cannot switch to operating based on PPP positioning but instead operates based on VRTK positioning with a larger error, which reduces the positioning accuracy of the positioning system and thus affects the operating accuracy of the mobile device.

[0033] In order to solve the problems existing in the above implementation methods, this embodiment provides an adaptive positioning method, which adaptively adjusts the convergence conditions of the precise single-point positioning method through the task accuracy of the mobile device and / or the convergence speed of the precise single-point positioning method, so that the adjusted convergence conditions can balance the convergence efficiency and convergence accuracy of the positioning system, improve the operating accuracy of the mobile device, and improve the operating accuracy of the mobile device. In addition, the convergence conditions of the precise single-point positioning method are adapted to the task accuracy and / or convergence speed of the mobile device, avoiding the situation where the mobile device uses positioning coordinates with larger errors to operate, and avoiding the problem that the positioning accuracy of the precise single-point positioning method cannot converge to the set accuracy threshold, thereby improving the positioning accuracy of the positioning system, thereby improving the operating accuracy of the mobile device.

[0034] The adaptive positioning method provided in this embodiment can be executed by an adaptive positioning device, which can be implemented by software and / or hardware. The adaptive positioning device can be composed of two or more physical entities, or it can be composed of one physical entity. For example, the adaptive positioning device can be a mobile device, and the mobile device can be an unmanned device or a surveyor. Among them, when the mobile device is an unmanned device, it can fly to the task plot autonomously or under the control of a remote control device to perform operations, and the operation type can be surveying or plant protection, etc.; when the mobile device is a surveyor, it is held by the user and marked at each boundary point of the task plot to achieve surveying and mapping of the task plot.

[0035] The adaptive positioning device is installed with at least one type of operating system, and the adaptive positioning device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application that is downloaded from a third-party device or server. In this embodiment, the adaptive positioning device has at least an application that can execute the adaptive positioning method.

[0036] For ease of understanding, this embodiment is described by taking a mobile device as an example of a subject that executes the adaptive positioning method.

[0037] Figure 1 A flowchart of an adaptive positioning method provided by an embodiment of the present application is given. Figure 1 , the adaptive positioning method specifically includes:

[0038] S110. Determine a convergence condition of the precise point positioning method according to the mission accuracy of the mobile device and / or the convergence speed of the precise point positioning method.

[0039] Among them, the task accuracy is the positioning accuracy required by the mobile device for the task performed by the mobile device, and the convergence speed is the speed at which the mobile device solves the position that meets the convergence conditions through the precise single-point positioning method. The convergence conditions are the conditions that the precise single-point positioning method satisfies for successful solution.

[0040] For example, the convergence condition may be that the second position information solved by the precise single point positioning method reaches a convergence accuracy threshold. When the second position information solved by the precise single point positioning method reaches the convergence accuracy threshold corresponding to the convergence condition, it is determined that the precise single point positioning method has been successfully solved; when the second position information solved by the precise single point positioning method does not reach the convergence accuracy threshold corresponding to the convergence condition, it is determined that the precise single point positioning method has not been successfully solved. The second position information is the coordinates of the mobile device solved by the precise single point positioning method. The convergence accuracy threshold is the positioning accuracy achieved when the second position information obtained by the precise single point positioning method meets the convergence condition.

[0041] Accordingly, when the mobile device determines the convergence condition according to the task accuracy and / or the convergence speed, it determines the convergence accuracy threshold according to the task accuracy and / or the convergence speed.

[0042] Exemplarily, when determining the convergence accuracy threshold based on the task accuracy, the task accuracy can be determined as the convergence accuracy threshold. For example, when the task accuracy is 15 cm, the convergence accuracy threshold is determined to be 15 cm. Alternatively, the difference between the task accuracy and the preset accuracy can be determined as the convergence accuracy threshold. For example, when the task accuracy is 15 cm and the preset accuracy is 1 cm, the convergence accuracy threshold is determined to be 14 cm. In addition, a mapping relationship between the task accuracy and the convergence accuracy threshold can be established, and the convergence accuracy threshold can be determined based on the mapping relationship and the task accuracy of the current mobile device executing the task.

[0043] Generally speaking, when the task accuracy is higher, the positioning accuracy of the second position information calculated by the precise single point positioning method is higher, and the convergence accuracy threshold in the convergence condition to be set is higher. Therefore, the task accuracy is positively correlated with the convergence accuracy threshold, so the mapping relationship between the task accuracy and the convergence accuracy threshold is a positive correlation mapping relationship. When the task accuracy is high, a higher convergence accuracy threshold is set to ensure that the actual accuracy of the mobile device when performing the task meets the requirements of the task accuracy and ensure the task execution effect. When the task accuracy is low, a lower convergence accuracy threshold is set to ensure that the actual accuracy of the mobile device when performing the task meets the requirements of the task accuracy. At the same time, the time required for the successful solution of the precise single point positioning method is shortened to improve the positioning efficiency. For example, when the task accuracy is 15cm, the convergence accuracy threshold is set to 15cm or 14cm, then the positioning accuracy of the second position information calculated by the precise single point positioning method converges to 15cm or 14cm, then the solution can be determined to be successful, and then the mobile device can switch from operating in the self-differential positioning method to operating in the precise single point positioning method, so that the mobile device uses coordinates with higher positioning accuracy to operate, thereby improving the positioning accuracy of the mobile device.

[0044] When determining the convergence accuracy threshold based on the convergence speed, the positioning accuracy that can be converged within the preset time can be estimated according to the convergence speed, and the convergence accuracy threshold is determined according to the positioning accuracy. Among them, the preset time is the maximum solution time of the precise single point positioning method. In addition, a mapping relationship between the convergence speed and the convergence accuracy threshold can be established, and the convergence accuracy threshold can be determined according to the mapping relationship and the convergence speed of the current precise single point positioning method.

[0045] Similarly, when the convergence speed is faster, the positioning accuracy of the second position information that can be solved by the precise single-point positioning method in the same time is higher, and the convergence accuracy threshold that can be set in the convergence condition is higher. Therefore, the convergence speed is positively correlated with the convergence accuracy threshold, so the mapping relationship between the convergence speed and the convergence accuracy threshold is a positive correlation mapping relationship. When the convergence speed is high, a higher convergence accuracy threshold is set to ensure that the mobile device can quickly use the second position information to perform tasks, while the second position information also has a higher positioning accuracy, thereby improving the accuracy of task execution. When the convergence speed is slow, a lower convergence accuracy threshold is set to ensure that the mobile device can quickly use the second position information to perform tasks, avoiding the problem that the precise single-point positioning method has not been successfully solved after the self-differential positioning method diverges, thereby ensuring the positioning accuracy of the mobile device.

[0046] When determining the convergence accuracy threshold based on task accuracy and convergence speed, the average value of the convergence accuracy threshold corresponding to the task accuracy and the convergence accuracy threshold corresponding to the convergence speed is determined as the convergence accuracy threshold. Alternatively, the convergence accuracy threshold can be obtained by weighted summing the convergence accuracy threshold corresponding to the task accuracy and the convergence accuracy threshold corresponding to the convergence speed.

[0047] It should be noted that when the convergence accuracy threshold is determined based on task accuracy and / or convergence speed, the precise single-point positioning method can quickly solve the second position information that meets the convergence accuracy threshold, so that the mobile device can quickly switch to the second position information to perform the task, instead of using the first position information solved by the self-differential positioning method to perform the task. Since the positioning accuracy of the second position information is higher than that of the first position information, while improving the solving efficiency of the precise single-point positioning method, it also indirectly improves the accuracy of the mobile device in performing tasks.

[0048] The task accuracy of the mobile device can be pre-configured. For example, the user uses a remote control device to configure the task accuracy of the mobile device's operating task. The remote control device sends the task accuracy to the mobile device, and the mobile device can obtain the task accuracy of the operating task to be executed.

[0049] Optionally, the task accuracy is related to the task information, and the task accuracy can be determined based on the task information. The task information includes the task type and / or the task area. For example, Figure 2 This is a flow chart for determining task accuracy provided by an embodiment of the present application. Figure 2 As shown, the step of determining task accuracy specifically includes S1101-S1103:

[0050] S1101. Use a camera of a mobile device to capture an image of a task plot.

[0051] The task plot image is an image captured by a camera and includes the task plot, and the task plot is the plot where the mobile device is working. The mobile device is provided with a camera, and the mobile device starts the camera after being powered on, and the camera is aimed at the task plot to capture an image including the task plot.

[0052] S1102: Determine the task type and / or task area of ​​the mobile device according to the task plot image.

[0053] For example, the mobile device may identify the crop type and crop size in the mission plot image, and determine the task type and / or task area of ​​the task to be performed according to the crop type and crop size.

[0054] Furthermore, the mobile device may determine the task type and / or task area of ​​the task to be performed based on the crop type and crop size in the task plot and the season to which the current time belongs.

[0055] It should be noted that the task information of the mobile device can also be configured by the user on the remote control device. That is, the user configures the task type and / or task area of ​​the operation task to be performed by the mobile device on the remote control device, and the remote control device sends the information configured by the user to the mobile device, and the mobile device obtains the task type and / or task area from the received information.

[0056] S1103: Determine the task accuracy of the mobile device according to the task type and / or task area of ​​the mobile device.

[0057] Exemplarily, the mobile device stores the correspondence between various task types and corresponding task precisions, and can determine the task precision corresponding to the task type in the task information according to the task type in the task information and the correspondence between various task types and corresponding task precisions.

[0058] Similarly, the mobile device stores the correspondence between each task area and the corresponding task precision, and can determine the task precision corresponding to the task area in the task information according to the task area in the task information and the correspondence between each task area and the corresponding task precision.

[0059] The task accuracy corresponding to the task type in the task information is determined as the task accuracy of the mobile device, or the task accuracy corresponding to the task area in the task information is determined as the task accuracy of the mobile device, or the average value or weighted cumulative value of the task accuracy corresponding to the task type in the task information and the task accuracy corresponding to the task area in the task information is determined as the task accuracy of the mobile device.

[0060] Furthermore, the task types of mobile devices can be roughly divided into spreading toxic substances and spreading non-toxic substances. When determining the task accuracy of the mobile device based on the task type of the mobile device, if the task type of the mobile device is spreading toxic substances, the task accuracy of the mobile device is determined to be the first task accuracy; if the task type of the mobile device is spreading non-toxic substances, the task accuracy of the mobile device is determined to be the second task accuracy, and the first task accuracy is greater than the second task accuracy. Exemplarily, the task of spreading toxic substances includes spraying pesticides, such as spraying herbicides. The toxicity of herbicides is relatively strong, and the spraying range needs to be carefully controlled. The positioning accuracy of the mobile device is required to be high, so the task accuracy is set to the first task accuracy. The task of spreading non-toxic substances includes feeding, fertilizing, and sowing grass seeds. These sown materials will not have much impact on the surroundings, and the positioning accuracy of the mobile device is relatively low, so the task accuracy is set to the second task accuracy. Figure 3 FIG. 1 is a schematic diagram of a mobile device performing a sowing operation on a task plot provided in an embodiment of the present application. Figure 3As shown, when the mobile device 12 performs the sowing operation on the task plot 10, the mobile device 12 flies along the working route 11, and the mobile device 12 sows the material to the crops in the crop area 13 while flying along the working route 11. When the material is a toxic substance, the mobile device 12 needs to accurately sow the material into the crop area 13, so the task accuracy of the mobile device 12 is set to the first task accuracy to prevent the mobile device 12 from deviating from the working route 11 to the edge of the crop area 13 during the flight, thereby ensuring the sowing accuracy of the material. When the material is a non-toxic substance, the material sown by the mobile device 12 can be scattered outside the crop area 13, so the task accuracy of the mobile device 12 can be set to the second task accuracy, even if the mobile device 12 deviates from the working route 11 to the edge of the crop area 13 during the flight, the sown material will not have side effects outside the crop area.

[0061] This embodiment divides the task types into spreading toxic substances and spreading non-toxic substances, thereby setting a higher task accuracy for the task of spreading toxic substances, so as to ensure that the mobile device can accurately spread the materials into the corresponding area of ​​the task plot when performing the task of spreading toxic substances, thereby ensuring the accuracy of task execution. Setting a lower task accuracy for the task of spreading non-toxic species shortens the solution time required for the precise single-point positioning method to reach the convergence condition, thereby improving the solution efficiency of the precise single-point positioning method.

[0062] The task area of ​​a mobile device can be roughly divided into an occluded area and an unoccluded area. Figure 4 Schematic diagram of a mobile device in different task areas provided by an embodiment of the present application. Figure 4As shown, when the mobile device 12 is in a mission area with an obstruction 14, the obstruction 14 is located on the data transmission path between the mobile device 12 and the satellite 16, resulting in a longer time required for the mobile device 12 to receive the satellite signal sent by the satellite 16, which reduces the convergence speed of the precise single-point positioning method, resulting in the precise single-point positioning method taking a long time to achieve a higher convergence accuracy. In this case, a lower mission accuracy can be set to avoid the precise single-point positioning method failing to successfully solve the second position information that achieves the mission accuracy for a long time. When the mobile device 12 is in a mission area without an obstruction 14, there is no obstruction on the data transmission path between the mobile device 12 and the satellite 16. The mobile device 12 can quickly receive the satellite signal sent by the satellite 16 and quickly solve based on the satellite signal. The convergence speed of the precise single-point positioning method is faster, and the precise single-point positioning method can quickly achieve a higher convergence accuracy. In this case, a higher mission accuracy can be set to improve the mission execution accuracy of the mobile device. In this regard, when determining the task accuracy of the mobile device based on the task area of ​​the mobile device, if the task area of ​​the mobile device is an obstructed area, the task accuracy of the mobile device is determined to be the third task accuracy; if the task area of ​​the mobile device is an unobstructed area, the task accuracy of the mobile device is determined to be the fourth task accuracy, and the third task accuracy is less than the fourth task accuracy.

[0063] The mobile device may determine the task accuracy based on the task type and / or task area in the task information, determine the convergence accuracy threshold based on the task accuracy, and generate the convergence condition based on the convergence accuracy threshold. Optionally, after generating the convergence condition, the mobile device may save the correspondence between the task type and / or task area in the task information and the convergence condition, so that when the mobile device subsequently executes the operation task corresponding to the task type and / or task area again, it can directly obtain the saved convergence condition corresponding to the task type and / or task area, thereby improving the efficiency of obtaining the convergence condition.

[0064] The convergence speed of the precise point positioning method is determined by the region where the mobile device is located when performing the task, that is, the convergence speed is related to the task area. When the number of available satellites in the task area is large, the convergence speed of the precise point positioning method is faster, and when the number of available satellites in the task area is small, the convergence speed of the precise point positioning method is slower. Also, when there are obstructions in the task area, the convergence speed of the precise point positioning method is slower, and when there are no obstructions in the task area, the convergence speed of the precise point positioning method is faster. In this regard, the convergence speed of the precise point positioning method can be determined based on the task area of ​​the mobile device. Figure 5 1 is a flow chart of determining the convergence speed of the precise point positioning method provided in the embodiment of the present application. Figure 5 As shown, the step of determining the convergence speed of the precise point positioning method specifically includes S1104-S1105:

[0065] S1104: Determine a task area of ​​the mobile device according to the first location information or the task information of the mobile device.

[0066] Among them, the first position information is the coordinates of the mobile device calculated by the self-differential positioning method. It should be noted that the positioning system of the mobile device starts to power on after the mobile device is started, and then the first position information of the mobile device is calculated by the self-differential positioning method and the second position information of the mobile device is calculated by the precise single-point positioning method. At the same time, the mobile device determines the convergence condition of the precise single-point positioning method according to the task accuracy and the convergence speed of the precise single-point positioning method. That is, step S110 and step S120 are executed at the same time. Since the self-differential positioning method has a faster calculation speed, the first position information can be calculated quickly, and the mobile device can determine its task area based on the first position information calculated by the self-differential positioning method. For example, Figure 6 is one of the schematic diagrams of multiple task areas provided in the embodiment of the present application. Figure 6 As shown, the task area is pre-divided into three areas: area A, area B and area C. If the first location information falls within the location range of area A, the task area of ​​the mobile device is determined to be area A.

[0067] When determining the task area based on the task information of the mobile device, the task area is acquired based on information pre-configured by the user, or the task area is determined through an image of the task plot taken by a camera.

[0068] S1105. Determine a convergence speed of the precise point positioning method according to a mission area of ​​the mobile device.

[0069] Exemplarily, the mobile device pre-saves the correspondence between each task area and the corresponding convergence speed, and can determine the convergence speed of the precise point positioning method based on the current task area and the pre-saved correspondence.

[0070] Optionally, the more satellites there are in the mission area, the faster the mobile device receives the satellite data sent by the satellite, and the faster the convergence speed of the precise point positioning method. That is, the number of satellites in the mission area is positively correlated with the convergence speed of the precise point positioning method. In this regard, the convergence speed of the precise point positioning method can be determined based on the number of satellites in the mission area of ​​the mobile device. For example, when the number of satellites in the mission area of ​​the mobile device is greater than or equal to a preset number threshold, the convergence speed of the precise point positioning method is determined to be a first convergence speed, and when the number of satellites in the mission area of ​​the mobile device is less than a preset number threshold, the convergence speed of the precise point positioning method is determined to be a second convergence speed, and the first convergence speed is greater than the second convergence speed. Reference Figure 6When the mobile device 12 is in mission area A, it is determined that the number of satellites 16 in mission area A is N, and N is greater than the preset number threshold M, then the convergence speed of the precise point positioning method is determined to be the first convergence speed. When the mobile device 12 is in mission area B, it is determined that the number of satellites 16 in mission area B is K, and K is less than the preset number threshold M, then the convergence speed of the precise point positioning method is determined to be the second convergence speed.

[0071] Optionally, for the same mission area, the convergence speed of the precise single-point positioning method will not change much. Therefore, if the mobile device has been positioned in the mission area using the precise single-point positioning method and the corresponding historical positioning data is retained, the convergence speed of the precise unit positioning method can be determined based on the historical positioning data of the mission area of ​​the mobile device. Among them, the historical positioning data can be the data recorded when the mobile device is positioned when performing a task in the mission area, or it can be the data recorded when the mobile device performs a convergence speed test in the mission area. The historical positioning data includes the positioning accuracy of the position information solved by the precise single-point positioning method at each moment in the solution process, and the convergence speed of the precise single-point positioning method can be determined based on the positioning accuracy corresponding to each moment.

[0072] Optionally, the more obstructions there are in the mission area, the slower the speed at which the mobile device receives satellite data sent by the satellite, and the slower the convergence speed of the precise point positioning method, that is, the proportion of the coverage range of obstructions in the mission area in the mission area is negatively correlated with the convergence speed of the precise point positioning method. In this regard, the convergence speed of the precise point positioning method can be determined based on the proportion of the coverage range of obstructions in the mission area in the mission area. For example, when the proportion of the coverage range of obstructions in the mission area in the mission area is greater than or equal to a preset proportion threshold, the convergence speed of the precise point positioning method is determined to be the third convergence speed, and when the proportion of the coverage range of obstructions in the mission area in the mission area is less than the preset proportion threshold, the convergence speed of the precise point positioning method is determined to be the fourth convergence speed, and the fourth convergence speed is greater than the third convergence speed. Figure 7 This is the second schematic diagram of multiple task areas provided in the embodiment of the present application. Figure 7 As shown, the coverage ratio of the obstruction 14 in the task area A is higher than 90%, which is higher than the preset ratio threshold, so when the mobile device 12 is in the task area A, the convergence speed of the precise point positioning method is determined to be the third convergence speed. The coverage ratio of the obstruction 14 in the task area C is lower than 10%, which is lower than the preset ratio threshold, so when the mobile device 12 is in the task area C, the convergence speed of the precise point positioning method is determined to be the fourth convergence speed.

[0073] It should be noted that when there are many obstructions around the mobile device, the convergence speed of the precise single-point positioning method will be affected. In this regard, in addition to determining the convergence speed of the precise single-point positioning method based on the task area of ​​the mobile device, the convergence speed of the precise single-point positioning method can also be determined based on the obstructions in the surrounding environment of the mobile device. Optionally, the surrounding environment image is captured by the camera of the mobile device; based on the surrounding environment image, it is determined whether there are obstructions around the mobile device, and when there are obstructions, the convergence speed of the precise single-point positioning method is determined to be the fifth convergence speed, and when there are no obstructions, the convergence speed of the precise single-point positioning method is determined to be the sixth convergence speed, and the fifth convergence speed is less than the sixth convergence speed.

[0074] The mobile device can determine the convergence speed of the precise single-point positioning method based on the task area, determine the convergence accuracy threshold based on the convergence speed, and generate the convergence condition based on the convergence accuracy threshold. Optionally, after the convergence condition is generated, the correspondence between the task area and the convergence condition is saved in the mobile device, so that when the mobile device performs a task in the task area again, it can directly obtain the saved convergence condition corresponding to the task area, thereby improving the efficiency of obtaining the convergence condition.

[0075] S120, after the positioning system of the mobile device is powered on, first position information of the mobile device is calculated by a self-differential positioning method, and second position information of the mobile device is calculated by a precise single-point positioning method.

[0076] Exemplarily, when a mobile device is to perform a task, the mobile device is started to power on the positioning system of the mobile device. After the positioning system of the mobile device is powered on, the coordinates of the location of the mobile device are solved by self-differential positioning and precise single-point positioning.

[0077] Among them, the first position information is the coordinates of the location of the mobile device calculated by self-differential positioning. Self-differential positioning is also called VRTK positioning, which can also be called single-point smooth positioning. It can solve the position through the reference point of the current location of the device. The position solved by VRTK positioning is a relative coordinate, not a real coordinate. It is based on the current position coordinates and the coordinates of the satellite at the current moment. The predicted distance between the device and the satellite is determined, and the second differential correction value is determined based on the predicted distance and the pseudo-range measurement value. The second differential correction value is used to determine the position coordinates of the device at any at least one future moment after the current moment. The self-differential positioning method has a simple solution process and a fast solution speed, and can quickly calculate the first position information of the mobile device.

[0078] The second location information is the coordinates of the location of the mobile device obtained by solving the precise single-point positioning method. At present, satellite systems such as GPS (Global Positioning System) and Beidou system support PPP services. This embodiment describes the PPP service supported by the Beidou system as an example. The Beidou satellite system uses PPP-B2b (a high-precision signal) signal as a data broadcast channel. The three GEO (geosynchronous orbit) satellites of Beidou-3 broadcast the orbit and clock correction information of other global satellite navigation systems of the Beidou-3 system, which can provide open and free high-precision positioning services for mobile devices. When the mobile device uses the precise single-point positioning method for solving, the mobile device receives the correction information sent by the GEO satellite through the PPP-B2b signal, and calculates the second location information of the mobile device according to the correction information. It should be noted that the positioning accuracy of the second location information obtained by the precise single-point positioning method at the beginning of the solution is low, and the positioning accuracy of the second location information solved thereafter continues to converge. When the positioning accuracy converges to the convergence accuracy threshold, the precise single-point positioning method successfully solves the high-precision second location information.

[0079] S130: When the second location information does not satisfy a convergence condition, determine that the first location information is target location information of the mobile device.

[0080] The target position information is the positioning coordinates used by the mobile device when performing the operation task. Although the mobile device is solved by both the self-differential positioning method and the precise single-point positioning method after the positioning system is powered on, the positioning accuracy of the second position information initially solved by the precise single-point positioning method is lower than the positioning accuracy of the first position information solved by the self-differential positioning method. Therefore, before the precise single-point positioning method successfully solves the second position information that meets the convergence condition, the first position information is determined as the target position information of the mobile device, so that the mobile device uses the first position information to perform the operation task.

[0081] When the mobile device is an unmanned device, the tasks it can perform include plant protection tasks and surveying tasks. The plant protection tasks include the mobile device spreading pesticides or fertilizers on crops in the task plot, and the surveying tasks are for the mobile device to fly to the boundary points of the task plot and mark points to collect the actual coordinates of the task plot. When the mobile device is a surveyor, the tasks it can perform include surveying tasks.

[0082] For example, when a mobile device performs a sowing task, the mobile device plans a corresponding operation route based on the location information of the task plot, and the mobile device controls itself to fly along the operation route based on the target location information and spreads pesticides or fertilizers to the task plot below. When a mobile device performs a surveying task, the mobile device moves to each boundary point of the task plot under the control of the user to mark the boundary points, and the target location information of the mobile device is determined as the marking coordinates of the corresponding boundary points during the marking process.

[0083] Optionally, when the convergence condition is that the second position information reaches the convergence accuracy threshold, the mobile device compares the positioning accuracy of the second position information solved in real time by the precise single-point positioning method with the convergence accuracy threshold when performing the task. When the positioning accuracy of the second position information does not reach the convergence accuracy threshold, it is determined that the second position information does not meet the convergence condition, and the mobile device continues to use the first position information solved by the self-differential positioning method to perform the task. When the positioning accuracy of the second position information reaches the convergence accuracy threshold, it is determined that the second position information meets the convergence condition, and the mobile device switches to the second position information solved by the precise single-point positioning method to perform the task.

[0084] S140: When the second location information satisfies a convergence condition, determine target location information of the mobile device based on the second location information.

[0085] Exemplarily, the self-differential positioning method can quickly determine the coordinates of the location of the mobile device, and can maintain the positioning accuracy within 20cm in a short period of time. Over time, changes in factors such as satellite movement and the atmosphere will cause the error of the first position information solved by the self-differential positioning method to gradually increase. After a certain period of time, the positioning accuracy of the first position information diverges to above the meter level, and it is impossible to perform high-precision positioning of the mobile device. When the second position information solved by the precise single-point positioning method meets the convergence condition, it indicates that the current precise single-point positioning method can successfully solve the high-precision coordinates of the mobile device and achieve high-precision positioning of the mobile device. Therefore, when the second position information meets the convergence condition, the mobile device switches from performing the task using the first position information solved by the self-differential positioning method to performing the task using the second position information solved by the precise single-point positioning method, thereby ensuring the execution accuracy of the task.

[0086] For example, when the mobile device performs a sowing task, if the mobile device determines that the second position information meets the convergence condition, the second position information is used as the target position information, and based on the target position information, the mobile device controls itself to fly along the operation route and spread pesticides or fertilizers to the task plot below. When the mobile device performs a surveying task, if the mobile device determines that the second position information meets the convergence condition, the second position information is used as the target position information, and the boundary points at the corresponding positions are marked based on the target position information, and the target position information of the mobile device is determined as the marking coordinates of the corresponding boundary points during the marking process.

[0087] It should be noted that the benchmarks of the self-differential positioning method and the precise single-point positioning method are different, and the positioning deviation between the two may be large, so that after the mobile device switches from the self-differential positioning method to the precise single-point positioning method, the target position information will have a coordinate jump. In this regard, when the mobile device switches from the self-differential positioning method to the precise single-point positioning method, the second position information calculated by the precise single-point positioning method can be converted to the benchmark of the self-differential positioning method to avoid coordinate jumps that affect the task execution accuracy of the mobile device. Specifically, the offset between the first position information and the second position information is determined, and the target position information of the mobile device is determined based on the offset and the second position information. For example, after the second position information meets the convergence condition, the first position information and the second position information solved by the mobile device at the same position are (lat1, log1, alt1) and (lat2, log2, alt2), respectively. The first position information is subtracted from the second position information to obtain the offset (lat1-lat2, log1-log2, alt1-alt2). Then, the second position information solved at each position is added with the offset (lat1-lat2, log1-log2, alt1-alt2) to obtain the target position information based on the benchmark of the self-differential positioning method, thereby ensuring that the mobile device remains under the same benchmark during the execution of the task, thereby improving the task execution accuracy of the mobile device.

[0088] For example, Figure 8 Schematic diagram of a mobile device marking a task plot provided by an embodiment of the present application. Figure 8As shown, when the mobile device 12 performs the surveying and mapping task, it flies to point A, point B, point C and point D in turn to perform dotting to collect the dotting coordinates of each vertex. When the mobile device 12 flies to point A, the second position information has not yet met the convergence condition, so the first position information calculated at point A is determined as the dotting coordinates of point A, and then flies to point B. Since the first position information calculated by the self-differential positioning method is a relative position, the dotting coordinates collected by the mobile device 12 at point A are not the actual coordinates of point A but the actual coordinates of point A1. In the process of flying to point B, the second position information meets the convergence condition. Since there is a deviation between the benchmarks of the self-differential positioning method and the precise single-point positioning method, when the mobile device arrives at point B, if the second position information is directly used as the dotting coordinates of point B, then the dotting coordinates collected are actually the actual coordinates of point B2. Similarly, when the mobile device 12 flies to points C and D and uses the second position information calculated at the corresponding positions as the dotting coordinates of the corresponding points, the corresponding dotting coordinates collected are actually the actual coordinates of points C2 and D2. Then, when the task plot 10 is generated based on the dot coordinates collected at these four points, a deformed task plot 10 will be generated, and the true shape of the task plot 10 cannot be restored. Therefore, when the mobile device 12 flies to point B, point C, and point D for dot marking, the offset between the first position information and the second position information can be calculated, and the second position information at point B, point C, and point D can be added with the offset to obtain the dot coordinates under the same reference as point A. At this time, the actual coordinates of point B1, point C1, and point D1 can be obtained, and the true shape of the task plot 10 can be restored based on the actual coordinates of point A1, point B1, point C1, and point D1.

[0089] It should be noted that planning the task plot based on the actual coordinates of points A1, B1, C1, and D1 can only restore the true shape of the task plot, but cannot determine the actual coordinates of the task plot. Therefore, when planning the task plot based on points A1, B1, C1, and D1, it is also necessary to correct the task plot based on the actual coordinates of any position in the task plot to obtain the actual coordinates of the task plot.

[0090] Fig. 9 This is a second schematic diagram of a mobile device performing sowing operations on a task plot provided in an embodiment of the present application. Fig. 9As shown, the mobile device 12 flies along the operating route 13 during the spraying operation, and the coordinates of the operating route 13 are located under the reference of the self-differential positioning method, that is, before the formal operation, the mobile device 12 will convert the operating route 13 to the reference of the self-differential positioning method based on the deviation between the first position information calculated by the self-differential positioning method and the actual coordinates, so that the mobile device 12 can accurately fly along the operating route 13 based on the first position information. When the mobile device 12 flies to point E of the operating route 13, the second position information calculated by the precise single point positioning method meets the convergence condition. The coordinates at point E of the operating route 13 are equal to the first position information calculated by the mobile device 12 at point E, and the second position information calculated by the mobile device at point E is the coordinates of point E1, and point E1 is offset from the operating route. If the mobile device 12 uses the second position information as the target position information, the mobile device 12 will think that it is located at point E1 and deviates from the operating route 13. Then, it will control itself to fly to the right front, causing the mobile device 12 to deviate from point E on the operating route 13 to point F. The materials spread by the mobile device 12 are deviated to the non-crop area, affecting the task execution accuracy. Therefore, when the mobile device 12 solves the second position information, it can calculate the offset between the first position information and the second position information, and use the accumulated value of the second position information and the offset as the target position information, so that the target position information of the mobile device 12 is on the same basis as the operating route 13, avoiding the mobile device 12 from deviating from the route and affecting the task execution accuracy.

[0091] It can be understood that the convergence condition determined by the task accuracy and / or convergence speed in this embodiment can enable the precise single-point positioning method to successfully solve the high-precision second position information within half an hour. Within half an hour, the error of the first position information solved by the mobile device through the self-differential positioning method is still maintained at the centimeter level. After the mobile device solves the second position information that meets the convergence condition through the precise single-point positioning method, it can switch to the precise single-point positioning method to continue high-precision positioning. Therefore, when the mobile device cannot connect to the network or the base station, the mobile device can also quickly perform high-precision positioning after the positioning system is powered on and can maintain high-precision positioning for a long time, thereby ensuring the task execution efficiency and task execution accuracy of the mobile device.

[0092] In summary, the adaptive positioning method provided in the embodiment of the present application determines the convergence condition of the precise single-point positioning method by the task accuracy of the mobile device, so that the expected convergence accuracy of the precise single-point positioning method matches the task accuracy, and / or determines the convergence condition of the precise single-point positioning method by the convergence speed of the precise single-point positioning method, so that the expected solution speed of the precise single-point positioning method matches the convergence speed, thereby balancing the convergence efficiency and convergence accuracy of the positioning system, avoiding the situation where the mobile device uses the positioning coordinates with larger errors to operate, and improving the operation accuracy of the mobile device. After the positioning system is powered on and started, the position of the mobile device is solved by the self-differential positioning method and the precise single-point positioning method at the same time. Since the solution speed of the self-differential positioning method is faster, when the precise single-point positioning method has not yet been successfully solved, the first position information solved by the self-differential positioning method is used as the target position information of the mobile device, thereby ensuring the positioning efficiency and operation efficiency of the mobile device. When the second position information solved by the precise single-point positioning method meets the convergence condition, it is confirmed that the precise single-point positioning method is successfully solved, thereby determining the target position information of the mobile device based on the second position information, realizing high-precision positioning of the mobile device, and ensuring the operation accuracy.

[0093] Based on the above embodiments, Fig.10 This is a schematic diagram of the structure of an adaptive positioning device provided in an embodiment of the present application. Fig.10 The adaptive positioning device provided in this embodiment specifically includes: a convergence condition determination module 21, a position solution module 22, a first positioning module 23 and a second positioning module 24.

[0094] The convergence condition determination module 21 is configured to determine the convergence condition of the precise point positioning method according to the task accuracy of the mobile device and / or the convergence speed of the precise point positioning method;

[0095] The position calculation module 22 is configured to calculate the first position information of the mobile device by a self-differential positioning method after the positioning system of the mobile device is powered on, and calculate the second position information of the mobile device by a precise single point positioning method;

[0096] The first positioning module 23 is configured to determine that the first position information is the target position information of the mobile device when the second position information does not meet the convergence condition;

[0097] The second positioning module 24 is configured to determine the target location information of the mobile device based on the second location information when the second location information meets the convergence condition.

[0098] On the basis of the above embodiment, the convergence condition is that the second position information obtained by the precise single point positioning method reaches the convergence accuracy threshold.

[0099] On the basis of the above embodiment, the task accuracy is positively correlated with the convergence accuracy threshold; and / or the convergence speed is positively correlated with the convergence accuracy threshold.

[0100] Based on the above embodiment, the convergence condition determination module 21 includes: a task accuracy determination submodule, which is configured to determine the task accuracy of the mobile device according to the task information of the mobile device before determining the convergence condition of the precise single-point positioning method; wherein the task information includes the task type and / or task area.

[0101] Based on the above embodiment, the task accuracy determination submodule includes: a first accuracy determination unit, configured to determine that the task accuracy of the mobile device is a first task accuracy when the task type of the mobile device is to spread toxic substances; a second accuracy determination unit, configured to determine that the task accuracy of the mobile device is a second task accuracy when the task type of the mobile device is to spread non-toxic substances, and the first task accuracy is greater than the second task accuracy.

[0102] Based on the above embodiment, the task accuracy determination submodule includes: a task information determination unit, which is configured to capture a task plot image through a camera of the mobile device before determining the task accuracy of the mobile device according to the task information of the mobile device; and determine the task type and / or task area of ​​the mobile device according to the task plot image.

[0103] Based on the above embodiment, the convergence condition determination module 21 includes: a convergence speed determination submodule, which is configured to determine the task area of ​​the mobile device according to the first position information or the task information of the mobile device before determining the convergence condition of the precise single-point positioning; and determine the convergence speed of the precise single-point positioning method according to the task area of ​​the mobile device.

[0104] Based on the above embodiment, the convergence speed determination submodule includes: a first speed determination unit configured to determine the convergence speed of the precise unit positioning method according to the number of satellites in the mission area of ​​the mobile device.

[0105] On the basis of the above embodiment, the convergence speed determination submodule includes: a second speed determination unit configured to determine the convergence speed of the precise unit positioning method according to the historical positioning data of the task area of ​​the mobile device.

[0106] Based on the above embodiment, the adaptive positioning device further includes: a convergence condition saving module configured to save the corresponding relationship between the task area and the convergence condition in the mobile device after determining the convergence condition of the precise single-point positioning method.

[0107] As described above, the adaptive positioning device provided in the embodiment of the present application determines the convergence condition of the precise single-point positioning method by the task accuracy of the mobile device, so that the expected convergence accuracy of the precise single-point positioning method matches the task accuracy, and / or determines the convergence condition of the precise single-point positioning method by the convergence speed of the precise single-point positioning method, so that the expected solution speed of the precise single-point positioning method matches the convergence speed, thereby balancing the convergence efficiency and convergence accuracy of the positioning system, avoiding the situation where the mobile device uses the positioning coordinates with larger errors to operate, and improving the operation accuracy of the mobile device. After the positioning system is powered on and started, the position of the mobile device is solved by the self-differential positioning method and the precise single-point positioning method at the same time. Since the solution speed of the self-differential positioning method is faster, when the precise single-point positioning method has not yet been successfully solved, the first position information solved by the self-differential positioning method is used as the target position information of the mobile device, thereby ensuring the positioning efficiency and operation efficiency of the mobile device. When the second position information solved by the precise single-point positioning method meets the convergence condition, it is confirmed that the precise single-point positioning method is successfully solved, thereby determining the target position information of the mobile device based on the second position information, realizing high-precision positioning of the mobile device, and ensuring operation accuracy.

[0108] The adaptive positioning device provided in the embodiment of the present application can be used to execute the adaptive positioning method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0109] Fig.11 is a schematic diagram of a mobile device provided in an embodiment of the present application, with reference to Fig.11 The unmanned device includes: a processor 31, a memory 32, a communication device 33, an input device 34 and an output device 35. The number of processors 31 in the adaptive positioning device can be one or more, and the number of memories 32 in the adaptive positioning device can be one or more. The processor 31, memory 32, communication device 33, input device 34 and output device 35 of the adaptive positioning device can be connected through a bus or other methods.

[0110] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the adaptive positioning method of any embodiment of the present application (for example, the convergence condition determination module 21, the position solution module 22, the first positioning module 23 and the second positioning module 24 in the adaptive positioning device). The memory 32 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 32 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0111] The communication device 33 is used for data transmission.

[0112] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 32, that is, implements the above-mentioned adaptive positioning method.

[0113] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0114] The unmanned equipment provided above can be used to execute the adaptive positioning method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0115] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute an adaptive positioning method when executed by a computer processor. The adaptive positioning method includes: determining the convergence condition of the precise single-point positioning method according to the task accuracy of the mobile device and / or the convergence speed of the precise single-point positioning method; after the positioning system of the mobile device is powered on, solving the first position information of the mobile device by the self-differential positioning method, and solving the second position information of the mobile device by the precise single-point positioning method; if the second position information does not meet the convergence condition, determining the first position information as the target position information of the mobile device; if the second position information meets the convergence condition, determining the target position information of the mobile device based on the second position information.

[0116] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0117] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided in an embodiment of the present application are not limited to the above adaptive positioning method, and can also execute related operations in the adaptive positioning method provided in any embodiment of the present application.

[0118] The adaptive positioning device, storage medium and mobile device provided in the above embodiments can execute the adaptive positioning method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the adaptive positioning method provided in any embodiment of the present application.

[0119] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. An adaptive positioning method, characterized in that: include: Determining a convergence condition of the precise point positioning method according to the mission accuracy of the mobile device and / or the convergence speed of the precise point positioning method; After the positioning system of the mobile device is powered on, the first position information of the mobile device is solved by a self-differential positioning method, and the second position information of the mobile device is solved by a precise single point positioning method; If the second location information does not satisfy the convergence condition, determining the first location information as the target location information of the mobile device; In a case where the second location information satisfies the convergence condition, the target location information of the mobile device is determined based on the second location information.

2. The adaptive positioning method according to claim 1, characterized in that: The determining the target location information of the mobile device based on the second location information includes: An offset between the first location information and the second location information is determined, and target location information of the mobile device is determined according to the offset and the second location information.

3. The adaptive positioning method according to claim 1, characterized in that: The convergence condition is that the second position information calculated by the precise single point positioning method reaches a convergence accuracy threshold.

4. The adaptive positioning method according to claim 3, characterized in that: The task accuracy is positively correlated with the convergence accuracy threshold; and / or the convergence speed is positively correlated with the convergence accuracy threshold.

5. The adaptive positioning method according to claim 1, characterized in that: Before determining the convergence condition of the precise point positioning method, the method further includes: The task accuracy of the mobile device is determined according to the task information of the mobile device; wherein the task information includes a task type and / or a task area.

6. The adaptive positioning method according to claim 5, characterized in that: The determining the task accuracy of the mobile device according to the task information of the mobile device includes: In a case where the task type of the mobile device is spreading toxic substances, determining the task accuracy of the mobile device to be a first task accuracy; In a case where the task type of the mobile device is spreading non-toxic substances, the task accuracy of the mobile device is determined to be a second task accuracy, and the first task accuracy is greater than the second task accuracy.

7. The adaptive positioning method according to claim 5, characterized in that: Before determining the task accuracy of the mobile device according to the task information of the mobile device, the method further includes: Use the mobile device's camera to capture images of the mission plot; The task type and / or task area of ​​the mobile device is determined according to the task plot image.

8. The adaptive positioning method according to claim 1, characterized in that: Before determining the convergence condition of the precise point positioning, the method further includes: Determine a task area of ​​the mobile device according to the first location information or the task information of the mobile device; The convergence speed of the precise point positioning method is determined according to the mission area of ​​the mobile device.

9. The adaptive positioning method according to claim 8, characterized in that: The step of determining the convergence speed of the precise point positioning method according to the mission area of ​​the mobile device includes: The convergence speed of the precise unit positioning method is determined according to the number of satellites in the mission area of ​​the mobile device.

10. The adaptive positioning method according to claim 8, characterized in that: The step of determining the convergence speed of the precise point positioning method according to the mission area of ​​the mobile device includes: The convergence speed of the precise unit positioning method is determined according to the historical positioning data of the mission area of ​​the mobile device.

11. The adaptive positioning method according to any one of claims 8 to 10, characterized in that: After determining the convergence condition of the precise point positioning method, the method further includes: The correspondence between the task area and the convergence condition is stored in the mobile device.

12. An adaptive positioning device, characterized in that: include: A convergence condition determination module is configured to determine a convergence condition of the precise point positioning method according to a task accuracy of the mobile device and / or a convergence speed of the precise point positioning method; A position calculation module is configured to calculate the first position information of the mobile device by a self-differential positioning method and calculate the second position information of the mobile device by a precise single point positioning method after the positioning system of the mobile device is powered on; A first positioning module is configured to determine that the first location information is the target location information of the mobile device when the second location information does not meet the convergence condition; The second positioning module is configured to determine the target location information of the mobile device based on the second location information when the second location information satisfies the convergence condition.

13. An adaptive positioning device, characterized in that: include: one or more processors; A memory storing one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the adaptive positioning method as described in any one of claims 1-11.

14. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the adaptive positioning method as described in any one of claims 1-11 when executed by a computer processor.

Images