Street lamp positioning method and unmanned aerial vehicle navigation positioning method

Abstract

The invention relates to the technical field of positioning navigation, in particular to a street lamp positioning method and an unmanned aerial vehicle navigation positioning method. The street lamp coordinates of the reference street lamp are determined through the high-performance receiver, the street lamp coordinates (x0, y0 and z0) are obtained by combining the connection of the communication equipment on the reference street lamp and the Beidou satellite to obtain the correction number of the Beidou positioning coordinates, other street lamps can obtain the accurate coordinates according to the correction number, the receiver does not need to be additionally arranged independently, the cost is low, and the street lamp coordinates are accurate; a plurality of accurate coordinates of the same street lamp are repeatedly obtained, the obtained coordinate values are arranged, and the central value of the arranged coordinates is taken, so that the final coordinates of the street lamp can be confirmed, and the accuracy influence caused by up-down and left-right shaking of the lamp cap of the street lamp is eliminated.

Description

Technical Field

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

[0002] In urban environments, street lights are essential road facilities. For vehicles on the road and aircraft in the air, navigation and positioning are their core needs. However, in densely built-up areas of the city, such as tunnels and near high-rise buildings, GPS signals are often weak, making it difficult to achieve precise positioning. In order to provide accurate positioning for moving objects such as vehicles and aircraft, the existing technology adds wifi, zigbee and other sensing modules to street lights to interact with the objects being positioned. However, this positioning method is based on the coordinates of the street lights. Since the positioning accuracy of Beidou is usually at the meter level, the coordinates of the street lights themselves will have certain deviations. Mobile objects such as drones require centimeter-level high-precision positioning to achieve effective delivery and other tasks, and precise positioning cannot be achieved. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a street lamp positioning method and an unmanned aerial vehicle navigation positioning method that can achieve precise positioning.

[0004] To achieve the above object, the present invention provides a street lamp positioning method, the specific steps are as follows:

[0005] S1. Randomly select a street lamp in the target area as a reference street lamp, and install a device on the reference street lamp to obtain the first coordinates of the street lamp;

[0006] S2. By installing a high-performance receiver on the reference streetlight, the second coordinates of the reference streetlight are obtained, and the correction number of the satellite positioning coordinates is obtained by calculation;

[0007] S3. Other street lamps connect to BeiDou satellites through their own communication equipment to obtain street lamp coordinates, and then use correction numbers to obtain accurate coordinates.

[0008] Preferably, the method further comprises step S4, wherein the specific details of step S4 are as follows:

[0009] S4. Repeat step S3 for the same street lamp to obtain multiple precise coordinates, arrange the obtained coordinate values, take the center value of the arranged coordinates, and use the center value as the final coordinate of the street lamp.

[0010] Preferably, the first coordinate and the second coordinate can also be repeated for multiple times, and then arranged to take the center value as the final value.

[0011] Preferably, the high-performance receiver is mounted on the lamp head of the street lamp, so that the high-performance receiver is adaptable to different lamp pole structures.

[0012] Preferably: the lamp head is provided with an energy storage battery, and the energy storage battery is used to power the high-performance receiver; the lamp head is also provided with a controller and a communication module, and the communication module is used to achieve wireless connection with the platform, and the controller and the communication module are both connected to the high-performance receiver.

[0013] Preferably, the energy storage battery is connected to the lamp holder, and the energy storage battery supplies power to the lamp holder when needed.

[0014] The present invention also provides a drone navigation and positioning method, which adopts any of the street lamp positioning methods described above, and the specific steps are as follows:

[0015] First, the street lamps in the area are located by the above street lamp positioning method, and the number of street lamps is at least three. When the drone passes near the lamp, the lamp and the drone can be connected through the broadcast signal to provide location data for the navigation of the drone.

[0016] Preferred: The signal connection method between the lamp and the drone is any one of WiFi, Bluetooth, Cat.1, and Zigbee.

[0017] Compared with the prior art, the technical solution proposed in this application has the following beneficial effects:

[0018] 1. Determine the street lamp coordinates of the reference street lamp through a high-performance receiver, and connect the communication equipment on the reference street lamp to the Beidou satellite to obtain the street lamp coordinates (x0, y0, z0) to obtain the correction number of the Beidou positioning coordinates. Other street lamps can obtain accurate coordinates based on the correction number, without the need to install a separate receiver, the cost is low, and the street lamp coordinates are accurate;

[0019] 2. Repeatedly obtain multiple precise coordinates of the same street lamp, arrange the obtained coordinate values, and take the center value of the arranged coordinates to confirm the final coordinates of the street lamp, eliminating the accuracy impact caused by the up and down and left and right shaking of the street lamp head;

[0020] 3. Use a high-performance receiver to obtain the street lamp coordinates of the reference street lamp multiple times, take the center value to obtain the precise coordinates, and eliminate the influence of factors such as the ionosphere, troposphere, multipath effect, and satellite geometric distribution on the receiver accuracy;

[0021] 4. By accurately positioning the street lamps, when the drone passes through an area with such street lamps, the drone can be positioned through the interaction between the drone and the street lamps. This not only has high positioning accuracy, but also can provide continuous and accurate navigation for the drone when the satellite signal is poor;

[0022] 5. High-precision street light coordinate data can also be shared with navigation software such as Amap and Baidu, which can provide high-precision reference coordinates for navigation software. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 It is a schematic diagram of the street lamp positioning method of the present invention. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe and discuss the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all the examples. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0028] The present invention provides a street lamp positioning method, comprising the following steps:

[0029] 1. Select one street lamp from multiple street lamps as the reference street lamp, and connect it to the Beidou satellite through the communication equipment on the reference street lamp to obtain the street lamp coordinates (x0, y0, z0)

[0030] Second, high-precision street lamp coordinates (x0', y0', z0') are obtained by installing a high-performance receiver on the reference street lamp. At the same time, the correction number (Δx, Δy, Δz) of the Beidou positioning coordinates can be obtained by calculation, that is, x0'=x0+Δx, y0'=y0+Δy, z0'=z0+Δz

[0031] 3. Other street lamps connect to BeiDou satellites through their own communication equipment to obtain street lamp coordinates (x1, y1, z1), and use correction numbers (Δx, Δy, Δz) to obtain precise coordinates (x2, y2, z2), x1 = x2 + Δx, y1 = y2 + Δy, z1 = z2 + Δz

[0032] This solution uses a high-performance receiver to obtain high-precision street light coordinates, thereby obtaining the correction number of the coordinates. Other street lights only need to use this correction number to obtain accurate street light coordinates. It is not necessary to install a high-performance receiver on each street light, saving costs. A high-performance receiver is a millimeter-level receiver. The brand of the receiver can be China Construction Beidou, Beidou Starlink, etc.

[0033] Furthermore, the method also includes step 4: repeating step 3 for the same street lamp to obtain multiple precise coordinates, arranging the obtained coordinate values, and taking the center value of the arranged coordinates to confirm the final coordinates of the street lamp.

[0034] It is easy to understand that communication equipment is usually installed at the lamp head of the lamp pole. The lamp head is extended from the lamp pole body through a cantilever and suspended in the air. When vehicles pass by or the wind blows, the lamp head will swing left and right. Sometimes the lamp head will swing up and down due to external factors. At this time, the positioning will cause positioning deviation. By continuously obtaining the coordinates of the street lamp, after a period of data collection and recording, this set of data will show the characteristics of the lamp head swinging left and right, front and back, and up and down in spatial position. However, no matter whether the lamp head swings left and right, front and back, and up and down, the lamp head will definitely return to the center position, and the number of times it returns to the center position is definitely the most. The center value of these changes can be found to confirm the final position of the lamp and obtain the most accurate coordinates.

[0035] Similarly, in step one, the street light coordinates (x0, y0, z0) are obtained by connecting the communication equipment on the reference street light to the Beidou satellite. Specifically, the street light coordinates are obtained by connecting the communication equipment on the reference street light to the Beidou satellite and repeating the above actions to obtain multiple street light coordinates, and the center value is taken to obtain the coordinates (x0, y0, z0).

[0036] In addition, no matter how high the accuracy of the receiver is, it will still be affected by some factors, such as the ionosphere, troposphere, multipath effect, and satellite geometric distribution, which will affect the accuracy of the receiver. Therefore, the specific steps for the high-performance receiver to obtain high-precision street light coordinates (x0', y0', z0') in step 1 are: obtain the street light coordinates through a high-performance receiver, and repeat this action to obtain multiple street light coordinates, and take the center value to obtain (x0', y0', z0').

[0037] The present invention also proposes a method for navigation and positioning of unmanned aerial vehicles, firstly positioning the street lamps in the area by the above-mentioned street lamp positioning method, and the number of street lamps is at least three. When the unmanned aerial vehicle passes near the lamp, the lamp and the unmanned aerial vehicle can be connected through a broadcast signal; specifically, it can be wifi, Bluetooth, Cat.1, zigbee, etc., to provide location data for the navigation of the unmanned aerial vehicle. Because it is flying in the air, at least 3 lamps are required to participate in positioning and navigation at the same time. The lamps are usually evenly distributed on both sides of the road. Therefore, there are usually multiple lamps connected to the unmanned aerial vehicle at the same time. At this time, the data between the lamps can also be calibrated with each other. Thereby solving the problems that the unmanned aerial vehicle will encounter with the low accuracy of Beidou satellite positioning, the weak or even interrupted satellite signal of complex urban buildings, and the visual recognition deviation, the high-precision street lamp coordinates can assist the unmanned aerial vehicle to achieve high-precision positioning.

[0038] In addition, high-precision street light coordinate data can also be shared with navigation software such as AutoNavi and Baidu to improve the accuracy of navigation information, and can also be provided to vehicle manufacturers that do not use map-based navigation.

[0039] It should be noted that in the above embodiment, the receiver is installed on the lamp head of the street lamp, so that it can adapt to various lamp poles, and there is no need to worry about the installation problem when the receiver is installed on different lamp poles. The lamp head is equipped with a storage battery, a controller, and a communication module for connecting to the platform. A high-performance receiver and its own signal receiving device are installed and connected to the above modules. The energy storage battery can maintain 24h operation for precise positioning.

[0040] The energy storage battery is also connected to the LED light source on the lamp head, which plays the role of peak shaving and valley filling. The energy storage battery, controller, and communication module used to connect to the platform are a set of equipment. During peak power, the LED light source is powered by the mains electricity, and during valley power, the LED light source is powered by the mains electricity and the battery is charged. This set of equipment plays the role of peak shaving and valley filling. At the same time, it also maintains the operation of the high-performance receiver and its own signal receiving equipment, serving two purposes in one. If the high-performance receiver is installed on a lamp head that already has the above equipment, there is no need to add other supporting equipment.

[0041] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and one or more of the above embodiments are combined into one embodiment. Those skilled in the art can make various changes or modifications or combinations within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A street lamp positioning method, characterized in that: The specific steps are as follows: S1. Randomly select a street lamp in the target area as a reference street lamp, and install a device on the reference street lamp to obtain the first coordinates of the street lamp; S2. By installing a high-performance receiver on the reference streetlight, the second coordinates of the reference streetlight are obtained, and the correction number of the satellite positioning coordinates is obtained by calculation; S3. Other street lamps connect to BeiDou satellites through their own signal receiving devices to obtain street lamp coordinates, and then use correction numbers to obtain precise coordinates.

2. A street lamp positioning method according to claim 1, characterized in that: The step S4 is further included, and the specific details of the step S4 are as follows: S4. Repeat step S3 for the same street lamp to obtain multiple precise coordinates, arrange the obtained coordinate values, take the center value of the arranged coordinates, and use the center value as the final coordinate of the street lamp.

3. A street lamp positioning method according to claim 2, characterized in that: The first coordinate and the second coordinate can also be repeated multiple times and then arranged to take the center value as the final value.

4. A street lamp positioning method according to claim 3, characterized in that: The high-performance receiver is mounted on the lamp head of the street lamp, so that the high-performance receiver is adaptable to different lamp pole structures.

5. A street lamp positioning method according to claim 4, characterized in that: The lamp head is provided with an energy storage battery, and the energy storage battery is used to power the high-performance receiver; the lamp head is also provided with a controller and a communication module, and the communication module is used to achieve wireless connection with the platform, and the controller and the communication module are both connected to the high-performance receiver.

6. A street lamp positioning method according to claim 5, characterized in that: The energy storage battery is connected to the lamp head, and the energy storage battery supplies power to the lamp head when needed.

7. A method for navigation and positioning of an unmanned aerial vehicle, using a street lamp positioning method as claimed in any one of claims 1 to 6, characterized in that: The specific steps are as follows: First, the street lamps in the area are located by the above street lamp positioning method, and the number of street lamps is at least three. When the drone passes near the lamp, the lamp and the drone can be connected through the broadcast signal to provide location data for the navigation of the drone.

8. The method for unmanned aerial vehicle navigation and positioning according to claim 7, characterized in that: The signal connection method between the lamp and the drone is any one of wifi, bluetooth, Cat.1, and zigbee.

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