Unmanned aerial vehicle positioning method and device, electronic equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining two-dimensional coordinate data and a plurality of Bluetooth beacons of a target unmanned aerial vehicle, and the two-dimensional coordinate data comprises a horizontal coordinate and a vertical coordinate; initial three-dimensional space coordinates of the target unmanned aerial vehicle are determined according to the multiple Bluetooth beacons, and the initial three-dimensional space coordinates comprise initial horizontal coordinates, initial vertical coordinates and initial vertical coordinates; verifying the initial abscissa and the initial ordinate based on the two-dimensional coordinate data to obtain a target error coefficient; calibrating the initial vertical coordinate based on the target error coefficient to obtain a target vertical coordinate; and determining a target three-dimensional space coordinate of the target unmanned aerial vehicle according to the two-dimensional coordinate data and the target vertical coordinate. The technical problem of low indoor positioning accuracy of the unmanned aerial vehicle in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a positioning method, device, electronic equipment and storage medium for an unmanned aerial vehicle. Background Art

[0002] Unmanned Aerial Vehicle (UAV), also known as unmanned aerial vehicle, is an aircraft without a human operator. It can perform flight missions through pre-set routes, autonomous programs or remote control. In the warehouse area of ​​​​the explosives factory, traditional monitoring methods have blind spots and safety hazards. To solve this problem, a manufacturer has proposed a technical solution to introduce drones in the explosives warehouse for auxiliary inspections. However, the explosives warehouse is an obviously closed environment, and GPS signals are usually unavailable or inaccurate, so indoor drones will inevitably encounter positioning problems.

[0003] At present, common indoor positioning technologies usually rely on inertial navigation systems (IMU), laser radar (LiDAR), camera visual positioning, etc. to achieve drone positioning and navigation. However, when drones are performing inspection tasks, various sensors and cameras usually need to focus on environmental information collection and obstacle avoidance tasks. If the camera is used for visual positioning, the workload of the image module will be greatly increased, resulting in reduced stability of the entire system, which undoubtedly increases the risk of collision of drones during inspections. In addition, the positioning method of indoor positioning of drones through inertial navigation systems, laser radars, visual positioning or a combination of multiple methods is not very accurate.

[0004] There is currently no corresponding solution to the above problems. Summary of the invention

[0005] The embodiments of the present invention provide a method, device, electronic device and storage medium for positioning a drone, so as to at least solve the technical problem of low indoor positioning accuracy of drones in the prior art.

[0006] According to one embodiment of the present invention, a positioning method for an unmanned aerial vehicle is provided, comprising: obtaining two-dimensional coordinate data and multiple Bluetooth beacons of a target unmanned aerial vehicle, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate; determining the initial three-dimensional space coordinates of the target unmanned aerial vehicle according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate; verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient; calibrating the initial vertical coordinate based on the target error coefficient to obtain a target vertical coordinate; and determining the target three-dimensional space coordinates of the target unmanned aerial vehicle according to the two-dimensional coordinate data and the target vertical coordinate.

[0007] Optionally, the positioning method of the drone also includes: establishing a two-dimensional coordinate system according to the plane where the preset type of warehouse is located; determining the coordinate origin of the two-dimensional coordinate system; and determining the two-dimensional coordinate data of the target drone according to the coordinate origin.

[0008] Optionally, the positioning method of the UAV also includes: emitting target ultrasonic waves from the coordinate origin to the first wall and the second wall; obtaining a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; determining a first target distance according to the first time point, and determining a second target distance according to the second time point; determining the two-dimensional coordinate data of the target UAV according to the first target distance and the second target distance.

[0009] Optionally, the positioning method of the drone also includes: obtaining multiple corner vertices of a preset type of warehouse; and determining multiple Bluetooth beacons based on the multiple corner vertices.

[0010] Optionally, the positioning method of the drone also includes: performing a scanning operation on multiple Bluetooth beacons to obtain multiple receiving time periods; obtaining multiple Bluetooth signal strengths of multiple Bluetooth beacons; and determining the initial three-dimensional spatial coordinates of the target drone based on the multiple Bluetooth signal strengths and multiple receiving time periods.

[0011] Optionally, the positioning method of the drone also includes: determining multiple device identifiers of multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; determining multiple target identifiers from the multiple device identifiers based on multiple Bluetooth signal strengths and multiple receiving time periods; determining multiple initial Bluetooth signal strengths corresponding to the multiple target identifiers; calculating the average of the multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength; and determining the initial three-dimensional spatial coordinates of the target drone based on the target Bluetooth signal strength.

[0012] Optionally, the positioning method of the unmanned aerial vehicle also includes: calculating a target standard deviation value based on the two-dimensional coordinate data, the initial horizontal coordinate and the initial vertical coordinate; and determining a target error coefficient based on the target standard deviation value.

[0013] According to one embodiment of the present invention, a positioning device for a drone is also provided, including: an acquisition module, used to acquire two-dimensional coordinate data and multiple Bluetooth beacons of a target drone, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate; a first determination module, used to determine the initial three-dimensional space coordinates of the target drone based on multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate and an initial vertical coordinate; a verification module, used to verify the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient; a calibration module, used to calibrate the initial vertical coordinate based on the target error coefficient to obtain a target vertical coordinate; and a second determination module, used to determine the target three-dimensional space coordinates of the target drone based on the two-dimensional coordinate data and the target vertical coordinate.

[0014] Optionally, the acquisition module includes: an establishment unit, used to establish a two-dimensional coordinate system according to the plane where a preset type of warehouse is located; a first determination unit, used to determine the coordinate origin of the two-dimensional coordinate system; and a second determination unit, used to determine the two-dimensional coordinate data of the target drone based on the coordinate origin.

[0015] Optionally, the second determination unit includes: a transmitting subunit, used to transmit target ultrasonic waves from the coordinate origin to the first wall and the second wall; an acquiring subunit, used to acquire a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; a first determination subunit, used to determine the first target distance according to the first time point, and determine the second target distance according to the second time point; a second determination subunit, used to determine the two-dimensional coordinate data of the target drone based on the first target distance and the second target distance.

[0016] Optionally, the acquisition module includes: a first acquisition unit, used to acquire multiple corner vertices of a preset type warehouse; and a third determination unit, used to determine multiple Bluetooth beacons according to the multiple corner vertices.

[0017] Optionally, the first determination module includes: a scanning unit, used to perform a scanning operation on multiple Bluetooth beacons to obtain multiple receiving time periods; a second acquisition unit, used to obtain multiple Bluetooth signal strengths of multiple Bluetooth beacons; and a fourth determination unit, used to determine the initial three-dimensional spatial coordinates of the target drone based on multiple Bluetooth signal strengths and multiple receiving time periods.

[0018] Optionally, the fourth determination unit includes: a third determination subunit, used to determine multiple device identifiers of multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; a fifth determination subunit, used to determine multiple target identifiers from multiple device identifiers based on multiple Bluetooth signal strengths and multiple receiving time periods; a sixth determination subunit, used to determine multiple initial Bluetooth signal strengths corresponding to multiple target identifiers; a calculation subunit, used to calculate the average of multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength; and a seventh determination subunit, used to determine the initial three-dimensional spatial coordinates of the target drone based on the target Bluetooth signal strength.

[0019] Optionally, the verification module includes: a calculation unit, used to calculate a target standard deviation value based on the two-dimensional coordinate data, an initial horizontal coordinate and an initial vertical coordinate; and a fifth determination unit, used to determine a target error coefficient based on the target standard deviation value.

[0020] According to one embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above-mentioned methods for positioning a drone.

[0021] According to one embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above-mentioned methods for positioning a drone when running.

[0022] In an embodiment of the present invention, two-dimensional coordinate data and multiple Bluetooth beacons of a target UAV are obtained, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate, and the initial three-dimensional spatial coordinates of the target UAV are determined according to the multiple Bluetooth beacons, wherein the initial three-dimensional spatial coordinates include an initial horizontal coordinate, an initial vertical coordinate and an initial vertical coordinate, and the initial horizontal coordinate and the initial vertical coordinate are verified based on the two-dimensional coordinate data to obtain a target error coefficient, thereby achieving the purpose of calibrating the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate, and achieving the technical effect of determining the target three-dimensional spatial coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinate, thereby solving the technical problem of low indoor positioning accuracy of UAVs in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a method for positioning a drone according to one embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of UAV positioning according to one embodiment of the present invention;

[0026] Figure 3 4 is a structural block diagram of a positioning device for a drone according to one embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present invention, an embodiment of a positioning method for a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] The method embodiment may also be performed in an electronic device, a similar control device or an electronic device including a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It will be understood by those skilled in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0031] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural-network processing unit (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and other processing devices. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0032] The memory can be used to store computer programs, such as storing a computer program corresponding to the positioning method of the drone in the embodiment of the present invention. The processor implements the positioning method of the drone by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the electronic device via a grid. Examples of the above-mentioned grid include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0033] The communication device is used to receive or send data via a grid. The specific examples of the above-mentioned grid may include a wireless grid provided by a communication provider of the mobile terminal. In one example, the communication device includes a grid adapter (network interface controller, NIC), which can be connected to other grid devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and instructions can be sent to the vehicle-mounted terminal through the mobile device.

[0034] The display device may be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the vehicle-mounted terminal. In some embodiments, the vehicle-mounted terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface. The human-computer interaction function here may include a vehicle gear shifting function, and executable instructions for executing the human-computer interaction function are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0035] Figure 1 is a flow chart of a method for positioning a drone according to one embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0036] Step S102, obtaining two-dimensional coordinate data of the target UAV and multiple Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate.

[0037] Optionally, the execution subject of this embodiment is a drone positioning system. It should be noted that other electronic devices and processors can also serve as execution subjects, and no further limitations are given here.

[0038] Optionally, the drone positioning technology of the present invention can be applied in explosive warehouses.

[0039] In the technical solution provided in the above step S102 of the present invention, in order to locate the target drone, the drone positioning system needs to first obtain the two-dimensional coordinate data and multiple Bluetooth beacons of the target drone, wherein the two-dimensional coordinate data includes a horizontal coordinate (X1) and a vertical coordinate (Y1).

[0040] Specifically, the drone positioning system can establish a two-dimensional coordinate system based on the plane where the explosive warehouse floor is located, and use one of the four corner vertices of the explosive warehouse floor as the coordinate origin, and project the position of the target drone into the above-established two-dimensional coordinate system to obtain the two-dimensional coordinate data of the target drone.

[0041] Specifically, the UAV positioning system transmits ultrasonic waves to the first side wall and the second side wall starting from the origin, and determines the distance of the target UAV relative to the first side wall and the second side wall according to the transmission time and the echo reception time, thereby determining the horizontal coordinate (X1) and vertical coordinate (Y1) of the UAV relative to the coordinate origin.

[0042] Optionally, the selection of the coordinate origin in the two-dimensional coordinate system is arbitrary, that is, any one of the four corner vertices of the warehouse floor can be used as the coordinate origin of the above two-dimensional coordinate system, and no specific limitation is made here.

[0043] Specifically, the drone positioning system can also set the Bluetooth beacon at the corner vertices of the explosive warehouse, so that multiple Bluetooth beacons can be obtained.

[0044] Step S104, determining the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate.

[0045] In the technical solution provided in the above step S104 of the present invention, the drone positioning system determines the initial three-dimensional space coordinates of the target drone based on the multiple Bluetooth beacons obtained in the above step, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate and an initial vertical coordinate.

[0046] Specifically, in step S104, the drone positioning system can set Bluetooth beacons at the four corners of the warehouse respectively, and the Bluetooth beacons can continuously emit Bluetooth signals. The Bluetooth module on the target drone can be used to scan the Bluetooth beacons in the surrounding environment.

[0047] Furthermore, by measuring the signal strength (RSSI, Received Signal Strength Indication) emitted by each beacon and the arrival time difference of the Bluetooth signal emitted by each Bluetooth beacon received by the Bluetooth module of the drone, the estimated spatial position coordinates of the target drone, that is, the initial three-dimensional spatial coordinates (x1, y1, z1), are determined.

[0048] Optionally, when estimating the initial three-dimensional spatial coordinates of the target drone, the distance between the target drone itself and each Bluetooth beacon can be calculated using the least squares method through the collected signal strength and arrival time difference data, and then the spatial coordinate position of the target drone itself, i.e., the initial three-dimensional spatial coordinates (x1, y1, z1), can be derived through weighted triangulation.

[0049] Step S106, verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient.

[0050] In the technical solution provided in the above step S106 of the present invention, since the accuracy of the initial three-dimensional spatial coordinates of the drone cannot be guaranteed, after the drone positioning system obtains the initial three-dimensional spatial coordinates of the drone, it is necessary to verify the initial horizontal coordinate and the initial vertical coordinate in the initial three-dimensional spatial coordinates based on the two-dimensional coordinate data obtained in the above step S102, so as to obtain the target error coefficient.

[0051] Specifically, the drone positioning system relies only on the Bluetooth positioning solution. Although it can directly obtain all the coordinate data of the drone in the spatial position, due to the mutual interference between signals and the interference of obstacles in the space, this estimated initial three-dimensional spatial coordinate (x1, y1, z1) cannot be directly used to locate the drone.

[0052] Therefore, further, the present invention can also calibrate the initial horizontal coordinate (x1) and the initial vertical coordinate (y1) in the initial three-dimensional space coordinate (x1, y1, z1) based on the two-dimensional coordinate data (ie, X1 and Y1) and obtain the error coefficient.

[0053] Specifically, the calculation formula of the error coefficient in the above steps is as follows:

[0054] Error coefficient = (standard deviation / mean value) * 100%

[0055] The standard deviation is the square root of the average of the squares of the deviations of the two-dimensional coordinate data (ie, X1 and Y1) from the initial horizontal coordinate (x1) and the initial vertical coordinate (y1).

[0056] Optionally, the standard deviation indicates the degree of dispersion of the data set, that is, the larger the standard deviation, the greater the volatility of the data.

[0057] Optionally, the average value is an arithmetic average of the two-dimensional coordinate data of multiple locations in the explosive warehouse.

[0058] Step S108, calibrating the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate.

[0059] In the technical solution provided in the above step S108 of the present invention, the drone positioning system can calibrate the initial vertical coordinate (z1) within the initial three-dimensional space coordinate (x1, y1, z1) based on the target error coefficient obtained in step S106, so as to obtain the calibrated vertical coordinate, that is, the target vertical coordinate.

[0060] Specifically, after obtaining the above error coefficient, the UAV positioning system can calibrate the initial vertical coordinate (z1) estimated by Bluetooth through the above error coefficient to obtain the calibrated target vertical coordinate (Z1).

[0061] Step S110, determining the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinates.

[0062] In the technical solution provided in the above step S110 of the present invention, the drone positioning system can further determine the target three-dimensional space coordinates (X1, Y1, Z1) of the target drone based on the two-dimensional coordinate data (i.e., X1 and Y1) obtained in step S102 and the target vertical coordinate (Z1) obtained in step S108.

[0063] It is worth noting that since the ultrasonic measurement data (i.e., two-dimensional coordinate data) is considered to be accurate in the present invention, due to reasons such as ground conditions and load, the UAV positioning system cannot directly rely on ultrasonic ranging to directly measure the UAV's height above the ground, but it can still use ultrasonic ranging to calibrate the Bluetooth positioning data and finally obtain the calibrated UAV spatial position coordinates (X1, Y1, Z1), i.e., the target three-dimensional spatial coordinates.

[0064] From the above steps S102 to S110, it can be learned that in the present invention, the two-dimensional coordinate data of the target UAV and multiple Bluetooth beacons are obtained, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate, and the initial three-dimensional space coordinates of the target UAV are determined according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate and an initial vertical coordinate, and the initial horizontal coordinate and the initial vertical coordinate are verified based on the two-dimensional coordinate data to obtain a target error coefficient, thereby achieving the purpose of calibrating the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate, and achieving the technical effect of determining the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinate, thereby solving the technical problem of low indoor positioning accuracy of UAVs in the prior art.

[0065] The above method of this embodiment is further described in detail below.

[0066] As an optional implementation, the target UAV is applied to a preset type warehouse, wherein obtaining the two-dimensional coordinate data of the target UAV includes: establishing a two-dimensional coordinate system according to the plane where the preset type warehouse is located, determining the coordinate origin of the two-dimensional coordinate system, and determining the two-dimensional coordinate data of the target UAV according to the coordinate origin.

[0067] In this embodiment, the target drone is applied to a preset type of warehouse, for example, an explosive warehouse, wherein the drone positioning system obtains the two-dimensional coordinate data of the target drone including the following steps: the drone positioning system can establish a two-dimensional coordinate system according to the ground plane where the preset type of warehouse (such as an explosive warehouse) is located, and determine the coordinate origin of the two-dimensional coordinate system according to the corner vertices of the above-mentioned ground, and then further determine the two-dimensional coordinate data of the target drone based on the determined coordinate origin.

[0068] Specifically, the drone positioning system can establish a two-dimensional coordinate system based on the plane where the explosive warehouse floor is located, and use one of the four corner vertices of the explosive warehouse floor as the coordinate origin, and project the position of the target drone into the above-established two-dimensional coordinate system to obtain the two-dimensional coordinate data of the target drone.

[0069] Specifically, the drone positioning system can preset any corner of the warehouse as the coordinate origin, and establish a two-dimensional coordinate system with the plane where the ground is located. The drone patrolling in the warehouse must have projection coordinates in this two-dimensional coordinate system. Then, the ultrasonic transmitter and ultrasonic receiver carried on the drone perform ultrasonic ranging to the two walls where the coordinate origin is located, thereby obtaining the horizontal coordinate (X1) of the x-axis and the vertical coordinate (Y1) of the y-axis relative to the drone.

[0070] Optionally, the selection of the coordinate origin in the two-dimensional coordinate system is arbitrary, that is, any one of the four corner vertices of the warehouse floor can be used as the coordinate origin of the above two-dimensional coordinate system, which is not specifically limited here. As an optional implementation, the preset type warehouse includes a first wall and a second wall, and determining the two-dimensional coordinate data of the target drone according to the coordinate origin includes: emitting a target ultrasonic wave from the coordinate origin to the first wall and the second wall, obtaining a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave, determining the first target distance according to the first time point, and determining the second target distance according to the second time point, and determining the two-dimensional coordinate data of the target drone according to the first target distance and the second target distance.

[0071] In this embodiment, the UAV positioning system determines the two-dimensional coordinate data of the target UAV according to the coordinate origin determined in step S102, including the following steps: the UAV positioning system can emit a target ultrasonic wave from the coordinate origin to the first wall and the second wall to obtain the time point (first time point) when the first wall receives the ultrasonic wave and the time point (second time point) when the second wall receives the ultrasonic wave, and determine the distance between the target UAV and the first wall (first target distance) according to the above-mentioned first time point, and at the same time determine the distance between the target UAV and the second wall (second target distance) according to the second time point. Further, the positioning system determines the two-dimensional coordinate data of the target UAV according to the above-mentioned first target distance and second target distance.

[0072] Specifically, the UAV positioning system transmits ultrasonic waves to the first side wall and the second side wall starting from the origin, and determines the distance of the target UAV relative to the first side wall and the second side wall according to the transmission time and the echo reception time, thereby determining the horizontal coordinate (X1) and vertical coordinate (Y1) of the UAV relative to the coordinate origin.

[0073] It is worth mentioning that due to the possible obstruction of goods or other equipment in the warehouse, resulting in inaccurate ranging, in the above method, in actual application, ultrasonic ranging can be added to the third wall opposite to the first wall (first side wall) and the fourth wall opposite to the second wall (second side wall), and combined with the preset length and width data inside the warehouse, the calibration and verification of the x-axis coordinates and the y-axis coordinates can be achieved.

[0074] Optional, such as Figure 2 As shown, the above-mentioned preset type warehouse includes a first wall, a second wall, a third wall and a fourth wall (ie, a first side wall, a second side wall, a third side wall and a fourth side wall).

[0075] As an optional implementation, obtaining multiple Bluetooth beacons of the target drone includes: obtaining multiple corner vertices of a preset type of warehouse, and determining multiple Bluetooth beacons according to the multiple corner vertices.

[0076] In this embodiment, the drone positioning system determines multiple Bluetooth beacons of the target drone, including the following steps: the positioning system must first obtain multiple corner vertices of the floor of a preset type of warehouse where the target drone is located, and use the above-mentioned multiple corner vertices as Bluetooth beacons, thereby obtaining multiple Bluetooth beacons.

[0077] Specifically, the drone positioning system can also set the Bluetooth beacon at the corner vertices of the explosive warehouse, so that multiple Bluetooth beacons can be obtained.

[0078] As an optional implementation, determining the initial three-dimensional spatial coordinates of the target drone based on multiple Bluetooth beacons includes: performing a scanning operation on multiple Bluetooth beacons, obtaining multiple receiving time periods, obtaining multiple Bluetooth signal strengths of multiple Bluetooth beacons, and determining the initial three-dimensional spatial coordinates of the target drone based on the multiple Bluetooth signal strengths and multiple receiving time periods.

[0079] In this embodiment, the UAV positioning system determines the initial three-dimensional spatial coordinates of the target UAV based on the determined multiple Bluetooth beacons, including the following steps: the UAV positioning system performs a scanning operation on the determined multiple Bluetooth beacons, thereby obtaining the time difference of arrival of Bluetooth signals emitted by the multiple Bluetooth beacons (i.e., multiple receiving time periods), and simultaneously obtains multiple Bluetooth signal strengths of the multiple Bluetooth beacons, and determines the initial three-dimensional spatial coordinates of the target UAV based on the multiple Bluetooth signal strengths and the multiple receiving time periods.

[0080] Specifically, in order to obtain the hovering height of the target drone in the warehouse, Bluetooth beacons can be set at the four corners of the warehouse. The Bluetooth beacons continuously emit Bluetooth signals, and the Bluetooth module on the drone can be used to scan Bluetooth beacons in the surrounding environment. By measuring the signal strength (RSSI, Received Signal Strength Indication) emitted by each beacon and the arrival time difference of the Bluetooth signal emitted by each Bluetooth beacon received by the Bluetooth module of the drone, the estimated spatial position coordinates of the target drone, that is, the initial three-dimensional spatial coordinates (x1, y1, z1), are determined.

[0081] Optionally, when estimating the initial three-dimensional spatial coordinates of the target drone, the distance between the target drone itself and each Bluetooth beacon can be calculated using the least squares method through the collected signal strength and arrival time difference data, and then the spatial coordinate position of the target drone itself, i.e., the initial three-dimensional spatial coordinates (x1, y1, z1), can be derived through weighted triangulation.

[0082] As an optional implementation, determining the initial three-dimensional spatial coordinates of a target UAV based on multiple Bluetooth signal strengths and multiple receiving time periods includes: determining multiple device identifiers of multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier, determining multiple target identifiers from the multiple device identifiers based on the multiple Bluetooth signal strengths and the multiple receiving time periods, determining multiple initial Bluetooth signal strengths corresponding to the multiple target identifiers, calculating an average of the multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength, and determining the initial three-dimensional spatial coordinates of the target UAV based on the target Bluetooth signal strength.

[0083] In this embodiment, the UAV positioning system determines the initial three-dimensional spatial coordinates of the target UAV based on multiple Bluetooth signal strengths and multiple receiving time periods, including the following steps: the UAV positioning system can determine the device identifiers corresponding to multiple Bluetooth beacons of the multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier, and based on the above-determined multiple Bluetooth signal strengths and multiple receiving time periods, determine multiple target identifiers from the multiple Bluetooth device identifiers, thereby further determining multiple initial Bluetooth signal strengths corresponding to the multiple target identifiers, and calculating the average of the multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength, and determining the initial three-dimensional spatial coordinates of the target UAV according to the Bluetooth beacon corresponding to the target Bluetooth signal strength.

[0084] Specifically, since there are stacked goods in the warehouse, there is also relative signal interference in Bluetooth positioning. In this regard, the setting heights of Bluetooth beacons are different in the present invention.

[0085] For example, the drone positioning system can set the Bluetooth beacons set diagonally in the warehouse to the first height H and the second height h, respectively, so that the drone can obtain multiple Bluetooth signals of different strengths at a specific location. Specifically, the Bluetooth beacons at different locations can be distinguished according to the device identifier (UUID) of the Bluetooth beacon, thereby obtaining the signal strength and arrival time difference data of three Bluetooth beacons with relatively reliable signal strength for subsequent calculations.

[0086] More specifically, the height of the first Bluetooth beacon can be set to twice the height of the second Bluetooth beacon, and the height of the third Bluetooth beacon can be set to the same as the height of the first Bluetooth beacon, and the height of the second Bluetooth beacon is the same as the height of the fourth Bluetooth beacon. In this way, four sets of Bluetooth data can be obtained by performing four calculations on any three Bluetooth beacons, and further discarding one set of data that obviously deviates from the other three groups, and only performing mean calculation on the other three sets of data to obtain an estimated value.

[0087] As an optional implementation, verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain the target error coefficient includes: calculating the target standard deviation value based on the two-dimensional coordinate data, the initial horizontal coordinate and the initial vertical coordinate, and determining the target error coefficient based on the target standard deviation value.

[0088] In this embodiment, the UAV positioning system verifies the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain the target error coefficient, including the following steps: the UAV positioning system can calculate the target standard deviation value based on the two-dimensional coordinate data obtained in step S102 and the initial horizontal coordinate and the initial vertical coordinate obtained in step S104, and calculate the target error coefficient based on the target standard deviation value.

[0089] Specifically, the drone positioning system relies only on the Bluetooth positioning solution. Although it can directly obtain all the coordinate data of the drone in the spatial position, due to the mutual interference between signals and the interference of obstacles in the space, this estimated initial three-dimensional spatial coordinate (x1, y1, z1) cannot be directly used to locate the drone.

[0090] Therefore, further, the present invention can also calibrate the initial horizontal coordinate (x1) and the initial vertical coordinate (y1) in the initial three-dimensional space coordinate (x1, y1, z1) based on the two-dimensional coordinate data (ie, X1 and Y1) and obtain the error coefficient.

[0091] Specifically, the calculation formula of the error coefficient in the above steps is as follows:

[0092] Error coefficient = (standard deviation / mean value) * 100%

[0093] The standard deviation is the square root of the average of the squares of the deviations of the two-dimensional coordinate data (ie, X1 and Y1) from the initial horizontal coordinate (x1) and the initial vertical coordinate (y1).

[0094] Optionally, the standard deviation indicates the degree of dispersion of the data set, that is, the larger the standard deviation, the greater the volatility of the data.

[0095] Optionally, the average value is an arithmetic average of the two-dimensional coordinate data of multiple locations in the explosive warehouse.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a grid device, etc.) to execute the methods of various embodiments of the present invention.

[0097] In this embodiment, a positioning device for a drone is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] Figure 3 is a structural block diagram of a positioning device 300 for a drone according to one embodiment of the present invention. Figure 3 As shown, the device includes: an acquisition module 301 , a first determination module 302 , a verification module 303 , a calibration module 304 and a second determination module 305 .

[0099] An acquisition module 301 is used to acquire two-dimensional coordinate data of a target UAV and a plurality of Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate;

[0100] A first determination module 302 is used to determine the initial three-dimensional space coordinates of the target UAV according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate;

[0101] A verification module 303 is used to verify the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient;

[0102] A calibration module 304 is used to calibrate the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate;

[0103] The second determination module 305 is used to determine the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinates.

[0104] Optionally, the acquisition module 301 includes: an establishment unit, used to establish a two-dimensional coordinate system according to the plane where the preset type of warehouse is located; a first determination unit, used to determine the coordinate origin of the two-dimensional coordinate system; and a second determination unit, used to determine the two-dimensional coordinate data of the target drone based on the coordinate origin.

[0105] Optionally, the second determination unit includes: a transmitting subunit, used to transmit target ultrasonic waves from the coordinate origin to the first wall and the second wall; an acquiring subunit, used to acquire a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; a first determination subunit, used to determine the first target distance according to the first time point, and determine the second target distance according to the second time point; a second determination subunit, used to determine the two-dimensional coordinate data of the target drone based on the first target distance and the second target distance.

[0106] Optionally, the acquisition module 301 includes: a first acquisition unit, used to acquire multiple corner vertices of a preset type warehouse; and a third determination unit, used to determine multiple Bluetooth beacons according to the multiple corner vertices.

[0107] Optionally, the first determination module 302 includes: a scanning unit, used to perform a scanning operation on multiple Bluetooth beacons to obtain multiple receiving time periods; a second acquisition unit, used to obtain multiple Bluetooth signal strengths of multiple Bluetooth beacons; and a fourth determination unit, used to determine the initial three-dimensional spatial coordinates of the target drone based on multiple Bluetooth signal strengths and multiple receiving time periods.

[0108] Optionally, the fourth determination unit includes: a third determination subunit, used to determine multiple device identifiers of multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; a fifth determination subunit, used to determine multiple target identifiers from multiple device identifiers based on multiple Bluetooth signal strengths and multiple receiving time periods; a sixth determination subunit, used to determine multiple initial Bluetooth signal strengths corresponding to multiple target identifiers; a calculation subunit, used to calculate the average of multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength; and a seventh determination subunit, used to determine the initial three-dimensional spatial coordinates of the target drone based on the target Bluetooth signal strength.

[0109] Optionally, the verification module 303 includes: a calculation unit, used to calculate a target standard deviation value according to the two-dimensional coordinate data, an initial horizontal coordinate and an initial vertical coordinate; and a fifth determination unit, used to determine a target error coefficient according to the target standard deviation value.

[0110] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned drone positioning method.

[0111] Optionally, in this embodiment, the electronic device may be configured to store a computer program for performing the following steps:

[0112] Step S102, obtaining two-dimensional coordinate data of the target UAV and multiple Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate;

[0113] Step S104, determining the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate;

[0114] Step S106, verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient;

[0115] Step S108, calibrating the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate;

[0116] Step S110, determining the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinates.

[0117] Optionally, when the processor executes the program, the following steps are also implemented: establishing a two-dimensional coordinate system according to the plane where the preset type of warehouse is located; determining the coordinate origin of the two-dimensional coordinate system; and determining the two-dimensional coordinate data of the target drone according to the coordinate origin.

[0118] Optionally, when the processor executes the program, the following steps are also implemented: emitting target ultrasonic waves from the coordinate origin to the first wall and the second wall; acquiring a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; determining the first target distance according to the first time point, and determining the second target distance according to the second time point; determining the two-dimensional coordinate data of the target drone according to the first target distance and the second target distance.

[0119] Optionally, when the processor executes the program, the following steps are further implemented: obtaining a plurality of corner vertices of a preset type warehouse; and determining a plurality of Bluetooth beacons according to the plurality of corner vertices.

[0120] Optionally, when the processor executes the program, the following steps are also implemented: performing a scanning operation on multiple Bluetooth beacons to obtain multiple receiving time periods; obtaining multiple Bluetooth signal strengths of multiple Bluetooth beacons; and determining the initial three-dimensional spatial coordinates of the target drone based on the multiple Bluetooth signal strengths and the multiple receiving time periods.

[0121] Optionally, when the processor executes the program, the following steps are also implemented: determining multiple device identifiers of multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; determining multiple target identifiers from the multiple device identifiers based on multiple Bluetooth signal strengths and multiple receiving time periods; determining multiple initial Bluetooth signal strengths corresponding to the multiple target identifiers; calculating the average of the multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength; and determining the initial three-dimensional spatial coordinates of the target drone based on the target Bluetooth signal strength.

[0122] Optionally, when the processor executes the program, the following steps are further implemented: calculating a target standard deviation value according to the two-dimensional coordinate data, an initial horizontal coordinate, and an initial vertical coordinate; and determining a target error coefficient according to the target standard deviation value.

[0123] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned substation environment analysis method when running on a computer or a processor.

[0124] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0125] Step S102, obtaining two-dimensional coordinate data of the target UAV and multiple Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate;

[0126] Step S104, determining the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate;

[0127] Step S106, verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient;

[0128] Step S108, calibrating the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate;

[0129] Step S110, determining the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinates.

[0130] Optionally, the storage medium is configured to store program codes for executing the following steps: establishing a two-dimensional coordinate system according to the plane where a preset type of warehouse is located; determining the coordinate origin of the two-dimensional coordinate system; and determining the two-dimensional coordinate data of the target drone based on the coordinate origin.

[0131] Optionally, the storage medium is configured to store program codes for executing the following steps: emitting a target ultrasonic wave from a coordinate origin to a first wall and a second wall; acquiring a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; determining a first target distance according to the first time point, and determining a second target distance according to the second time point; determining two-dimensional coordinate data of the target drone according to the first target distance and the second target distance.

[0132] Optionally, the storage medium is configured to store program codes for executing the following steps: obtaining a plurality of corner vertices of a preset type warehouse; and determining a plurality of Bluetooth beacons according to the plurality of corner vertices.

[0133] Optionally, the storage medium is configured to store program codes for executing the following steps: performing a scanning operation on multiple Bluetooth beacons to obtain multiple receiving time periods; obtaining multiple Bluetooth signal strengths of multiple Bluetooth beacons; and determining the initial three-dimensional spatial coordinates of the target drone based on the multiple Bluetooth signal strengths and the multiple receiving time periods.

[0134] Optionally, the storage medium is configured to store program code for performing the following steps: determining multiple device identifiers for multiple Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; determining multiple target identifiers from the multiple device identifiers based on multiple Bluetooth signal strengths and multiple receiving time periods; determining multiple initial Bluetooth signal strengths corresponding to the multiple target identifiers; calculating an average of the multiple initial Bluetooth signal strengths to obtain a target Bluetooth signal strength; and determining the initial three-dimensional spatial coordinates of the target drone based on the target Bluetooth signal strength.

[0135] Optionally, the storage medium is configured to store program codes for executing the following steps: calculating a target standard deviation value based on the two-dimensional coordinate data, an initial abscissa and an initial ordinate; and determining a target error coefficient based on the target standard deviation value.

[0136] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0137] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a grid device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program codes.

[0142] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for positioning a drone, characterized in that: include: Acquire two-dimensional coordinate data of the target UAV and multiple Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate; Determine the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate; Verify the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient; Calibrate the initial vertical coordinate based on the target error coefficient to obtain the target vertical coordinate; The target three-dimensional space coordinates of the target UAV are determined according to the two-dimensional coordinate data and the target vertical coordinates.

2. The method for positioning a drone according to claim 1, characterized in that: The target drone is applied to a preset type warehouse, wherein obtaining the two-dimensional coordinate data of the target drone includes: Establishing a two-dimensional coordinate system according to the plane where the preset type of warehouse is located; Determine the coordinate origin of the two-dimensional coordinate system; The two-dimensional coordinate data of the target UAV is determined according to the coordinate origin.

3. The method for positioning a drone according to claim 2, characterized in that: The preset type warehouse includes a first wall and a second wall, and determining the two-dimensional coordinate data of the target drone according to the coordinate origin includes: emitting a target ultrasonic wave from the coordinate origin to the first wall and the second wall; Acquire a first time point and a second time point, wherein the first time point is the time point when the first wall receives the ultrasonic wave, and the second time point is the time point when the second wall receives the ultrasonic wave; Determining a first target distance according to the first time point, and determining a second target distance according to the second time point; The two-dimensional coordinate data of the target UAV is determined according to the first target distance and the second target distance.

4. The method for positioning a drone according to claim 2, characterized in that: Acquiring the multiple Bluetooth beacons of the target drone includes: Obtaining multiple corner vertices of the preset type warehouse; The plurality of Bluetooth beacons are determined based on the plurality of corner vertices.

5. The method for positioning a drone according to claim 1, characterized in that: Determining the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth beacons includes: Performing a scanning operation on the multiple Bluetooth beacons to obtain multiple receiving time periods; Obtaining multiple Bluetooth signal strengths of the multiple Bluetooth beacons; The initial three-dimensional space coordinates of the target drone are determined according to the multiple Bluetooth signal strengths and the multiple receiving time periods.

6. The method for positioning a drone according to claim 5, characterized in that: Determining the initial three-dimensional space coordinates of the target drone according to the multiple Bluetooth signal strengths and the multiple receiving time periods includes: Determining a plurality of device identifiers of the plurality of Bluetooth beacons, wherein each Bluetooth beacon corresponds to a device identifier; determining a plurality of target identifiers from the plurality of device identifiers based on the plurality of Bluetooth signal strengths and the plurality of reception time periods; Determine a plurality of initial Bluetooth signal strengths corresponding to the plurality of target identifiers; Calculate the average value of the multiple initial Bluetooth signal strengths to obtain the target Bluetooth signal strength; The initial three-dimensional spatial coordinates of the target UAV are determined according to the target Bluetooth signal strength.

7. The method for positioning a drone according to claim 1, characterized in that: The initial horizontal coordinate and the initial vertical coordinate are verified based on the two-dimensional coordinate data to obtain the target error coefficient, which includes: Calculate a target standard deviation value according to the two-dimensional coordinate data, the initial abscissa and the initial ordinate; The target error coefficient is determined according to the target standard deviation value.

8. A positioning device for an unmanned aerial vehicle, characterized in that: include: An acquisition module, used to acquire two-dimensional coordinate data of a target UAV and a plurality of Bluetooth beacons, wherein the two-dimensional coordinate data includes a horizontal coordinate and a vertical coordinate; A first determination module is used to determine the initial three-dimensional space coordinates of the target UAV according to the multiple Bluetooth beacons, wherein the initial three-dimensional space coordinates include an initial horizontal coordinate, an initial vertical coordinate, and an initial vertical coordinate; A verification module, used for verifying the initial horizontal coordinate and the initial vertical coordinate based on the two-dimensional coordinate data to obtain a target error coefficient; A calibration module, used for calibrating the initial vertical coordinate based on the target error coefficient to obtain a target vertical coordinate; The second determination module is used to determine the target three-dimensional space coordinates of the target UAV according to the two-dimensional coordinate data and the target vertical coordinate.

9. An electronic device, comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the positioning method for a drone as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the positioning method for the drone described in any one of claims 1 to 7 when running on a computer or a processor.

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