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

Abstract

The invention provides an unmanned aerial vehicle positioning method and device, equipment and a storage medium, relates to the technical field of communication, and is used for solving the problem of how to improve the accuracy of unmanned aerial vehicle positioning. The method comprises the steps that a high-altitude platform unmanned aerial vehicle sends a positioning signal to a target node, wherein the target node is located in a signal coverage area of the high-altitude platform unmanned aerial vehicle; then, the high-altitude platform unmanned aerial vehicle obtains multiple pieces of position information and multiple target durations, one piece of position information corresponds to one target duration, the position information is used for indicating the position when the low-altitude platform unmanned aerial vehicle receives a first reflection signal, and the first reflection signal is sent by the target node in response to the positioning signal; the target duration is the transmission duration of the first reflection signal reaching the low-altitude platform unmanned aerial vehicle, and the flight height between the low-altitude platform unmanned aerial vehicle and the ground is smaller than the flight height between the high-altitude platform unmanned aerial vehicle and the ground. And finally, the high-altitude platform unmanned aerial vehicle determines the position information of the target node according to the multiple pieces of position information and the multiple target durations.

Description

Technical Field

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

[0002] With the continuous development of communication technology and positioning technology, users' demand for precise positioning services is growing. For example, using drones for positioning to achieve precise positioning services.

[0003] Currently, drones can send signals to target devices (i.e. nodes to be located), and the target devices reflect the signals. Then, the drones receive and analyze the reflected signals, calculate the relative distance and direction between the drones and the target devices, and thus determine the specific location of the target devices, thus achieving positioning using drones.

[0004] However, in the above technical solution, since the signal coverage area of ​​the drone is positively correlated with the flight altitude (i.e., the higher the flight altitude, the larger the signal coverage area of ​​the drone), the distance between the drone and the object to be located may be far, which is easily affected by signal interference, resulting in reduced positioning accuracy. Therefore, how to improve the accuracy of drone positioning has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a method, device, equipment and storage medium for positioning a drone, which are used to solve the problem of how to improve the accuracy of drone positioning.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In the first aspect, the present application provides a method for positioning a drone, the method comprising: a high-altitude platform drone sends a positioning signal to a target node, and the target node is located in the signal coverage area of ​​the high-altitude platform drone. Multiple position information and multiple target durations are obtained, one position information corresponds to one target duration, the position information is used to indicate the position of the low-altitude platform drone when it receives the first reflection signal, the first reflection signal is sent by the target node in response to the positioning signal, the target duration is the transmission duration of the first reflection signal to the low-altitude platform drone, and the flight altitude between the low-altitude platform drone and the ground is less than the flight altitude between the high-altitude platform drone and the ground. According to the multiple position information and multiple target durations, the position information of the target node is determined.

[0008] The technical solution provided by the present application brings at least the following beneficial effects: the high-altitude platform drone can send a positioning signal to the target node to be located. Then, the high-altitude platform drone can obtain the transmission duration of the reflected signal sent by the target node in response to the positioning signal to the low-altitude platform drones in different directions, as well as the location information of the low-altitude platform drone that receives the reflected signal, and obtain multiple transmission durations and multiple location information. Then, the high-altitude platform drone can determine the location information of the target node based on the multiple location information and multiple transmission durations to realize the positioning of the target node by the drone. In this way, the high-altitude platform drone can indirectly obtain the detailed location information of the target node through the low-altitude platform drone, so that the high-altitude platform drone can efficiently monitor and manage multiple positioning nodes in a larger range, while shortening the distance between the target node and the low-altitude platform drone, reducing the impact of signal interference, and improving the accuracy of positioning.

[0009] Optionally, there are multiple low-altitude platform drones, and one low-altitude platform drone corresponds to one position information and one target duration.

[0010] Optionally, the number of low-altitude platform drones is one. The above-mentioned method of "sending a positioning signal to a target node" includes: sending a positioning signal to the target node at multiple preset moments within a preset period, and one preset moment corresponds to one position information and a target duration. Among them, the position information is used to indicate the position of the low-altitude platform drone at the preset moment, and the target duration is the transmission duration of the first reflected signal sent by the target node at the corresponding moment to reach the low-altitude platform drone.

[0011] Optionally, the positioning service area of ​​the low-altitude platform UAV includes multiple nodes to be positioned. The method further includes: determining the location information of each node to be positioned. According to the location information of each node to be positioned, determining the target distribution of the multiple nodes to be positioned in the positioning service area. According to the target distribution, determining the movement strategy of the low-altitude platform UAV in the positioning service area.

[0012] Optionally, the method further includes: acquiring multiple second reflection signals other than the first reflection signal in the positioning service area, wherein one second reflection signal corresponds to one reflection source, and taking the reflection source corresponding to the target reflection signal among the multiple second reflection signals as the node to be positioned, wherein the signal strength of the target reflection signal is greater than a preset strength threshold.

[0013] Optionally, the above-mentioned method of "determining the location information of each node to be located" includes: determining the horizontal distance between each node to be located and the low-altitude platform drone according to the flight altitude of the low-altitude platform drone and the path loss of the target reflection signal corresponding to each node to be located. Determine the location information of each node to be located according to the signal propagation direction of the target reflection signal corresponding to each node to be located, the horizontal distance corresponding to each node to be located, and the longitude and latitude of the low-altitude platform drone.

[0014] In a second aspect, the present application provides a device for positioning a drone, the device comprising: an acquisition module and a processing module.

[0015] The processing module is used to send a positioning signal to a target node, and the target node is located in the signal coverage area of ​​the high-altitude platform drone. The acquisition module is used to obtain multiple position information and multiple target durations, one position information corresponds to one target duration, the position information is used to indicate the position of the low-altitude platform drone when it receives the first reflection signal, the first reflection signal is sent by the target node in response to the positioning signal, the target duration is the transmission duration of the first reflection signal to the low-altitude platform drone, and the flight altitude between the low-altitude platform drone and the ground is less than the flight altitude between the high-altitude platform drone and the ground. The processing module is also used to determine the position information of the target node based on the multiple position information and multiple target durations.

[0016] Optionally, there are multiple low-altitude platform drones, and one low-altitude platform drone corresponds to one position information and one target duration.

[0017] Optionally, the processing module is specifically used to send positioning signals to the target node at multiple preset moments within a preset time period, and one preset moment corresponds to a position information and a target duration. The position information is used to indicate the position of the low-altitude platform UAV at the preset moment, and the target duration is the transmission duration for the first reflection signal sent by the target node at the corresponding moment to reach the low-altitude platform UAV. Multiple position information is used to indicate different positions where the low-altitude platform UAV moves within a preset time period, and multiple target durations are the transmission durations for multiple first reflection signals sent by the target node within the preset time period to reach the low-altitude platform UAV at different positions.

[0018] Optionally, the positioning service area of ​​the low-altitude platform UAV includes multiple nodes to be positioned. The processing module is specifically used to determine the location information of each node to be positioned. The processing module is also used to determine the target distribution of multiple nodes to be positioned in the positioning service area according to the location information of each node to be positioned. The processing module is also used to determine the movement strategy of the low-altitude platform UAV in the positioning service area according to the target distribution.

[0019] Optionally, the acquisition module is used to acquire multiple second reflection signals other than the first reflection signal in the positioning service area, and one second reflection signal corresponds to one reflection source. The processing module is used to take the reflection source corresponding to the target reflection signal among the multiple second reflection signals as the node to be located, and the signal strength of the target reflection signal is greater than a preset strength threshold.

[0020] Optionally, the processing module is specifically used to determine the horizontal distance between each node to be located and the low-altitude platform drone according to the flight altitude of the low-altitude platform drone and the path loss of the target reflection signal corresponding to each node to be located. The processing module is also used to determine the location information of each node to be located according to the signal propagation direction of the target reflection signal corresponding to each node to be located, the horizontal distance corresponding to each node to be located, and the longitude and latitude of the low-altitude platform drone.

[0021] In a third aspect, the present application provides a device for positioning an unmanned aerial vehicle, the device comprising: a processor and a memory, the processor and the memory being coupled, the memory being used to store one or more programs, the one or more programs comprising computer-executable instructions, and when the device for positioning an unmanned aerial vehicle is running, the processor executes the computer-executable instructions stored in the memory to implement the method for positioning an unmanned aerial vehicle described in the first aspect or any optional aspect of the first aspect.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes the method for positioning a drone described in the first aspect or any optional aspect of the first aspect.

[0023] In a fifth aspect, the present application provides a computer program product applied to a server, the computer program product comprising computer instructions. When the computer instructions are executed on the server, the server implements the method for positioning a drone as described in the first aspect or any optional aspect of the first aspect.

[0024] In the above scheme, the technical problems that can be solved and the technical effects achieved by the positioning device, equipment, computer storage medium or computer program product of the drone can be referred to the technical problems and technical effects solved by the above-mentioned first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a communication system provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a flow chart of a method for positioning a drone provided in an embodiment of the present application;

[0027] Figure 3A schematic diagram of a flow chart of another method for positioning a drone provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of an example of a method for positioning a drone provided in an embodiment of the present application;

[0029] Figure 5 An example schematic diagram of a three-side positioning method provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of the structure of a positioning device for a drone provided in an embodiment of the present application;

[0031] Figure 7 A schematic diagram of the structure of a positioning device for a drone provided in an embodiment of the present application;

[0032] Figure 8 A conceptual partial view of a computer program product provided for an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] In this article, the character " / " generally indicates that the objects before and after are in an "or" relationship. For example, A / B can be understood as A or B.

[0035] The terms “first” and “second” in the description and claims of the present application are used to distinguish different objects rather than to describe a specific order of the objects.

[0036] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include other steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0037] In addition, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present concepts in a specific way.

[0038] Before introducing in detail the method for positioning a drone provided in an embodiment of the present application, the implementation environment and application scenarios of the embodiment of the present application are first introduced.

[0039] First, the application scenarios of the embodiments of the present application are introduced.

[0040] In recent years, with the integrated development of digital industrialization and industrial digitalization, the sales volume of China's ultra-high frequency passive IoT tags has increased from about 3.5 billion in 2017 to about 4.5 billion in 2019, and is expected to reach 11.5 billion in 2024. Passive IoT has been widely used in many fields such as industrial manufacturing, logistics and transportation, emergency rescue, and smart medical care. The coverage of IoT has been greatly improved, and people's demand for positioning is growing. In outdoor scenarios, the global positioning system (GPS) is the main means of obtaining location information. However, in urban environments with tall buildings, GPS cannot accurately provide positioning services and is difficult to meet user needs. Therefore, it is necessary to provide ground users with reliable and high-precision positioning alternatives. In complex urban environments, signals are affected by environmental attenuation and interference, resulting in insufficient signal strength received by the device, thereby affecting positioning accuracy.

[0041] At present, the problem of insufficient received signal strength can be solved by adding infrastructure (such as routers and base stations) to achieve high-precision positioning. However, due to the large scale, wide distribution and short communication distance of passive internet of things (PIoT) nodes, there is a problem of coverage gaps. The effective transmission of the current passive system is only a few meters. Even through network optimization, it can only achieve regional coverage of tens to hundreds of meters. If a large number of infrastructure is added, both the initial construction costs and the subsequent maintenance and management will lead to high costs.

[0042] In other words, compensating for the deep coverage and positioning issues through large-scale infrastructure construction and sensing capability integration will bring unbearable construction costs. On the other hand, passive IoT nodes usually only contain a single RF channel and have limited computing resources, and traditional signal processing-based positioning technology also faces bottlenecks.

[0043] In the existing technology, the design idea to solve this problem is usually to use drones to achieve positioning, including: drone positioning methods based on fingerprint features, drone positioning methods based on geometric measurements, drone positioning methods based on radar, etc. Different positioning methods have different characteristics.

[0044] For example, drone positioning based on fingerprint features can achieve high-precision positioning. For this method, it is first necessary to collect information in the target area to build an offline database, and then use the drone to dynamically measure the feature data at the target, and compare the collected data with the database data. However, building a database will bring high costs.

[0045] For example, the UAV positioning method based on geometric measurement has simple system requirements and does not require the deployment of a large number of reference tags. However, whether it is based on propagation time, received signal strength indicator (RSSI) or phase, it is easily affected by the environment and it is difficult to achieve high-precision positioning.

[0046] For example, radar-based drone positioning can achieve high-precision positioning. The drone activates radar to scan the ground during flight, collects signals in the target area, processes the collected signals, extracts location information, analyzes distance and direction, and combines drone GPS data and radar information to accurately locate the user's location. However, drone radars are expensive.

[0047] In addition, in the above technical solution, since the signal coverage area of ​​the UAV is positively correlated with the flight altitude (that is, the higher the flight altitude, the larger the signal coverage area of ​​the UAV), the distance between the UAV and the object to be located may be far, which is easily affected by signal interference, resulting in reduced positioning accuracy.

[0048] To sum up, how to improve the accuracy of UAV positioning has become a technical problem that needs to be solved urgently.

[0049] In order to solve the above problems, the embodiment of the present application provides a positioning method for a drone, and the positioning method for a drone provided in the embodiment of the present application is applied to the scene of using a drone to locate a node. In the embodiment of the present application, a high-altitude platform drone can send a positioning signal to the target node to be located. Then, the high-altitude platform drone can obtain the transmission duration of the reflected signal sent by the target node to the low-altitude platform drone in different directions in response to the positioning signal, and the location information of the low-altitude platform drone receiving the reflected signal, and obtain multiple transmission durations and multiple location information. Then, the high-altitude platform drone can determine the location information of the target node based on the multiple location information and the multiple transmission durations to realize the positioning of the target node by the drone. In this way, the high-altitude platform drone can indirectly obtain the detailed location information of the target node through the low-altitude platform drone, so that the high-altitude platform drone can efficiently monitor and manage multiple positioning nodes in a larger range, while shortening the distance between the target node and the low-altitude platform drone, reducing the impact of signal interference, and improving the accuracy of positioning.

[0050] The implementation environment of the embodiments of the present application is introduced below.

[0051] like Figure 1 As shown, it is a schematic diagram of a communication system provided in an embodiment of the present application, and the communication system may include: a high-altitude platform drone 101, at least one low-altitude platform drone (such as a low-altitude platform drone 102, a low-altitude platform drone 103) and at least one positioning node (such as a positioning node 104, a positioning node 105). Among them, the high-altitude platform drone 101 can be wirelessly connected with the low-altitude platform drone 102, the low-altitude platform drone 103, the positioning node 104, and the positioning node 105, and the positioning node 104 and the positioning node 105 are located within the signal coverage range of the high-altitude platform drone 101.

[0052] Among them, the number of low-altitude platform drones can be multiple (i.e., low-altitude platform drone 102, low-altitude platform drone 103), or the number of low-altitude platform drones can also be one (i.e., one of low-altitude platform drone 102 and low-altitude platform drone 103).

[0053] Specifically, taking the number of low-altitude platform drones as one as an example, the high-altitude platform drone 101 can respond to the positioning request reported by the target node (such as positioning node 103 or positioning node 104) among all positioning nodes, and continuously (such as at multiple preset times in a preset period of time) send a positioning signal to the target node. Then, the target node can send a reflection signal to the low-altitude platform drone (i.e., one of the low-altitude platform drone 102 and the low-altitude platform drone 103) in response to the positioning signal. The high-altitude platform drone 101 can locate multiple positions where the low-altitude platform drone moves in the process of continuously sending positioning signals, and determine the transmission duration of the reflection signal received by the low-altitude platform drone at each position, and obtain multiple position information and multiple transmission durations. Then, the high-altitude platform drone 101 can determine the position information of the target node based on multiple position information and multiple transmission durations to achieve the positioning of the target node by the drone.

[0054] Similarly, when the number of low-altitude platform drones can be multiple, the high-altitude platform drone 101 can respond to the positioning request reported by the target node (such as positioning node 103 or positioning node 104) in all positioning nodes, and send a positioning signal to the target node. Then, the target node can send a reflection signal to multiple low-altitude platform drones (i.e., low-altitude platform drone 102, low-altitude platform drone 103) in response to the positioning signal. The high-altitude platform drone 101 can obtain the location information of each low-altitude platform drone and the transmission duration of the received reflection signal to obtain multiple location information and multiple transmission durations. Then, the high-altitude platform drone 101 can determine the location information of the target node based on the location information and transmission duration of each low-altitude platform drone to achieve the positioning of the target node by the drone.

[0055] In the embodiment of the present application, the high-altitude platform drone 101 and the low-altitude platform drone (such as the low-altitude platform drone 102 and the low-altitude platform drone 103) use different types of drones. The high-altitude platform drone 101 can be a light unmanned aerial vehicle (UAV), and the low-altitude platform drone (such as the low-altitude platform drone 102 and the low-altitude platform drone 103) can be a light UAV.

[0056] It should be noted that the flight altitude between the low-altitude platform drone and the ground is lower than the flight altitude between the high-altitude platform drone and the ground. The positioning service area of ​​the low-altitude platform drone is within the signal coverage area of ​​the high-altitude platform drone.

[0057] It should be noted that the positioning node 103 and the positioning node 104 may be terminals.

[0058] The terminal may be a mobile phone, tablet computer, desktop, laptop, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook, etc. with transceiver functions, and the present application does not impose any special restrictions on the specific form of the terminal. It may interact with the user through one or more methods such as keyboard, touch pad, touch screen, remote control, voice interaction or handwriting device.

[0059] After introducing the application scenario and implementation environment of the embodiment of the present application, the positioning method of the drone provided by the embodiment of the present application is described in detail below in combination with the above-mentioned implementation environment.

[0060] The methods in the following embodiments can all be implemented in the above application scenarios and implementation environments. The embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0061] Figure 2 The following is a flow chart of a method for positioning a drone provided in an embodiment of the present application. Figure 2 As shown, the method may include: S201-S203.

[0062] S201. Send a positioning signal to a target node.

[0063] Among them, the target node is the object that needs positioning service, and the target node is located in the signal coverage area of ​​the high-altitude platform drone.

[0064] As a possible implementation method, there are multiple preset nodes in the signal coverage area of ​​the high-altitude platform drone. The high-altitude platform drone can send positioning signals to the multiple preset nodes, and select at least one target node from the multiple preset nodes to send a reflected signal to the high-altitude platform drone, and the reflected signal strength of the target node is greater than the reflected signal strength threshold.

[0065] Exemplarily, the signal coverage area of ​​the high-altitude platform drone includes: preset node 1, preset node 2, preset node 3, preset node 4, preset node 5. Among them, when the high-altitude platform drone broadcasts positioning signals to preset node 1, preset node 2, preset node 3, preset node 4, preset node 5, preset node 1, preset node 2 and preset node 3 can send reflection signals of the positioning signal to the high-altitude platform drone, and preset node 1, preset node 2 and preset node 3 are all target nodes.

[0066] As another possible implementation method, the high-altitude platform drone can receive the positioning request reported by the target node and send a positioning signal to the target node by broadcasting.

[0067] It should be noted that the embodiment of the present application does not limit the type of the target node. The target node may be a user device. For another example, the target node may be a radio frequency identification (RFID) tag. For another example, the target node may be a sensor.

[0068] In the embodiment of the present application, the positioning signal can be directly used to determine the location of the target node (such as using GPS signals, ultra-wideband (UWB) signals, and Bluetooth signals to determine the location of the target node), or the positioning signal can be combined with a positioning system or indirectly help determine the location of the target node through signal processing technology. (For example, using reconfigurable intelligent surface (RIS) technology, multipath signals, and channel state information (CSI) technology to determine the location of the target node).

[0069] S202: Acquire multiple location information and multiple target durations.

[0070] Among them, the position information is used to indicate the position of the low-altitude platform UAV when it receives the first reflection signal. The first reflection signal is the reflection signal sent by the target node in response to the positioning signal. The target duration is the transmission duration for the first reflection signal to reach the low-altitude platform UAV, and one position information corresponds to one target duration.

[0071] As a possible implementation method, the target node can respond to the positioning signal sent by the high-altitude platform drone and send the first reflection signal and the first moment information to the low-altitude platform drone. Then, the low-altitude platform drone can receive the first reflection signal and record the second moment information, and calculate the target duration, which is the difference between the first moment information and the second moment information. After that, the low-altitude platform drone can report the low-altitude platform drone's own location information and the calculated target duration to the high-altitude platform drone, so that the high-altitude platform drone can obtain the location information and target duration.

[0072] Exemplarily, the first time information when the target node sends the first reflected signal to the low-altitude platform UAV is eight o'clock, the second time information when the low-altitude platform UAV receives the sent first reflected signal is eight ten, and the position of the low-altitude platform UAV at this time is (x1, y1), then the position information is (x1, y1), and the corresponding target duration is ten minutes.

[0073] In an embodiment of the present application, the flight altitude between the low-altitude platform UAV and the ground is lower than the flight altitude between the high-altitude platform UAV and the ground.

[0074] That is to say, since the low-altitude platform drone is closer to the target object, the signal transmission path is shorter, which can reduce the delay of signal transmission and enable more efficient short-distance communication.

[0075] It should be noted that the embodiment of the present application does not limit the number of low-altitude platform drones. The number of low-altitude platform drones can be multiple, or the number of low-altitude platform drones can be one.

[0076] As a possible implementation method, when there are multiple low-altitude platform drones, one low-altitude platform drone corresponds to one location information and one target duration. The high-altitude platform drone can send a positioning signal to the target node, and then the target node responds to the positioning signal and sends a first reflection signal to multiple low-altitude platform drones. Afterwards, the high-altitude platform drone can receive the location information and target duration reported by each low-altitude platform drone to obtain multiple location information and multiple target durations.

[0077] Exemplarily, the low-altitude platform drone includes: low-altitude platform drone 1, low-altitude platform drone 2, and low-altitude platform drone 3. Among them, the position information of low-altitude platform drone 1 is (x1, y1), the target duration is 0.5 seconds, the position information of low-altitude platform drone 2 is (x2, y2), the target duration is 0.3 seconds, and the position information of low-altitude platform drone 3 is (x3, y3), and the target duration is 0.2 seconds.

[0078] That is to say, when multiple low-altitude platform drones are deployed, multiple low-altitude platform drones can simultaneously obtain their own position information and the transmission duration of the received reflected signal (i.e., the target duration), so as to obtain multiple position information and multiple target durations and report them to the high-altitude platform drone, and jointly complete the task of locating the target node. In this way, by referring to the reception of reflected signals by low-altitude platform drones at multiple different distribution positions, the diversity of data collection can be improved, thereby improving the accuracy of positioning. In addition, since multiple low-altitude platform drones can report their own position information and target duration to high-altitude platform drones at the same time, the time for high-altitude platform drones to obtain multiple position information and multiple target durations can be reduced, thereby improving the efficiency of data collection and thereby improving the efficiency of positioning.

[0079] As another possible implementation method, when the number of low-altitude platform drones is one, in the process of the above-mentioned high-altitude platform drone sending a positioning signal to the target node, the high-altitude platform drone can send a positioning signal to the target node at multiple preset times within a preset time period, and then the low-altitude platform drone can move to receive the first reflected signal sent by the target node in response to the positioning signal at different locations, and report the position information of the low-altitude platform drone and the target time of the reflected signal from the target node to the low-altitude platform drone to the high-altitude platform drone.

[0080] Among them, the position information is used to indicate the position of the low-altitude platform UAV at a preset time, and the target duration is the transmission time for the first reflected signal sent by the target node to reach the low-altitude platform UAV. One preset time corresponds to one position information and one target duration.

[0081] Exemplarily, the low-altitude platform drone 1 can move from position A to position B and then from position B to position C within 8:00-8:30. Among them, the position information of the low-altitude platform drone at position A at 18:10 is (x1, y1), the target duration is 0.6 seconds, the position information of the low-altitude platform drone at position B at 18:20 is (x2, y2), the target duration is 0.8 seconds, and the position information of the low-altitude platform drone at position C at 18:30 is (x3, y3), and the target duration is 0.9 seconds.

[0082] That is to say, when only one low-altitude platform drone is used, the low-altitude platform drone can obtain the location information corresponding to each position and the transmission duration of the received reflected signal (i.e., target duration) by changing its own position. In this way, the low-altitude platform drone can record multiple location information and multiple target durations, and report them to the high-altitude platform drone, thereby realizing the positioning of the target node. In this way, by referring to the reception of reflected signals by the low-altitude platform drone at multiple different positions, the diversity of data collection can be improved, thereby improving the accuracy of positioning. In addition, since only a single drone needs to be managed to complete the positioning task, the complexity of the operation can be reduced. At the same time, since the number of drones is reduced, the cost of the positioning task can be effectively reduced.

[0083] S203: Determine the location information of the target node according to the multiple location information and the multiple target durations.

[0084] As a possible implementation method, the high-altitude platform UAV can determine the distance from the target node to the high-altitude platform UAV based on multiple target durations, and locate the target through the three-sided positioning method based on multiple position information to determine the position information of the target node.

[0085] As a possible design, when the number of low-altitude platform UAVs is one, the position information of the low-altitude platform UAV at position A is (x1, y1), the position information of the low-altitude platform UAV at position B is (x2, y2), and the position information of the low-altitude platform UAV at position C is (x3, y3). The three-sided positioning method can be expressed by the following formula 1.

[0086]

[0087] Among them, d1 is the distance between the target node and the low-altitude platform UAV at position A, d2 is the distance between the target node and the low-altitude platform UAV at position B, and d3 is the distance between the target node and the low-altitude platform UAV at position C.

[0088] For example, if the position information of the low-altitude platform drone at position A is (0, 0), the position information of the low-altitude platform drone at position B is (4, 0), and the position information of the low-altitude platform drone at position C is (0, 4), |d1-d2| is 2, and |d2-d3| is 2, then the position information of the target node is (2, 2).

[0089] It should be noted that the embodiments of the present application do not limit the solution method of the trilateral positioning method. For example, the management device can use the least squares method to locate the network node, and for another example, the management device can use the Fang algorithm to locate the network node, and for another example, the management device can use the Chan algorithm to locate the network node.

[0090] The technical solution provided by the above embodiment brings at least the following beneficial effects: the high-altitude platform drone can send a positioning signal to the target node to be located. Then, the high-altitude platform drone can obtain the transmission duration of the reflected signal sent by the target node in response to the positioning signal to the low-altitude platform drones in different directions, as well as the location information of the low-altitude platform drone that receives the reflected signal, and obtain multiple transmission durations and multiple location information. Then, the high-altitude platform drone can determine the location information of the target node based on the multiple location information and multiple transmission durations to realize the positioning of the target node by the drone. In this way, the high-altitude platform drone can indirectly obtain the detailed location information of the target node through the low-altitude platform drone, so that the high-altitude platform drone can efficiently monitor and manage multiple positioning nodes in a larger range, while shortening the distance between the target node and the low-altitude platform drone, reducing the impact of signal interference, and improving the accuracy of positioning.

[0091] It should be noted that the positioning service area of ​​the low-altitude platform drone is within the signal coverage area of ​​the high-altitude platform drone, and the target node is within the positioning service area. The high-altitude platform drone can locate other nodes that meet the positioning requirements in the positioning service area except the target node, so as to achieve the positioning of more nodes in the positioning service area.

[0092] In some embodiments, the low-altitude platform drone can report the reflected signal it receives to the high-altitude platform drone, so that the high-altitude platform drone can indirectly obtain multiple second reflected signals other than the first reflected signal within the positioning service area of ​​the low-altitude platform drone through the low-altitude platform drone, and use the reflection source corresponding to the target reflected signal in the multiple second reflected signals as the node to be located (i.e., a potential positioning node that may report a positioning request).

[0093] Wherein, one second reflection signal corresponds to one reflection source.

[0094] It should be noted that the embodiment of the present application does not limit the type of reflection source. For example, the reflection source may be a building, or the ground, or the drone itself.

[0095] Exemplarily, the second reflected signal includes: reflected signal A, reflected signal B and reflected signal C. The reflection source corresponding to the reflected signal A is the water surface, the reflection source corresponding to the reflected signal B is the vehicle shell, and the reflection source corresponding to the reflected signal C is the ground.

[0096] In the embodiment of the present application, the signal strength of the target reflection signal is greater than a preset strength threshold.

[0097] As a possible implementation, the high-altitude platform drone may pre-store a preset strength threshold. After the high-altitude platform drone receives the reflection signal reported by the low-altitude platform drone and determines the second reflection signal, the high-altitude platform drone may determine, based on the preset strength threshold, from a plurality of second reflection signals a second reflection signal with a signal strength greater than the preset strength threshold as the target reflection signal.

[0098] Exemplarily, the low-altitude platform drone can obtain multiple reflection signals in the positioning service area, including: reflection signal A, reflection signal B, reflection signal C, reflection signal D, and reflection signal E. Among them, the signal strength of reflection signal A is 10dBm (decibel-milliwatt), and the reflection source corresponding to reflection signal A is the user equipment, the signal strength of reflection signal B is 6dBm, and the reflection source corresponding to reflection signal B is the water surface, the signal strength of reflection signal C is 4dBm, and the reflection source corresponding to reflection signal C is the ground, the signal strength of reflection signal D is 5dBm, and the reflection source corresponding to reflection signal D is the vehicle shell, the signal strength of reflection signal E is 12dBm, and the reflection source corresponding to reflection signal E is the sensor, reflection signal A is the first reflection signal, the preset strength threshold is 8dBm, then reflection signal B, reflection signal C, reflection signal D, reflection signal E are all second reflection signals, reflection signal E is the target reflection signal, and the sensor is the node to be located.

[0099] It can be understood that the high-altitude platform UAV can determine other nodes that can be located (i.e., nodes to be located) in addition to the target node through the reflected signal reported by the low-altitude platform UAV and the size relationship between the reflected signal and the preset strength threshold. In this way, it can be identified whether the reflected signal is caused by the interference device, thereby distinguishing the real node to be located from the interference source. In this way, the high-altitude platform UAV can accurately locate other nodes of non-interfering equipment within the positioning service area of ​​the low-altitude platform UAV, thereby realizing effective monitoring and management of the nodes to be located.

[0100] It should be noted that the positioning service area of ​​the low-altitude platform UAV may include multiple nodes to be positioned, the number of target reflection signals may be multiple, and the number of nodes to be positioned may be multiple. Based on the location information of multiple nodes to be positioned, the distribution of the nodes to be positioned in the positioning service area can be understood, and the movement strategy of the low-altitude platform UAV can be managed.

[0101] In some embodiments, the high-altitude platform drone can determine the location information of each node to be located. Then, based on the location information of each node to be located, the target distribution of multiple nodes to be located in the positioning service area is determined. Then, based on the target distribution, the movement strategy of the low-altitude platform drone in the positioning service area is determined to manage the movement position of the low-altitude platform drone in the positioning service area.

[0102] It should be noted that the clustering algorithm used by the management device when clustering multiple user devices in the embodiment of the present application is not limited. For example, the management device may use the K-means algorithm (K-means) to cluster multiple user devices, or the density-based spatial clustering of applications with noise (DBSCAN) to cluster multiple user devices, or the hierarchical clustering algorithm to cluster multiple user devices.

[0103] Exemplarily, if the multiple nodes to be located in the positioning service area of ​​the low-altitude platform drone include: node A to be located, node B to be located, node C to be located, node D to be located, and node E to be located. Among them, the location information of node A to be located is (2, 2), the location information of node B to be located is (5, 5), the location information of node C to be located is (8, 3), the location information of node D to be located is (4, 9), and the location information of node E to be located is (1, 7), then the low-altitude platform drone moves in five positions in the positioning service area.

[0104] It is understandable that the high-altitude platform drone can intelligently manage the movement of the low-altitude platform drone within the positioning service area based on the location information and distribution of the nodes to be located, so that the low-altitude platform drone can flexibly adjust its flight path to ensure the efficient completion of the monitoring and data collection tasks of each node to be located.

[0105] Optionally, in the process of determining the target distribution, the high-altitude platform UAV may determine the target distribution of multiple nodes to be located and target nodes in the positioning service area based on the location information of the multiple nodes to be located and the location information of the target nodes.

[0106] That is to say, the high-altitude platform drone can also refer to the location information of the target node when determining the target distribution. In this way, the mobile strategy of the low-altitude platform drone can also take into account the perception measurement of the target node, so that the subsequent target node can initiate a positioning request again.

[0107] As a possible implementation method, when determining the location information of each node to be located, the high-altitude platform drone can determine the horizontal distance between each node to be located and the low-altitude platform drone based on the flight altitude of the low-altitude platform drone and the path loss of the target reflection signal corresponding to each node to be located. Then, the high-altitude platform drone can determine the location information of each node to be located based on the signal propagation direction of the target reflection signal corresponding to each node to be located, the horizontal distance corresponding to each node to be located, and the longitude and latitude of the low-altitude platform drone.

[0108] As a possible design, the high-altitude platform drone can determine the path loss of the target reflected signal based on the signal strength of the target reflected signal corresponding to the node to be located and the gain of the beam. Then, the distance between each node to be located and the low-altitude platform drone is obtained based on the signal frequency, and then the horizontal distance between each node to be located and the low-altitude platform drone is determined. Among them, the gain of the beam can be expressed by the following formula 2, the reflected signal strength can be expressed by the following formula 3, and the path loss can be expressed by the following formula 4.

[0109]

[0110] P r =P t +G t +G r -L Formula three.

[0111] L=20log 10 (d)+20log 10 (f)+32.44 Formula 4.

[0112] Where G is the beamforming gain, w is the beamforming weight vector, w is the conjugate transpose of the beamforming weight vector, h is the channel vector, σ 2 is the noise power, P r is the received reflected signal strength, P t is the transmitted signal power, G t is the transmission gain of RIS, G r is the receiving gain of the node to be located, L represents the path loss, d is the distance between the transmitter and the receiver, and f is the signal frequency.

[0113] For example, if the path loss L of the target reflection signal of the node A to be located is 86.42 dB (decibel), the signal frequency f is 100 Hz (hertz), the flight altitude of the low-altitude platform drone is 4 meters, and the signal propagation direction of the target reflection signal corresponding to the node A to be located is the lower left corner, then the distance between the node A to be located and the low-altitude platform drone is 5 meters, and the horizontal distance between the positioning node A and the low-altitude platform drone is 3 meters. The location information of the node to be located is located at the lower left corner of the position on a circle with a radius of 3 meters.

[0114] It is understandable that the high-altitude platform drone can reversely calculate the position information of the node to be located based on the flight altitude of the low-altitude platform drone, the path loss of the reflected signal corresponding to each node to be located, and the signal propagation direction of the reflected signal corresponding to the node to be located. In this way, the high-altitude platform drone can comprehensively analyze these parameters and more accurately determine the specific position of each node to be located, thereby achieving high-precision positioning.

[0115] The following is an introduction to the positioning method of the drone provided in the embodiment of the present application with reference to specific examples. Figure 3 As shown, the steps include steps one to three.

[0116] When there are many positioning targets to be observed in the service area, the defects of limited UAV capabilities gradually become prominent. For example, observing multiple positioning targets at the same time will face conflict interference. If multiple positioning targets are observed in sequence, the motion characteristics of some dynamic positioning targets will be lost, affecting the positioning accuracy. Therefore, a new positioning solution needs to be developed to meet the needs of multi-target and wide-area ubiquitous IoT location services.

[0117] When using drones to locate the target (i.e., the node to be located), a light unmanned UAV can be used as a low-altitude platform (LAP) positioning anchor point to shorten the distance to the target and improve the passive IoT positioning distance and positioning accuracy. At the same time, a small UAV is introduced as a high-altitude platform (HAP). The high-altitude platform drone carries RIS as the gateway of the LAP network. There are multiple positioning targets within the signal coverage of the high-altitude platform drone. Figure 4 As shown in the figure, the high-altitude platform drone emits directional beams to the ground. These beams can help determine the position of the positioning target. The positioning target sends a reflected signal to the low-altitude platform drone through a reflection link, and the low-altitude platform drone can reflect it back to the high-altitude platform drone through an interactive link to form a complete communication network (that is, the high-altitude platform drone sends a positioning signal to the target node. Then, the high-altitude platform drone obtains multiple location information and multiple target durations. Finally, the high-altitude platform drone determines the location information of the target node based on the multiple location information and multiple target durations).

[0118] In the process of UAV positioning the target, the high-altitude platform UAV, on the one hand, builds a virtual link set through the beam control function of RIS to guide the clustering strategy of ground nodes, and on the other hand, interacts with LAP as a control center to guide the deployment optimization of multiple UAVs.

[0119] Step 1: Beam scanning to build a virtual link set.

[0120] High-altitude platform drones can use RIS to configure beam templates and build virtual link sets through beam scanning. By allowing small UAVs to carry RIS as HAP, different beam widths and directions are selected to design beams suitable for the target area. Using a spatial scanning strategy, RIS is activated in multiple directions in turn to obtain gains for positioning targets in different directions. Then, when PIoT receives the beam signal, a reflected signal is formed, and the high-altitude platform drone can calculate the reflected signal strength and path loss. Among them, the strength of the reflected signal indicates the location of the potential positioning target. Receiving a reflected signal at a certain location means that there may be a positioning target in that area.

[0121] In the process of beam scanning to construct a virtual link set, the calculation of receiving gain, reflected signal strength and path loss can refer to the introduction of determining the horizontal distance between each node to be located and the low-altitude platform drone in Formula 2 to Formula 4 of the above embodiment, which will not be repeated here.

[0122] Step 2: The low-altitude platform drone receives the feedback information.

[0123] Because the transmission distance of PIoT is limited, generally only ten meters, a separate transmit and receive architecture can be used. A light UAV is used as a low-altitude platform to receive the reflected signal. When the received reflected signal strength exceeds the threshold, it is recorded that there is a potential positioning target in the current area. After scanning all areas, a link knowledge graph is constructed and the expected areas of the observed positioning targets are clustered and divided. Based on the clustering results, the hovering observation positions of all UAVs in the associated service area are optimized.

[0124] Step 3: Use feedback messages to achieve location settlement and optimization.

[0125] The high-altitude platform UAV uses the reflected signal received by the low-altitude platform LAP to locate the target based on the three-sided positioning method based on the arrival time. By utilizing the rotation and mobility of the UAV, the reflected signals received at different positions can be obtained for three-sided positioning. Figure 5 As shown, the low-altitude platform UAV passes through three positions respectively, and the three positions of the low-altitude platform UAV are represented by the positions of antenna 1, antenna 2 and antenna 3, respectively, where the position of antenna 1 is (x1, y1), the position of antenna 2 is (x2, y2), the position of antenna 3 is (x3, y3), and the position of the positioning target (i.e., tag) is set to (x, y). The three-sided positioning method based on arrival time can obtain the distances d1, d2, and d3 from antenna 1, antenna 2 and antenna 3 to the positioning target respectively, and the position of the positioning target can be determined by the intersection of a pair of hyperbolas.

[0126] The process of locating the positioning target by the trilateral positioning method based on the arrival time can be determined by referring to the introduction of the trilateral positioning method in Formula 1 of the above embodiment, which will not be described in detail here.

[0127] In addition, when the hyperbola has multiple intersection points, the data of multiple measurement points can be fitted by least squares to find the best position, thereby reducing uncertainty.

[0128] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of computer equipment. It is understandable that in order to realize the above functions, the computer equipment includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the method steps for positioning the drone of each example described in the embodiment disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0129] The embodiment of the present application also provides a positioning device for a drone. The positioning device for the drone can be a computer device, a CPU in the above-mentioned computer device, a processing module in the above-mentioned computer device for positioning using a drone, or a client in the above-mentioned computer device for positioning using a drone.

[0130] The embodiment of the present application can divide the positioning device of the drone into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical functional division. There may be other division methods in actual implementation.

[0131] like Figure 6 FIG. 1 is a schematic diagram of a positioning device for a drone provided in an embodiment of the present application. The positioning device for a drone is used to perform Figure 2 The positioning method of the UAV shown in the figure, the positioning device 600 of the UAV may include: an acquisition module 601 and a processing module 602.

[0132] Processing module 602 is used to send a positioning signal to a target node, and the target node is located in the signal coverage area of ​​the high-altitude platform drone. Acquisition module 601 is used to acquire multiple position information and multiple target durations, one position information corresponds to one target duration, the position information is used to indicate the position of the low-altitude platform drone when it receives the first reflection signal, the first reflection signal is sent by the target node in response to the positioning signal, the target duration is the transmission duration of the first reflection signal to reach the low-altitude platform drone, and the flight altitude between the low-altitude platform drone and the ground is less than the flight altitude between the high-altitude platform drone and the ground. Processing module 602 is also used to determine the position information of the target node based on multiple position information and multiple target durations.

[0133] Optionally, there are multiple low-altitude platform drones, and one low-altitude platform drone corresponds to one position information and one target duration.

[0134] Optionally, the processing module 602 is specifically configured to send a positioning signal to a target node at multiple preset moments within a preset period, and one preset moment corresponds to one position information and one target duration. The position information is used to indicate the position of the low-altitude platform UAV at the preset moment, and the target duration is the transmission duration of the first reflected signal sent by the target node at the corresponding moment to reach the low-altitude platform UAV.

[0135] Optionally, the positioning service area of ​​the low-altitude platform UAV includes multiple nodes to be positioned. The processing module 602 is specifically used to determine the location information of each node to be positioned. The processing module 602 is also used to determine the target distribution of multiple nodes to be positioned in the positioning service area based on the location information of each node to be positioned. The processing module 602 is also used to determine the movement strategy of the low-altitude platform UAV in the positioning service area based on the target distribution.

[0136] Optionally, the acquisition module 601 is used to acquire multiple second reflection signals other than the first reflection signal in the positioning service area, and one second reflection signal corresponds to one reflection source. The processing module 602 is used to use the reflection source corresponding to the target reflection signal among the multiple second reflection signals as the node to be located, and the signal strength of the target reflection signal is greater than a preset strength threshold.

[0137] Optionally, the processing module 602 is specifically used to determine the horizontal distance between each node to be located and the low-altitude platform drone according to the flight altitude of the low-altitude platform drone and the path loss of the target reflection signal corresponding to each node to be located. The processing module 602 is also used to determine the location information of each node to be located according to the signal propagation direction of the target reflection signal corresponding to each node to be located, the horizontal distance corresponding to each node to be located, and the longitude and latitude of the low-altitude platform drone.

[0138] Figure 7 7 is a schematic diagram of a structure of a positioning device for a drone according to an exemplary embodiment. The device may include a processor 702, and the processor 702 is used to execute application code to implement the positioning method of the drone in the present application.

[0139] The processor 702 may be a CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0140] like Figure 7 As shown, the positioning device of the drone may further include a memory 703. The memory 703 is used to store application program codes for executing the solution of the present application, and is controlled to be executed by the processor 702.

[0141] The memory 703 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 703 may exist independently and be connected to the processor 702 via the bus 704. The memory 703 may also be integrated with the processor 702.

[0142] like Figure 7 As shown, the positioning device of the drone may further include a communication interface 701, wherein the communication interface 701, the processor 702, and the memory 703 may be coupled to each other, for example, via a bus 704. The communication interface 701 is used to exchange information with other devices, for example, to support information exchange between the positioning device of the drone and other devices.

[0143] It should be pointed out that Figure 7 The device structure shown in the figure does not constitute a limitation on the positioning device of the UAV, except Figure 7 In addition to the components shown, the positioning device of the drone may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0144] In actual implementation, Figure 6 The functions implemented by the processing module 602 in Figure 7 The processor 702 shown calls the program code in the memory 703 to implement.

[0145] The present application also provides a computer-readable storage medium, on which instructions are stored. When the instructions in the computer-readable storage medium are executed by a processor of a computer device, the computer can execute the positioning method of the drone provided in the above-mentioned embodiment. For example, the computer-readable storage medium may be a memory 703 including instructions, and the above instructions may be executed by a processor 702 of a computer device to complete the above method. Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0146] Figure 8 A conceptual partial view of a computer program product provided by an embodiment of the present application is exemplarily shown, where the computer program product includes a computer program for executing a computer process on a computing device.

[0147] In one embodiment, the computer program product is provided using a signal bearing medium 800. The signal bearing medium 800 may include one or more program instructions that, when executed by one or more processors, may provide the above-described Figure 2 Thus, for example, reference to Figure 2 In the embodiment shown in , one or more features of S201 to S203 may be undertaken by one or more instructions associated with the signal bearing medium 800. In addition, Figure 8 The program instructions in also describe example instructions.

[0148] In some examples, the signal bearing medium 800 may include a computer readable medium 801, such as, but not limited to, a hard drive, a compact disk (CD), a digital video disk (DVD), a digital tape, a memory, a read-only memory (ROM), or a random access memory (RAM), and the like.

[0149] In some implementations, the signal bearing medium 800 may include a computer recordable medium 802 such as, but not limited to, a memory, a read / write (R / W) CD, R / W, DVD, or the like.

[0150] In some implementations, signal bearing medium 800 may include communication medium 803 such as, but not limited to, digital and / or analog communication media (eg, fiber optic cables, waveguides, wired communication links, wireless communication links, etc.).

[0151] The signal bearing medium 800 may be communicated by a wireless form of communication medium 803. The one or more program instructions may be, for example, computer executable instructions or logic implemented instructions.

[0152] In some examples, such as for Figure 8 The described positioning device of the drone can be configured to provide various operations, functions, or actions in response to one or more program instructions in the computer-readable medium 801, the computer-recordable medium 802, and / or the communication medium 803.

[0153] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0154] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 devices or units, which can be electrical, mechanical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0156] In addition, each functional unit in each embodiment of the present application 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.

[0157] 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes various media that can store program codes, such as-U disk, mobile hard disk, ROM, RAM, disk or CD.

[0158] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for positioning a drone, characterized in that: Applied to a high-altitude platform drone, the method comprises: Sending a positioning signal to a target node, wherein the target node is located within a signal coverage area of ​​the high-altitude platform drone; Acquire multiple position information and multiple target durations, one position information corresponds to one target duration, the position information is used to indicate the position of the low-altitude platform UAV when receiving a first reflection signal, the first reflection signal is sent by the target node in response to the positioning signal, the target duration is the transmission duration of the first reflection signal reaching the low-altitude platform UAV, and the flight altitude between the low-altitude platform UAV and the ground is less than the flight altitude between the high-altitude platform UAV and the ground; The location information of the target node is determined according to the multiple location information and the multiple target durations.

2. The method according to claim 1, characterized in that There are multiple low-altitude platform drones, and one low-altitude platform drone corresponds to one piece of position information and one target duration.

3. The method according to claim 1, characterized in that The number of the low-altitude platform drone is one; the sending of a positioning signal to a target node includes: Sending the positioning signal to the target node at multiple preset moments within a preset time period, wherein one preset moment corresponds to one piece of position information and one target duration; Among them, the position information is used to indicate the position of the low-altitude platform UAV at the preset time, and the target duration is the transmission duration of the first reflected signal sent by the target node at the corresponding time to reach the low-altitude platform UAV.

4. The method according to any one of claims 1 to 3, characterized in that The positioning service area of ​​the low-altitude platform UAV includes a plurality of nodes to be positioned; the method further includes: Determine the location information of each of the nodes to be located; Determine, according to the location information of each of the nodes to be located, the target distribution of the multiple nodes to be located in the positioning service area; According to the target distribution, the movement strategy of the low-altitude platform UAV in the positioning service area is determined.

5. The method according to claim 4, characterized in that The method further comprises: Acquire multiple second reflection signals other than the first reflection signal in the positioning service area, where one second reflection signal corresponds to one reflection source; A reflection source corresponding to a target reflection signal among the multiple second reflection signals is used as the node to be located, and a signal strength of the target reflection signal is greater than a preset strength threshold.

6. The method according to claim 5, characterized in that The determining the location information of each of the nodes to be located includes: Determine the horizontal distance between each of the nodes to be located and the low-altitude platform drone according to the flight altitude of the low-altitude platform drone and the path loss of the target reflection signal corresponding to each of the nodes to be located; The location information of each node to be located is determined according to the signal propagation direction of the target reflection signal corresponding to each node to be located, the horizontal distance corresponding to each node to be located, and the longitude and latitude of the low-altitude platform UAV.

7. A positioning device for an unmanned aerial vehicle, characterized in that: The device comprises: A processing module, used to send a positioning signal to a target node, wherein the target node is located in a signal coverage area of ​​the high-altitude platform drone; An acquisition module, used to acquire multiple position information and multiple target durations, one position information corresponds to one target duration, the position information is used to indicate the position where the low-altitude platform UAV receives the first reflected signal sent by the target node in response to the positioning signal, the target duration is the transmission duration of the first reflected signal to reach the low-altitude platform UAV, and the flight altitude between the low-altitude platform UAV and the ground is less than the flight altitude between the high-altitude platform UAV and the ground; The processing module is further used to determine the location information of the target node according to the multiple location information and the multiple target durations.

8. A positioning device for an unmanned aerial vehicle, characterized in that: include: Processor and memory; The processor is coupled to the memory; The memory is used to store one or more programs, which include computer-executable instructions. When the positioning device of the drone is running, the processor executes the computer-executable instructions stored in the memory to enable the positioning device of the drone to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When a computer executes the instructions, the computer performs the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises computer program instructions, which implement the method according to any one of claims 1 to 6 when the computer program instructions are executed.

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