Accurate positioning device for non-airworthiness unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a non-airworthiness unmanned aerial vehicle precise positioning device, which comprises a bearing base, a positioning frame, a positioning device, a positioning device, a positioning device and a positioning device, the bearing base is of a rectangular table body structure, and the upper end of the bearing base is provided with a positioning frame; the bearing base and the positioning frame form a main table body structure for taking-off and landing positioning of the non-airworthiness unmanned aerial vehicle; and a rectangular groove is formed in the upper end of the positioning frame. When the accurate positioning device for the non-airworthiness unmanned aerial vehicle is used, the buffer pad at the upper end of the positioning frame is made of a silica gel material and is arranged in a triangular shape to form a rectangular frame shape, impact force generated when the unmanned aerial vehicle lands can be effectively buffered, and the unmanned aerial vehicle and the positioning device are protected; and the height of the top end face of the sensor is flush with the height of the bottom end of the buffer cushion, when the unmanned aerial vehicle lands and presses the buffer cushion, the sensor is triggered, then electric power starting of the wireless communicator, the signal amplifier and the data preprocessor is controlled, and linkage of landing triggering and equipment starting is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a precise positioning device for a non-airworthy unmanned aerial vehicle. Background Art

[0002] With the continuous advancement of science and technology, drone technology has been widely used in various fields. Drones are used in agricultural plant protection, geographic surveying and mapping, power inspection, logistics distribution and other scenarios. However, drones used in non-airworthy areas in some specific private or small-area application scenarios are non-airworthy drones. They are usually small, low-cost devices. Compared with airworthy drones, they may not have high-precision positioning modules in hardware configuration. The positioning accuracy of drones has gradually become prominent, for example:

[0003] In non-airworthy areas, most of the flights are between high-rise buildings in cities, in mountainous areas, in forests and other areas with severe signal obstruction. In these environments, traditional satellite positioning signals are easily interfered with, which can easily lead to inaccurate positioning or signal loss between the drone and the operator's equipment. In addition, the take-off and landing positioning of non-airworthy drones during use is more important to safety hazards. Positioning deviations during take-off and landing can easily lead to collisions with obstacles such as buildings, trees, and wires, causing safety accidents.

[0004] In response to the above problems, it is urgently necessary to carry out innovative designs based on the original non-airworthy UAVs. Summary of the invention

[0005] The purpose of the present invention is to provide a precise positioning device for non-airworthy UAVs, so as to solve the problems mentioned in the above background technology that traditional satellite positioning signals are easily interfered with, which may lead to inaccurate positioning or signal loss, making it difficult for the UAV to associate with the operator's equipment, and positioning deviations during take-off and landing may easily lead to collisions with obstacles such as buildings, trees, and wires, causing safety accidents.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a non-airworthy UAV precise positioning device, comprising a bearing base, which is arranged as a rectangular platform structure, a positioning frame is arranged on the upper end of the bearing base, and the bearing base and the positioning frame constitute the main structure of the platform for taking off and landing positioning of the non-airworthy UAV;

[0007] A rectangular groove is provided at the upper end of the positioning frame, and a buffer pad is placed at the upper end of the positioning frame, the bottom end of the buffer pad abuts against the bottom end of the rectangular groove of the positioning frame, and the buffer pad is connected by snapping with the surface of the positioning frame, a trigger sensor is installed in the upper end surface of the positioning frame, and the height of the top end surface of the trigger sensor is flush with the height of the bottom end of the buffer pad;

[0008] The positioning frame and the buffer pad are penetrated by four limiting columns, and the limiting columns are symmetrically arranged. The bottom ends of the limiting columns are installed on the surface of the bearing base, and the upper ends of the limiting columns are installed with satellite positioning modules. A data fusion processor is installed in the bearing base, and the data fusion processor is connected to a data preprocessor through an electrical signal. The data preprocessor is installed inside the side of the positioning frame, and lifting columns are installed at the bottom end of the positioning frame and the upper end of the bearing base;

[0009] A signal amplifier is installed at the corner of the upper end of the supporting base, and four signal amplifiers are symmetrically arranged. A wireless communicator is built on the upper end of the signal amplifier, and the wireless communicator is bidirectionally connected to the electrical signal of the UAV controller. The UAV controller is installed on the non-airworthy UAV by a connecting frame arranged on the side wall, and the UAV controller is connected to an inertial measurement device through an electrical signal. A visual sensor is installed on the surface of the UAV controller, and the visual sensor is connected to the wireless communicator signal.

[0010] By adopting the above technical solution, through multiple modules for collecting data on non-airworthy UAVs and related equipment, the collaborative work between multiple friction blocks and equipment is achieved, thereby effectively determining the non-airworthy UAVs.

[0011] Preferably, the positioning frame at the upper end of the supporting base is in a cross-shaped plate structure, and a signal amplifier is arranged in a gap between the positioning frame and the supporting base.

[0012] By adopting the above technical solution, the device can be installed through the bearing base of the positioning frame, which makes it easy to increase the installation position of the device and reduce the floor space occupied by the device.

[0013] Preferably, the buffer pad is arranged in a triangular shape, and the entire buffer pad is arranged using silicone, and the buffer pad forms a rectangular frame structure.

[0014] By adopting the above technical solution, the setting of the buffer pad can effectively buffer the impact force when the drone lands, thereby protecting the drone and the positioning device.

[0015] Preferably, the trigger sensor is connected to the data fusion processor, and the trigger sensor controls the power activation of the wireless communicator, the signal amplifier and the data preprocessor.

[0016] By adopting the above technical solution, the trigger sensor and the take-off and landing of the drone are coordinated to realize the linkage between landing trigger and equipment startup, making the operation of the entire device more intelligent and automated.

[0017] Preferably, the limiting column is a rod structure with two-stage lifting and sliding connections, and the limiting column is electrically connected to the data fusion processor.

[0018] By adopting the above technical solution, the limit column cooperates with the satellite positioning module to adjust the height, and the height of the satellite positioning module is lowered when the UAV lands to avoid collision and damage between the devices.

[0019] Preferably, the installation height of the satellite positioning module is higher than the installation height of the wireless communicator, and the installation positions of the wireless communicator and the satellite positioning module are staggered with the drone arm.

[0020] By adopting the above technical solution, the wireless communicator and the satellite positioning module are staggered with the UAV arm to avoid mutual interference during the take-off and landing of the UAV.

[0021] Preferably, the drone controller is connected to a power system of the connected drone, and the drone controller collects data from the visual sensor and the inertial measurement unit.

[0022] By adopting the above technical solution, the UAV controller further powers the visual sensor and inertial measurement unit by connecting to the UAV power system.

[0023] Preferably, the UAV controller and the data fusion processor exchange information via a communication module, and the UAV controller, in conjunction with a visual sensor and an inertial measurement unit, constitutes a main component for signal data collection and processing connected to the UAV.

[0024] By adopting the above technical solution, the UAV controller and the data fusion processor are installed on the UAV and the control device respectively, so as to realize data transmission auxiliary positioning between the UAV and the positioning device.

[0025] Preferably, the wireless communicator and the signal amplifier form a communication module, and the wireless communicator is connected to the data preprocessor and the data fusion processor via a signal.

[0026] By adopting the above technical solution and setting up a signal amplifier, the model strength can be effectively enhanced, providing a stable two-way connection for the drone in non-airworthy areas.

[0027] Preferably, the data fusion processor is connected to the satellite positioning module, the visual sensor and the inertial measurement unit via the communication module, and the data fusion processor adopts a data fusion algorithm such as Kalman filtering to perform fusion processing on data from different sources.

[0028] By adopting the above technical solution, the data fusion processor collects the position of the drone related data in multiple dimensions, which is convenient for locating the position of the drone.

[0029] Compared with the prior art, the invention has the following beneficial effects: the non-airworthy UAV precise positioning device:

[0030] 1. When in use, the buffer pad on the upper end of the positioning frame is made of silicone material and is triangularly arranged to form a rectangular frame, which can effectively buffer the impact force when the drone lands and protect the drone and the positioning device. At the same time, the trigger sensor installed in the upper end surface of the positioning frame has its top surface height flush with the bottom end height of the buffer pad. When the drone lands and presses on the buffer pad, the sensor is triggered, thereby controlling the power start of the wireless communicator, signal amplifier and data preprocessor, realizing the linkage between the landing trigger and the equipment start-up, and the installation positions of the satellite positioning module and the wireless communicator are staggered with the drone arm to avoid mutual interference and ensure the normal operation of each component. When the positioning frame is pushed and lifted by the lifting column, the buffer pad is higher than the installation position of the satellite positioning module and the wireless communicator, further avoiding the impact on the satellite positioning module and the wireless communicator during the landing of the drone;

[0031] 2. Through the coordinated work of satellite positioning module, inertial measurement device and visual sensor, the shortcomings of single positioning technology are effectively compensated. The satellite positioning module can provide relatively accurate initial position information in open areas. At the same time, the Kalman filter algorithm is adopted in the data fusion processor to facilitate the accuracy and reliability of each data acquisition device module in different environments. Dynamically adjust the data weight, and comprehensively calculate the precise position of the UAV. At the same time, the four signal amplifiers symmetrically arranged at the corners of the upper end of the supporting base and the wireless communicator form a communication module, which can effectively enhance the signal strength and ensure that the two-way connection of the electrical signal between the wireless communicator and the UAV controller is stable and reliable, ensuring that the positioning information can be transmitted between the UAV and the positioning device in a timely and accurate manner, as well as from the positioning device to the ground, so that the operator can grasp the position status of the UAV in real time, and improve the safety and controllability of the UAV flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall relationship of the three-dimensional structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the three-dimensional structure of the bearing base and the positioning frame being separated according to the present invention;

[0034] Figure 3 This is a schematic diagram of the three-dimensional structure of the inertial measurement device and the drone controller installed in the present invention;

[0035] Figure 4 This is a schematic diagram of the three-dimensional structure of the bearing base and the positioning frame installed in the present invention;

[0036] Figure 5 It is a schematic diagram of the three-dimensional structure of the supporting base and the positioning frame of the present invention;

[0037] Figure 6 It is a schematic diagram of the three-dimensional structure of the trigger sensor of the present invention in a disassembled state;

[0038] Figure 7 This is a schematic diagram of the three-dimensional structure of the bearing base and the data fusion processor of the present invention;

[0039] Figure 8 This is a schematic diagram of information interaction between the satellite positioning module, the wireless communicator and the drone controller of the present invention;

[0040] Fig. 9 This is a schematic diagram of the three-dimensional structure of the bearing base, the positioning frame and the buffer pad separated according to the present invention;

[0041] Fig.10 This is a schematic diagram of information flow interaction of the positioning device of the present invention;

[0042] Fig.11 It is a schematic diagram of the working process of the non-airworthy UAV and the data fusion processor of the present invention.

[0043] In the figure: 1. load-bearing base; 2. positioning frame; 3. buffer pad; 4. trigger sensor; 5. limit column; 6. satellite positioning module; 7. visual sensor; 8. inertial measurement unit; 9. drone controller; 10. connecting frame; 11. wireless communicator; 12. signal amplifier; 13. data preprocessor; 14. data fusion processor; 15. lifting column. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0045] See also Figure 1-Figure 11 , the present invention provides a technical solution: a non-airworthy UAV precision positioning device, comprising a bearing base 1, a positioning frame 2, a buffer pad 3, a trigger sensor 4, a limit column 5, a satellite positioning module 6, a visual sensor 7, an inertial measurement device 8, a UAV controller 9, a connecting frame 10, a wireless communicator 11, a signal amplifier 12, a data preprocessor 13, a data fusion processor 14 and a lifting column 15;

[0046] The bearing base 1 is configured as a rectangular platform structure, a positioning frame 2 is provided on the upper end of the bearing base 1, and the bearing base 1 and the positioning frame 2 constitute the main structure of the platform for positioning the take-off and landing of the non-airworthy UAV;

[0047] A rectangular groove is provided at the upper end of the positioning frame 2, and a buffer pad 3 is placed at the upper end of the positioning frame 2, the bottom end of the buffer pad 3 abuts against the bottom end of the rectangular groove of the positioning frame 2, and the buffer pad 3 is connected with the surface of the positioning frame 2 by snapping, a trigger sensor 4 is installed in the upper end surface of the positioning frame 2, and the height of the top surface of the trigger sensor 4 is flush with the height of the bottom end of the buffer pad 3, the trigger sensor 4 is connected to the data fusion processor 14, and the trigger sensor 4 controls the power start of the wireless communicator 11, the signal amplifier 12 and the data preprocessor 13;

[0048] The positioning frame 2 and the buffer pad 3 are penetrated by four limit columns 5, and the limit columns 5 are symmetrically arranged. The bottom ends of the limit columns 5 are installed on the surface of the bearing base 1, and the upper ends of the limit columns 5 are installed with a satellite positioning module 6. The bearing base 1 is installed with a data fusion processor 14, and the data fusion processor 14 is connected to the data preprocessor 13 through an electrical signal. The data preprocessor 13 is installed inside the side of the positioning frame 2, and a lifting column 15 is installed at the bottom end of the positioning frame 2 and the upper end of the bearing base 1. The buffer pad 3 is arranged in a triangular shape, and the buffer pad 3 is arranged as a whole with silica gel, and the buffer pad 3 constitutes a rectangular frame structure, and the limit column 5 is a rod connected by a two-stage lifting and sliding connection The structure is as follows: the positioning column 5 is electrically connected to the data fusion processor 14, the installation height of the satellite positioning module 6 is higher than the installation height of the wireless communicator 11, and the installation positions of the wireless communicator 11 and the satellite positioning module 6 are staggered with the drone arm, the wireless communicator 11 and the signal amplifier 12 form a communication module, and the wireless communicator 11 is connected to the data preprocessor 13 and the data fusion processor 14 through the signal, the data fusion processor 14 is connected to the satellite positioning module 6, the visual sensor 7 and the inertial measurement unit 8 through the communication module, and the data fusion processor 14 adopts a data fusion algorithm such as Kalman filtering to fuse data from different sources;

[0049] In conjunction with the accompanying drawings Figure 1-Figure 11 As shown, when in use, the non-airworthy UAV is above the positioning frame 2 and at the upper end of the trigger sensor 4. When the UAV is stagnant, the trigger sensor 4 sends a signal to the data fusion processor 14, prompting the data fusion processor 14 that the UAV is not leaving the nest. After the UAV takes off, the trigger sensor 4 sends information to the data fusion processor 14, prompting the data fusion processor 14 to control the power drive of the wireless communicator 11, the signal amplifier 12 and the data preprocessor 13 to start working;

[0050] During this period, the wireless communicator 11 and the signal amplifier 12 constitute a communication module. The signal amplifier 12 is installed at the upper corner of the supporting base 1 and is symmetrically arranged in four numbers, which are used to enhance the signal strength of the non-airworthy UAV in the non-airworthy area to ensure the stability and reliability of the communication between the UAV and the equipment. During this period, the satellite positioning module 6 adopts advanced multi-constellation satellite signal receiving technology, which can simultaneously receive signals from multiple satellite systems such as GPS, Beidou, GLONASS, etc., and obtain the approximate location information of the UAV through signal capture, tracking and resolution, and transmit these data to the data fusion processor 14. At this time, the UAV controller 9 installed on the UAV is further fixed by the connecting frame 10 arranged on the side wall. Since the UAV controller 9 is connected to the UAV power system, it further powers the visual sensor 7 and the inertial measurement unit 8.

[0051] The inertial measurement device 8 is composed of an accelerometer and a gyroscope, and measures the acceleration and angular velocity of the drone in real time. The displacement and attitude change of the drone in a short period of time are calculated by integrating these measurement data, and the data are transmitted to the drone controller 9, and the drone controller 9 transmits these data to the data fusion processor 14 through the communication module;

[0052] The visual sensor 7 uses the camera installed on the drone to collect images of the surrounding environment, and compares them with the pre-stored map or environmental model through image feature extraction and matching algorithms to determine the relative position of the drone in the environment, and then transmits the data to the drone controller 9, and then transmits it to the data fusion processor 14 through the communication module;

[0053] When the drone lands on the cushion pad 3, the cushion pad 3 is triangular in shape and made of silicone material to form a rectangular frame structure. The lifting column 15 raises the cushion pad 3 so that the cushion pad 3 can effectively cushion the impact of the drone landing, protecting the drone and the positioning device from colliding with the satellite positioning module 6 and the wireless communicator 11. When the drone lands and presses on the cushion pad 3, the trigger sensor 4 will be triggered to notify the data fusion processor 14 that the drone is accurately positioned and landed.

[0054] A signal amplifier 12 is installed at the corner of the upper end of the bearing base 1, and four signal amplifiers 12 are symmetrically arranged. A wireless communicator 11 is built on the upper end of the signal amplifier 12, and the wireless communicator 11 is bidirectionally connected to the electrical signal of the drone controller 9. The drone controller 9 is installed on the non-airworthy drone by a connecting frame 10 arranged on the side wall, and the drone controller 9 is connected to the inertial measurement device 8 through an electrical signal. A visual sensor 7 is installed on the surface of the drone controller 9, and the visual sensor 7 is connected to the wireless communicator 11 by signal. The positioning frame 2 at the upper end of the bearing base 1 is a cross-shaped plate structure, and a signal amplifier 12 is arranged in the gap between the positioning frame 2 and the bearing base 1. The drone controller 9 is connected to the power system of the connected drone, and the drone controller 9 collects data from the visual sensor 7 and the inertial measurement device 8. The drone controller 9 and the data fusion processor 14 exchange information through a communication module, and the drone controller 9, together with the visual sensor 7 and the inertial measurement device 8, constitutes the main components for signal data collection and processing of the connected drone;

[0055] In conjunction with the accompanying drawings Figure 1-Figure 11 As shown, the signal amplifier 12 installed at the upper corner of the bearing base 1 cooperates with the wireless communicator 11 to form a communication module, which is convenient for information transmission between the UAV and the device. The data fusion processor 14 is installed in the bearing base 1 and connected to the data preprocessor 13 through an electrical signal to realize the linkage processing of data. The data fusion processor 14 is connected to the satellite positioning module 6, the visual sensor 7 and the inertial measurement device 8 through the communication module, and adopts the data fusion algorithm such as Kalman filtering to fuse the data from different sources, so that the accuracy and reliability of the data collected by each module and equipment in different environments can be adjusted dynamically.

[0056] In open areas with good satellite signals, increase the weight of satellite positioning data;

[0057] In an environment where satellite signals are blocked, the weight of the inertial measurement device 8 and the visual sensor 7 data is increased, and the precise position and attitude of the drone are calculated comprehensively and transmitted to the drone controller 9 via the wireless communicator 11;

[0058] The drone controller 9 on the drone adjusts the flight attitude and path of the drone according to the feedback information to ensure that the drone can be accurately positioned during the landing process. At the same time, the data can also be transmitted to the ground control station so that the operator can grasp the position status of the drone in real time and realize accurate control and monitoring of the drone.

[0059] The data fusion processor 14, as the core of the entire positioning device, is connected to each sensor and the satellite positioning module 6 through the communication module. It can perform real-time fusion processing on data from different sources and dynamically adjust the weight of each module data according to environmental changes, so as to make the positioning result more accurate and reliable, thereby enhancing the adaptability and stability of the entire positioning system in complex and changeable environments. Whether in areas with severe signal obstruction such as between high-rise buildings in cities, mountainous areas, forests, or in scenes with changing lighting conditions and different environmental textures, it can ensure high positioning accuracy and reliability.

[0060] Working principle: When using the non-airworthy UAV precise positioning device, first, the UAV and the equipment are in the non-airworthy area, and the UAV takes off. At this time, the trigger sensor 4 notifies the data fusion processor 14 to connect, and can control the wireless communicator 11, the signal amplifier 12 and the data preprocessor 13 to start, and control the visual sensor 7 and the inertial measurement device 8 installed on the UAV controller 9 to collect the take-off position of the UAV. The UAV controller 9 collects data from the visual sensor 7. The visual sensor 7 provides visual positioning information for the UAV by capturing images of the surrounding environment, which can be used to identify the characteristics of the landing point, surrounding obstacles, etc., to assist the precise positioning of the UAV. The inertial measurement device 8 is installed on the UAV, and measures the acceleration and angular velocity and other motion state data of the UAV through the accelerometer and gyroscope, and then calculates the posture and position change of the UAV. At this time, the satellite positioning module 6 installed on the upper end of the limit column 5 receives satellite signals to obtain the geographical location, speed and altitude of the UAV. The UAV controller 9 collects data from the visual sensor 7 and The data of the inertial measurement device 8 is preliminarily processed, and the information is received by the wireless communicator 11 and transmitted to the data fusion processor 14. The data fusion processor 14 adopts data fusion algorithms such as Kalman filtering to fuse data from different sources such as the trigger sensor 4, the satellite positioning module 6, the visual sensor 7 and the inertial measurement device 8 to eliminate errors, improve data accuracy and reliability, and obtain more accurate information such as the position and attitude of the drone. The data is then fed back to the drone controller 9 to assist the drone in landing. Before the drone lands, the lifting column 15 lifts the positioning frame 2, and the limit column 5 descends to reduce the height of the satellite positioning module 6 to avoid collision. When the drone lands, the trigger sensor 4 is triggered by pressure, which is connected to the data fusion processor 14 and can control the power drive of the wireless communicator 11, the signal amplifier 12 and the data preprocessor 13 to inform the system that the drone has landed on the positioning device. At this time, the buffer pad 3 is used to buffer the impact force of the drone landing to protect the drone and the positioning device.

[0061] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A non-airworthy UAV precise positioning device, comprising: A bearing base (1) is arranged as a rectangular platform structure, a positioning frame (2) is arranged at the upper end of the bearing base (1), and the bearing base (1) and the positioning frame (2) constitute the main structure of the platform for positioning the take-off and landing of a non-airworthy unmanned aerial vehicle; The invention is characterized in that: a rectangular groove is arranged at the upper end of the positioning frame (2), and a buffer pad (3) is placed at the upper end of the positioning frame (2), the bottom end of the buffer pad (3) abuts against the bottom end of the rectangular groove of the positioning frame (2), and the buffer pad (3) is snap-fitted and connected to the surface of the positioning frame (2), a trigger sensor (4) is installed in the upper end surface of the positioning frame (2), and the top end surface height of the trigger sensor (4) is flush with the bottom end height of the buffer pad (3); The positioning frame (2) and the buffer pad (3) are penetrated by four limiting columns (5), and the limiting columns (5) are symmetrically arranged, the bottom ends of the limiting columns (5) are mounted on the surface of the bearing base (1), and the upper ends of the limiting columns (5) are mounted with a satellite positioning module (6), the bearing base (1) is mounted with a data fusion processor (14), and the data fusion processor (14) is connected to a data preprocessor (13) via an electrical signal, the data preprocessor (13) is mounted inside the side of the positioning frame (2), and lifting columns (15) are mounted at the bottom end of the positioning frame (2) and the upper end of the bearing base (1); A signal amplifier (12) is installed at the corner of the upper end of the supporting base (1), and four signal amplifiers (12) are symmetrically arranged. A wireless communicator (11) is built on the upper end of the signal amplifier (12), and the wireless communicator (11) is bidirectionally connected to the electrical signal of the drone controller (9). The drone controller (9) is installed on the non-airworthy drone via a connecting frame (10) arranged on the side wall, and the drone controller (9) is connected to an inertial measurement device (8) via an electrical signal. A visual sensor (7) is installed on the surface of the drone controller (9), and the visual sensor (7) is signal-connected to the wireless communicator (11).

2. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The positioning frame (2) at the upper end of the bearing base (1) is in the form of a cross-shaped plate structure, and a signal amplifier (12) is arranged in a gap between the positioning frame (2) and the bearing base (1).

3. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The buffer pad (3) is arranged in a triangular shape, and the buffer pad (3) is entirely made of silica gel, and the buffer pad (3) forms a rectangular frame structure.

4. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The trigger sensor (4) is connected to the data fusion processor (14), and the trigger sensor (4) controls the power activation of the wireless communicator (11), the signal amplifier (12) and the data preprocessor (13).

5. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The limiting column (5) is a rod structure with two-stage lifting and sliding connections, and the limiting column (5) is electrically connected to the data fusion processor (14).

6. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The installation height of the satellite positioning module (6) is higher than the installation height of the wireless communicator (11), and the installation positions of the wireless communicator (11) and the satellite positioning module (6) are staggered with the drone arm.

7. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The drone controller (9) is connected to the power system of the connected drone, and the drone controller (9) collects data from the visual sensor (7) and the inertial measurement unit (8).

8. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The drone controller (9) and the data fusion processor (14) exchange information via a communication module, and the drone controller (9) is combined with a visual sensor (7) and an inertial measurement unit (8) to form a main component for signal data collection and processing connected to the drone.

9. The non-airworthy UAV precise positioning device according to claim 1, characterized in that: The wireless communicator (11) and the signal amplifier (12) form a communication module, and the wireless communicator (11) is connected to a data preprocessor (13) and a data fusion processor (14) via a signal.

10. The non-airworthy UAV precise positioning device according to claim 9, characterized in that: The data fusion processor (14) is connected to the satellite positioning module (6), the visual sensor (7) and the inertial measurement unit (8) via the communication module, and the data fusion processor (14) uses a data fusion algorithm such as Kalman filtering to perform fusion processing on data from different sources.

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