Unmanned aerial vehicle passive target positioning method and device based on high-precision map matching

Abstract

The invention discloses an unmanned aerial vehicle passive target positioning method and device based on high-precision map matching, and the method comprises the steps: determining an observation equation of a target based on observation data when the target is observed in the flight process of an unmanned aerial vehicle, thereby determining the geodetic coordinates of each matching point of a matching point set of an observation line, the geodetic coordinates of all the matching points are matched with coordinates of all real map points in a preset high-precision map coordinate library, and all the matching points which are successfully matched serve as target matching points; determining the geographic position of the target according to the height of each target matching point; and determining the geographic position of the target according to the height of each target matching point. According to the method, the matching point coordinates are directly used for calculation, so that the calculation amount is reduced, the calculation speed is increased, the requirement of a scene with high real-time positioning requirement is met, and the problems of low calculation speed and poor matching precision caused by complex calculation of an existing image-based registration algorithm are solved.

Description

Technical Field

[0001] The present application relates to the field of passive detection technology. Specifically, the present application relates to a method and device for passive target positioning of unmanned aerial vehicles based on high-precision map matching. Background Art

[0002] With the continuous development of drone technology, the technology of locating the target position through drones has attracted more and more attention. The passive positioning method based on image matching is to use the target area image obtained by drone aerial photography to align it when the target area reference map is known, and then obtain the target coordinate position in the aerial image based on the coordinate transformation relationship between the aerial image and the reference map. The reference map is a remote sensing image containing the target area obtained in advance by satellite or aerial photography, and the geodetic coordinates of each pixel on the image are known (such as the public image Google Map). The existing drone target positioning algorithm based on image registration is greatly affected by the matching accuracy, and it is necessary to obtain an accurate map. The calculation speed is affected by the computing power and image matching algorithm, and the real-time performance is poor. It is not suitable for drone target passive positioning systems with high real-time performance. Summary of the invention

[0003] This application provides a method and device for passive target positioning of unmanned aerial vehicles based on high-precision map matching, which can solve the problem of large positioning error and low positioning accuracy in passive positioning of unmanned aerial vehicles. The technical solution is as follows:

[0004] In a first aspect, a method for passive target positioning of a UAV based on high-precision map matching is provided, the method comprising:

[0005] Based on the observation data of the target observed by the UAV during flight, the observation equation of the target is determined. The observation data includes the position information and attitude angle of the UAV. The attitude angle includes the azimuth angle and the pitch angle.

[0006] According to the observation equation of the target, determine the matching point set sorted according to the order of the matching points on the observation line, and the geodetic coordinates of each matching point in the matching point set;

[0007] The geodetic coordinates of each matching point are matched with the coordinates of each real map point in the preset high-precision map coordinate library, and each successfully matched matching point is used as the target matching point;

[0008] The target's geographic location is determined based on the height of each target matching point.

[0009] In the second aspect, a UAV passive target positioning device based on high-precision map matching is provided, the device comprising:

[0010] An observation equation determination module is used to determine the observation equation of the target based on the observation data of the target observed by the UAV during flight. The observation data includes the position information and attitude angle of the UAV. The attitude angle includes the azimuth angle and the pitch angle.

[0011] A matching point coordinate determination module is used to determine a matching point set sorted in the order of matching points on the observation line and the geodetic coordinates of each matching point in the matching point set according to the observation equation of the target;

[0012] A map point matching determination module is used to match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as a target matching point;

[0013] The target positioning result determination module is used to determine the target's geographical location based on the height of each target matching point.

[0014] In a third aspect of an embodiment of the present application, an electronic device is disclosed. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0015] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is disclosed, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0016] The embodiment of the present application determines the observation equation of the target through the observation data of the target observed by the drone during the flight, the observation data including the azimuth and pitch angle, so as to determine the matching point set based on the observation equation, the geodetic coordinates of each matching point in the matching point set, and respectively match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as the target matching point, and then determine the geographical location of the target based on the height of each target matching point. This method converts the matching point coordinates into geodetic coordinates in combination with the observation data, so as to directly match them with the coordinates of the high-precision map point. There is no need to obtain a reference map and no need to perform feature matching calculations on the reference map. Since the matching point coordinates are directly used for calculation, the amount of calculation is reduced and the calculation speed is improved, which meets the needs of scenes with high requirements for real-time positioning and solves the problems of slow calculation speed and poor matching accuracy caused by complex calculations in existing image-based registration algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0018] Figure 1 A schematic diagram of the structure of a UAV passive target positioning method based on high-precision map matching provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the position of a target observed at any position by the UAV passive target positioning method based on high-precision map matching provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of a map matching process for a UAV passive target positioning method based on high-precision map matching provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of a UAV passive target positioning device based on high-precision map matching provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0023] The present application embodiment provides a method for passive target positioning of a UAV based on high-precision map matching, such as Figure 1 As shown, the method includes: step S101 to step S104.

[0024] Step S101: Determine the observation equation of the target based on the observation data of the target observed by the UAV during flight, where the observation data includes the position information and attitude angle of the UAV, and the attitude angle includes the azimuth angle and the pitch angle.

[0025] Specifically, each point of the continuous track of the UAV can be an observation point, or some points on the continuous track can be observation points, and observation point pairs are selected from these observation points.

[0026] Specifically, the observation equation of the target can be determined according to the transformation of the pre-constructed three-dimensional coordinate space.

[0027] When applied, the observation data of a series of observation points when the drone observes the target during flight can be filtered to reduce the impact of noise on the data. For example, the recursive average filtering method can be used for filtering. The specific process is: each time the drone observes the target at an observation point during flight, after sampling a new data, it is averaged with the previous data, and then the new average value is taken as the output. This method can effectively reduce the interference of random noise, but it will still have a certain smoothing effect on the sudden change of the signal.

[0028] When applied, after obtaining the observation equation according to step S101, the regional map near the target can be retrieved to verify the matching points on the observation line to determine whether there is an intersection between the observation line and the regional map. If so, it indicates that the matching points on the observation line are valid. Otherwise, the observation equation and its matching points on the observation line are re-determined.

[0029] Step S102: According to the observation equation of the target, determine a matching point set sorted in the order of the matching points on the observation line, and the geodetic coordinates of each matching point in the matching point set.

[0030] Specifically, each matching point in the matching point set may be represented in the carrier coordinates first, and then the geodetic coordinates of each matching point may be determined by coordinate transformation.

[0031] Step S103: Match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as a target matching point.

[0032] Specifically, a preset interface can be used to retrieve a high-precision map coordinate library for local storage, which can speed up the matching process and improve matching efficiency.

[0033] Specifically, the geodetic coordinates of each matching point can be sent to a preset high-precision map matching system through a preset interface, so that the high-precision map matching system completes the matching and returns the successfully matched matching points. This method not only meets the confidentiality requirements of the high-precision map coordinate library, but also saves local computing overhead.

[0034] Step S104: determining the geographical location of the target according to the height of each target matching point.

[0035] Specifically, a preset algorithm can be used to quickly complete the search for target matching points, thereby speeding up the positioning time.

[0036] The embodiment of the present application determines the observation equation of the target through the observation data of the target observed by the drone during the flight, the observation data includes the position information and attitude angle of the drone, the attitude angle includes azimuth and pitch angle, so as to determine the matching point set based on the observation equation, the geodetic coordinates of each matching point in the matching point set, and respectively match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as the target matching point, and then determine the geographical location of the target according to the height of each target matching point. This method of converting the matching point coordinates into geodetic coordinates in combination with the observation data, and then directly matching them with the coordinates of the high-precision map point, does not require obtaining a reference map, let alone performing feature matching calculations on the reference map. Since the matching point coordinates are directly used for calculation, the amount of calculation is reduced, the calculation speed is improved, the needs of scenes with high requirements for real-time positioning are met, and the problems of slow calculation speed and poor matching accuracy caused by complex calculations in existing image-based registration algorithms are solved.

[0037] In some embodiments, step S101 further includes:

[0038] Determine the first coordinate of the target at the target observation point in the carrier coordinate system based on the position information and attitude angle of the target observation point where the target is observed;

[0039] The coordinates of the target observation point in the carrier coordinate system are converted into the second coordinates in the measurement coordinate system with the target observation point as the origin;

[0040] Based on the second coordinate, the observation equation of the target in the measurement coordinate system is determined.

[0041] The specific implementation process is as follows: First, the drone observes the target at observation point A. Assume that the distance between the target and point A is R, and the azimuth and pitch angles of the pod at point A are known to be (a, b). Then, the coordinates of the target in the aircraft coordinate system where observation point A is located are converted into the coordinates in the observation point measurement coordinate system with observation point A as the far point.

[0042] Among them, the coordinates of the target in the aircraft coordinate system at point A are:

[0043]

[0044] The coordinates converted into the observation point measurement coordinate system with observation point A as the far point are:

[0045]

[0046] Then in the observation point measurement coordinate system with observation point A as the origin, the coordinates of point A are (0, 0, 0), and the coordinates of the target are (X ct , Y ct , Zct ), the observation equation is as follows:

[0047]

[0048] In some embodiments, step S102 further includes: performing spatial geodetic rectangular coordinate system conversion based on the matching point set including each matching point to obtain the spatial geodetic rectangular coordinates of each matching point; performing geodetic coordinate system conversion on the spatial geodetic rectangular coordinates of each matching point to obtain the geodetic coordinates of each matching point.

[0049] When applied, the coordinate system conversion can be performed with reference to step S101 to obtain each matching point in the matching point set. Specifically, the matching point combination can be expressed as:

[0050] In some embodiments, step S104 further includes:

[0051] S1041 (not shown in the figure): constructing point pairs using two adjacent target matching points to obtain a starting point pair, an intermediate point pair, and an ending point pair;

[0052] S1042 (not shown in the figure): when the height of the previous target observation point in the intermediate point pair is greater than zero and the height of the next target observation point is less than zero, the geographical location of the target is determined according to the height values ​​of the two target observation points included in the target point pair, and the intermediate point pair includes the target observation point located in the middle position of the observation line among the matching points of each target observation line and the next target observation point after the middle position;

[0053] S1043 (not shown in the figure): when the heights of the two target observation points of the intermediate point pair are both greater than zero, the intermediate point pair is used as a new starting point pair and a new intermediate point pair is determined based on the new starting point pair and the ending point pair, or when the heights of the two target observation points of the intermediate point pair are both less than zero, the intermediate point pair is used as a new ending point pair and a new intermediate point pair is determined based on the starting point pair and the new ending point pair, and a step of determining whether the height of the previous target observation point in the new intermediate point pair is greater than zero and whether the height of the next target observation point is less than zero is executed.

[0054] When applied, on the observation ray, the i-th point is recorded as t, and the height of the current point is H(t,). Let the maximum value of i be n and the minimum value be 1. Two adjacent points (t, t...) are recorded as a point pair. For n points, there are n-1 point pairs in total. When i gradually increases, H(t) will decrease successively, so the binary search method can be used to find matching points. Take the pointers min and max, pointing to the first point pair and the last point pair respectively, and mid is the point pair at the midpoint position of the current min and max. If the heights of the two points in the point pair mid are both greater than 0, the current mid point pair is marked as the min point pair, and the position of the new mid point pair is recalculated to enter the next cycle; if the heights of the two points in the point pair mid are both less than 0, the current mid point pair is marked as the max point pair, and the position of the new mid point pair is recalculated to enter the next cycle. Until the height of the former point in the mid point pair is greater than 0 and the height of the latter point is less than 0, the point in the point pair with the smaller absolute value of the height distance 0 is the matching point.

[0055] In the above embodiment, the geographic location of the target is determined based on the heights of each target observation line matching point, including: determining the difference between the height of the previous target observation point in the target point pair and zero and the difference between the height of the next target observation point in the target point pair and zero, and determining the geographic location of the target based on the target observation point with the smallest difference.

[0056] In some embodiments, step S104 further includes:

[0057] S1044 (not shown in the figure): when the height of any target observation point is less than zero, determine the any target observation point as the first matching point;

[0058] S1045 (not shown in the figure): starting from the position pointed to by the difference between the position sequence number of any target observation point and the preset moving step length, start searching for the target matching point to be determined for each target matching point according to the preset second moving step length, and when the height of the target matching point to be determined is less than zero, continue to search for a new target matching point to be determined for each target matching point with the second moving step length, until the height of the new target matching point to be determined is greater than zero, stop searching, and use the new target matching point to be determined as the second matching point, and the first step length is a multiple of the second step length;

[0059] S1046 (not shown in the figure): Calculate the difference between the first matching point and the second matching point and the preset height threshold, and determine the geographic location of the target according to the matching point with the smallest difference.

[0060] When applied, the i-th point on the observation ray is denoted as t i ;, the height of the current point is H(t i ), let the maximum value of t be t max, if a matching point that meets the conditions is found, it must meet:

[0061] Therefore, the calculation process according to the step-by-step reduction method is as follows:

[0062] First, take the initial step length as step 1 , then when H(t i )<0, it can be determined that the matching point number x satisfies:

[0063] i-step 1 <x<i;

[0064] Then, take step 2 =step 1 ÷m, m is the exponential coefficient, from i-step 1 Start with step 2 Start searching once for the step length. If H(t i )<0, it can be determined that the matching point number x satisfies: i-step 2 <x<i。

[0065] By analogy, the number of searches can be reduced exponentially, quickly narrowing the matching points to a range where the error is 1.

[0066] When applying, assume that the binary difference method provided by S1041-S1043 is used to find the middle point pair such as Figure 3 As shown in the left figure, the heights of the two target observation points are both greater than zero. Find new point pairs again until the new middle point pair is as follows Figure 3 As shown in the right figure, the height of the previous target observation point is greater than zero and the height of the next target observation point is less than zero; or when applied, assuming that the two matching points selected by the step-by-step reduction method provided by S1044-S1046 are as follows Figure 3 When the heights shown in the left figure are all greater than zero, continue searching according to the second moving step until Figure 3 As shown in the right figure, the height of the previous target observation point is greater than zero and the height of the next target observation point is less than zero. At this time, the geographic location of the target is determined based on the two target matching points.

[0067] Combine the following Figure 3The step-by-step reduction method and the binary search method are used for illustration. In the binary search method, it is assumed that the observation line has a total of N points, that is, there are a total of N+1 point pairs D. The point pair composed of two adjacent points shown in the left figure is the middle point pair Dmid. It can be seen from the figure that the heights of the two matching points of the middle point Dmid are both greater than 0. At this time, the middle point Dmid pair is used as the first point pair D1, and is reordered with the subsequent points to obtain a new middle point pair. Assume that the new middle point pair is the two matching points shown in the right figure. At this time, the height of the previous matching point in this new middle point pair is greater than 0, and the height of the next matching point is less than 0. The absolute value of the difference between the height value of the previous point in the right figure and 0 is less than the absolute value of the difference between the height value of the next matching point and 0. Therefore, the coordinates of the previous point in the right figure are determined as the target position. In the step-by-step reduction method, it is assumed that the observation line has a total of N points, and the heights of the matching points are H1, H2...HN. Assume that the i-th point t i for Figure 3 The point at the bottom of the right figure satisfies H(t i )<0, if the i-1th point t at the top of the right figure i-1 , then H(t i-1 )>0, the search ends. If the i-1th point t i-1 , satisfying H(t i-1 )<0, reset the new moving step to step 2 , step 2 =step 1 ÷m, in i-step 1 As the starting point, step 2 Move forward with step size until the height of the first of two adjacent points is less than 0 and the height of the second point is greater than 0, and the search process ends.

[0068] In some embodiments, step S103 further includes:

[0069] Calculate the difference between the longitude and latitude of the geodetic coordinates of any matching point and the longitude and latitude of each real map point coordinate;

[0070] The coordinates of the real map point with the smallest difference are determined as the geodetic coordinates of any matching point.

[0071] Another embodiment of the present application provides a passive target positioning device for a drone based on high-precision map matching, such as Figure 4 As shown, the device 40 includes: an observation equation determination module 401, a matching point coordinate determination module 402, a map point matching determination module 403 and a target positioning result determination module 404.

[0072] An observation equation determination module 401 is used to determine the observation equation of the target based on the observation data when the UAV observes the target during flight, and the observation data includes azimuth and pitch angle;

[0073] A matching point coordinate determination module 402 is used to determine a matching point set sorted in the order of matching points on the observation line and the geodetic coordinates of each matching point in the matching point set according to the coordinate observation line equation;

[0074] A map point matching determination module 403 is used to match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as a target matching point;

[0075] The target positioning result determination module 404 is used to determine the geographical location of the target according to the height of each target matching point.

[0076] The embodiment of the present application determines the coordinate observation line equation of the target through the observation data of the target observed by the drone during the flight, the observation data including azimuth and pitch angle, so as to determine the matching point set based on the coordinate observation line equation, the geodetic coordinates of each matching point in the matching point set, and respectively match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as the target matching point, and then determine the geographical location of the target based on the height of each target matching point. This method converts the matching point coordinates into geodetic coordinates in combination with the observation data, so as to directly match them with the coordinates of the high-precision map point. There is no need to obtain a reference map, let alone perform feature matching calculations on the reference map. Since the matching point coordinates are directly used for calculation, the amount of calculation is reduced, the calculation speed is improved, the needs of scenes with high requirements for real-time positioning are met, and the problems of slow calculation speed and poor matching accuracy caused by complex calculations in existing image-based registration algorithms are solved.

[0077] Furthermore, the observation equation determination module includes:

[0078] A first coordinate determination submodule, for determining a first coordinate of the target at the target observation point in the carrier coordinate system based on the attitude angle of the target observation point observed at the target;

[0079] A coordinate system conversion submodule, used to convert the coordinates of the target observation point in the carrier coordinate system into a second coordinate in the measurement coordinate system with the target observation point as the origin;

[0080] Based on the second coordinate, the observation equation of the target in the measurement coordinate system is determined.

[0081] Furthermore, the matching point coordinate determination module includes:

[0082] A first coordinate system conversion submodule is used to perform spatial geodetic rectangular coordinate system conversion based on the matching point set including each matching point to obtain the spatial geodetic rectangular coordinates of each matching point;

[0083] The second coordinate system conversion submodule is used to convert the spatial rectangular coordinates of each matching point into a geodetic coordinate system to obtain the geodetic coordinates of each matching point.

[0084] Furthermore, the target positioning result determination module includes:

[0085] The point pair determination submodule is used to construct point pairs using two adjacent target matching points to obtain the starting point pair, the middle point pair and the ending point pair;

[0086] The first judgment processing submodule is used to determine the geographical location of the target according to the height values ​​of the two target observation points included in the target point pair when the height of the previous target observation point in the intermediate point pair is greater than zero and the height of the next target observation point is less than zero, and the intermediate point pair includes the target observation point located in the middle position of the observation line and the next target observation point after the middle position in each target observation line matching point;

[0087] The second judgment processing submodule is used to use the intermediate point pair as a new starting point pair and determine a new intermediate point pair based on the new starting point pair and the ending point pair when the heights of the two target observation points of the intermediate point pair are both greater than zero, or to use the intermediate point pair as a new ending point pair and determine a new intermediate point pair based on the starting point pair and the new ending point pair when the heights of the two target observation points of the intermediate point pair are both less than zero, and execute the step of judging whether the height of the previous target observation point in the new intermediate point pair is greater than zero and whether the height of the next target observation point is less than zero.

[0088] Furthermore, the first judgment processing submodule also includes:

[0089] The point pair determination position unit is used to determine the difference between the height of the previous target observation point in the target point pair and zero and the difference between the height of the next target observation point in the target point pair and zero, and determine the geographic location of the target based on the target observation point with the smallest difference.

[0090] Furthermore, the target positioning result determination module includes:

[0091] A first matching point determination submodule, used for determining any target observation point as a first matching point when the height of any target observation point is less than zero;

[0092] The second matching point determination submodule is used to start with the position pointed to by the difference between the position serial number of any target observation point and the preset moving step length, start searching for the target matching point to be determined for each target matching point according to the preset second moving step length, and when the height of the target matching point to be determined is less than zero, continue to search for a new target matching point to be determined for each target matching point with the second moving step length, until the height of the new target matching point to be determined is greater than zero, stop searching, and match the new target to be determined as the second matching point, and the first step length is a multiple of the second step length;

[0093] The geographic location determination submodule is used to calculate the difference between the first matching point and the second matching point and a preset height threshold, and determine the geographic location of the target according to the matching point with the smallest difference.

[0094] Furthermore, the map point matching determination module includes:

[0095] The longitude and latitude difference calculation submodule is used to calculate the difference between the longitude and latitude of the geodetic coordinates of any matching point and the longitude and latitude of each real map point coordinate;

[0096] The map point matching submodule is used to determine the coordinates of the real map point with the smallest difference as the geodetic coordinates of any matching point.

[0097] The drone passive target positioning device based on high-precision map matching of this embodiment can execute the drone passive target positioning method based on high-precision map matching shown in Example 1 of the present application. The implementation principle is similar and will not be repeated here.

[0098] Another embodiment of the present application provides a terminal, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0099] Specifically, the processor may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0100] Specifically, the processor is connected to the memory via a bus, and the bus may include a path for transmitting information. The bus may be a PCI bus or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0101] The memory can be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), 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 to this.

[0102] Optionally, the memory is used to store the code of the computer program for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the application program code stored in the memory to implement the actions of the passive target positioning device for unmanned aerial vehicles based on high-precision map matching provided in the above embodiment.

[0103] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for passive target positioning of unmanned aerial vehicles based on high-precision map matching.

[0104] The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0106] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present application. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A method for passive target positioning of unmanned aerial vehicles based on high-precision map matching, characterized in that: include: Determine an observation equation of the target based on observation data of the target observed by the UAV during flight, wherein the observation data includes position information and attitude angle of the UAV, and the attitude angle includes azimuth and pitch angle; According to the observation equation of the target, determining a matching point set sorted in the order of matching points on the observation line, and the geodetic coordinates of each matching point in the matching point set; The geodetic coordinates of each matching point are matched with the coordinates of each real map point in the preset high-precision map coordinate library, and each successfully matched matching point is used as the target matching point; The geographical location of the target is determined according to the respective heights of the target matching points.

2. The method according to claim 1, characterized in that The method of determining the coordinate observation line equation of the target based on the observation data of the target observed during the flight of the unmanned aerial vehicle comprises: Determine a first coordinate of the target at the target observation point in the carrier coordinate system based on the position information and attitude angle of the target observation point at which the target is observed; Converting the coordinates of the target observation point in the carrier coordinate system into second coordinates in a measurement coordinate system with the target observation point as the origin; An observation equation of the target in the measurement coordinate system is determined based on the second coordinate.

3. The method according to claim 1, characterized in that: The step of determining a set of matching points sorted in the order of matching points on the observation line according to the coordinate observation line equation comprises: Performing spatial geodetic rectangular coordinate system transformation according to the matching point set including each matching point to obtain the spatial geodetic rectangular coordinates of each matching point; The spatial geodetic rectangular coordinates of each matching point are converted into a geodetic coordinate system to obtain the geodetic coordinates of each matching point.

4. The method according to claim 1, characterized in that: Determining the geographic location of the target according to the height of each target matching point includes: Constructing point pairs using two adjacent target matching points to obtain a starting point pair, an intermediate point pair, and an ending point pair; When the height of the first target observation point in the intermediate point pair is greater than zero and the height of the second target observation point is less than zero, the geographic location of the target is determined according to the height values ​​of the two target observation points included in the target point pair, and the intermediate point pair includes the target observation point located in the middle position of the observation line among the matching points of each target observation line and the next target observation point after the middle position; When the heights of the two target observation points of the intermediate point pair are both greater than zero, the intermediate point pair is used as a new starting point pair and a new intermediate point pair is determined based on the new starting point pair and the ending point pair; or when the heights of the two target observation points of the intermediate point pair are both less than zero, the intermediate point pair is used as a new ending point pair and a new intermediate point pair is determined based on the starting point pair and the new ending point pair, and a step of determining whether the height of the previous target observation point in the new intermediate point pair is greater than zero and whether the height of the next target observation point is less than zero is executed.

5. The method according to claim 4, characterized in that Determining the geographical location of the target according to the heights of the respective target observation line matching points includes: Determine the difference between the height of the first target observation point in the target point pair and zero and the difference between the height of the second target observation point in the target point pair and zero, and determine the geographic location of the target based on the target observation point with the smallest difference.

6. The method according to claim 1, characterized in that Determining the geographic location of the target according to the height of each target matching point includes: When the height of any of the target observation points is less than zero, determining the any of the target observation points as a first matching point; Starting from the position pointed to by the difference between the position serial number of any of the target observation points and the preset moving step length, start searching for the target matching point to be determined for each target matching point according to the preset second moving step length, and when the height of the target matching point to be determined is less than zero, continue to search for a new target matching point to be determined for each target matching point with the second moving step length, until the height of the new target matching point to be determined is greater than zero, stop searching, and use the new target matching point to be determined as the second matching point, and the first step length is a multiple of the second step length; The difference between the first matching point and the second matching point and a preset height threshold is calculated, and the geographic location of the target is determined according to the matching point with the smallest difference.

7. The method according to claim 1, characterized in that The method of matching the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and taking each successfully matched matching point as a target matching point, includes: Calculate the difference between the longitude and latitude of the geodetic coordinates of any matching point and the longitude and latitude of each real map point coordinate; The coordinates of the real map point with the smallest difference are determined as the geodetic coordinates of any matching point.

8. A UAV passive target positioning device based on high-precision map matching, characterized in that: include: Observation An equation determination module, used to determine the observation equation of the target based on the observation data of the target observed by the UAV during flight, wherein the observation data includes the position information and attitude angle of the UAV, and the attitude angle includes the azimuth angle and the pitch angle; A matching point coordinate determination module, used to determine a matching point set sorted in the order of matching points on an observation line according to the observation equation of the target, and the geodetic coordinates of each matching point in the matching point set; A map point matching determination module is used to match the geodetic coordinates of each matching point with the coordinates of each real map point in a preset high-precision map coordinate library, and use each successfully matched matching point as a target matching point; The target positioning result determination module is used to determine the geographical location of the target based on the height of each target matching point.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein the computer-readable instructions execute the method according to any one of claims 1 to 7 when executed.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method according to any one of claims 1 to 7.

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