Unmanned aerial vehicle positioning method, storage medium and electronic equipment

Abstract

The invention relates to an unmanned aerial vehicle positioning method, a storage medium and electronic equipment. The method comprises the steps that first radio frequency transceiver equipment transmits an inquiry signal; when the second radio frequency transceiver determines that the received signal is an inquiry signal, the second radio frequency transceiver determines first actual receiving time when the inquiry signal is received; the second radio frequency transceiver determines the response signal transmitting time based on the first actual receiving time and the preset delay time, and transmits a response signal; when the first radio frequency transceiver determines that the received signal is a response signal, the first radio frequency transceiver determines a second actual receiving time when the response signal is received; the first actual receiving time and the second actual receiving time are determined based on a search result obtained after synchronous search is carried out on the Doppler frequency offset and the code phase, and the unmanned aerial vehicle positioning system positions the unmanned aerial vehicle according to the second actual receiving time, the emission time of the inquiry signal and the preset delay time. By adopting the method, the accuracy of positioning the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of UAV positioning, and specifically, to a positioning method, a storage medium, and an electronic device for a UAV. Background Art

[0002] With the development of science and technology, UAVs are increasingly widely used. In the application of UAVs, it is necessary to accurately position the UAV to improve the docking accuracy of the UAV.

[0003] In the related art, UAVs usually set up a satellite navigation (GNSS) system for positioning. However, the positioning accuracy relying on the satellite navigation (GNSS) system is not high. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a positioning method, a device, a storage medium, and an electronic device for a UAV.

[0005] According to the first aspect of the embodiments of the present disclosure, a positioning method for a UAV is provided, which is applied to a UAV positioning system. The UAV positioning system includes a first radio frequency transceiver device, a second radio frequency transceiver device, a docking station, and a UAV. One of the first radio frequency transceiver device and the second radio frequency transceiver device is arranged on the UAV, and the other is arranged on the docking station. The method includes:

[0006] The first radio frequency transceiver device transmits an interrogation signal;

[0007] When the second radio frequency transceiver device determines that the received signal is the interrogation signal, it determines the first actual reception time of the received interrogation signal, where the first actual reception time is determined based on the search result after synchronous search based on Doppler frequency offset and code phase;

[0008] The second radio frequency transceiver device determines the response signal transmission time based on the first actual reception time and a preset delay time, and transmits a response signal at the response signal transmission time;

[0009] When the first radio frequency transceiver device determines that the received signal is the response signal, it determines the second actual reception time of the received response signal, where the second actual reception time is obtained after synchronous search based on Doppler frequency offset and code phase;

[0010] The UAV positioning system positions the UAV according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0011] Optionally, when the second radio frequency transceiver device determines that the received signal is the interrogation signal, determining the first actual reception time of receiving the interrogation signal includes:

[0012] In response to determining that the interrogation signal is received during the interrogation signal capture phase, the second radio frequency transceiver device performs synchronous search in the Doppler frequency offset dimension and the code phase dimension to obtain a first Doppler frequency offset parameter and a first code phase parameter, and enters the interrogation signal tracking phase;

[0013] In response to determining that the interrogation signal is received during the interrogation signal tracking phase, the second radio frequency transceiver device synchronously adjusts the Doppler frequency offset parameter and the code phase parameter of the previous signal reception period of the current signal reception period based on the correlation between the previous and the current signal reception periods to obtain the Doppler frequency offset parameter and the code phase parameter of the current signal reception period;

[0014] The second radio frequency transceiver device determines the first actual reception time based on the code phase parameter of the current signal reception period.

[0015] Optionally, when the first radio frequency transceiver device determines that the received signal is the response signal, determining the second actual reception time of receiving the response signal includes:

[0016] In response to determining that the response signal is received during the response signal capture phase, the first radio frequency transceiver device performs synchronous search in the Doppler frequency offset dimension and the code phase dimension to obtain a second Doppler frequency offset parameter and a second code phase parameter, and enters the response signal tracking phase;

[0017] In response to determining that the response signal is received during the response signal tracking phase, the first radio frequency transceiver device synchronously adjusts the Doppler frequency offset parameter and the code phase parameter of the previous signal reception period of the current signal reception period based on the correlation between the previous and the current signal reception periods to obtain the Doppler frequency offset parameter and the code phase parameter of the current signal reception period;

[0018] The first radio frequency transceiver device determines the second actual reception time based on the code phase parameter of the current signal reception period.

[0019] Optionally, both the interrogation signal and the response signal are orthogonal waveforms. The orthogonal waveform corresponding to the interrogation signal includes an identity code chip combination for encoding first identity information, and the orthogonal waveform corresponding to the response signal includes an identity code chip combination for encoding second identity information. The first identity information is the identity information of the device where the first radio frequency transceiver device is located, and the second identity information is the identity information of the device where the second radio frequency transceiver device is located.

[0020] Optionally, the first radio frequency transceiver device is disposed at a docking station, the second radio frequency transceiver device is disposed on a drone, and the orthogonal waveform corresponding to the interrogation signal further includes a communication code chip combination for encoding communication information sent by the docking station, and each communication code chip is modulated with the identity code chip combination.

[0021] Optionally, the drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, including:

[0022] The drone positioning system determines the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0023] Optionally, the distance is determined according to the following method:

[0024]

[0025] Wherein, t4 represents the second actual reception time, t1 represents the transmission time of the interrogation signal, Δt represents the preset delay time, c represents the speed of light, and R(t) represents the distance at time t.

[0026] Optionally, the first radio frequency transceiver device includes a plurality of receiving array elements, and each receiving array element corresponds to the second actual reception time respectively. The drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, including:

[0027] The drone positioning system determines the phases of the response signals received by the respective receiving array elements according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time corresponding to the respective receiving array elements.

[0028] The drone positioning system determines the azimuth angle and elevation angle of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the phases of the response signals received by the respective receiving array elements.

[0029] Optionally, the phases of the response signals received by the respective receiving array elements are determined according to the following method:

[0030] φ m =-2πc(t m4 -t1-Δt) / λ c

[0031] Wherein, φ m represents the phase of the response signal received by the m-th receiving array element, tm4 represents the second actual reception time corresponding to the m-th said receiving array element, λ c represents the carrier wavelength corresponding to the interrogation signal, λ c represents the carrier wavelength corresponding to the interrogation signal.

[0032] Optionally, the first radio frequency transceiver device includes 4 said receiving array elements, and the receiving array elements are arranged at intervals to form a square array with a side length of λ c / 2, and the azimuth angle and the elevation angle are determined according to the following method:

[0033]

[0034] wherein, φ1, φ2, φ3, φ4 represent the signal phases received by each said receiving array element, θ a represents the azimuth angle, θ e represents the elevation angle.

[0035] According to a second aspect of the embodiments of the present disclosure, a positioning method for a drone is provided, which is applied to a first radio frequency transceiver device in a drone positioning system. The drone positioning system further includes a second radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. The method includes:

[0036] Transmit an interrogation signal;

[0037] Receive the signal sent by the second radio frequency transceiver device;

[0038] When it is determined that the received signal is a response signal, determine the second actual reception time of receiving the response signal;

[0039] wherein, the transmission time of the response signal is determined by the second radio frequency transceiver device based on the first actual reception time and a preset delay time. The first actual reception time is the time when the second radio frequency transceiver device receives the interrogation signal from the first radio frequency transceiver device. The first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase. The second actual reception time is obtained after synchronous search based on the Doppler frequency offset and the code phase;

[0040] Locate the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0041] According to a third aspect of the embodiments of the present disclosure, a positioning method for an unmanned aerial vehicle (UAV) is provided, which is applied to a second radio frequency transceiver device in a UAV positioning system. The UAV positioning system further includes a first radio frequency transceiver device, a docking station, and a UAV. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the UAV, and the other is disposed on the docking station. The method includes:

[0042] Receiving a signal sent by the second radio frequency transceiver device;

[0043] When it is determined that the received signal is an interrogation signal, determining a first actual reception time of receiving the interrogation signal, where the first actual reception time is determined based on a search result after synchronous search based on Doppler frequency offset and code phase;

[0044] Based on the first actual reception time and a preset delay time, determining a transmission time of a response signal, and transmitting the response signal at the transmission time of the response signal;

[0045] Wherein, the response signal is used for the first radio frequency transceiver device to determine a second actual reception time of receiving the response signal by the first radio frequency transceiver device, so as to position the UAV. The second actual reception time is obtained after synchronous search based on Doppler frequency offset and code phase, and the second actual reception time is determined by the first radio frequency transceiver device in response to determining that the response signal is received.

[0046] According to a fourth aspect of the embodiments of the present disclosure, a positioning device for an unmanned aerial vehicle (UAV) is provided, which is applied to a first radio frequency transceiver device in a UAV positioning system. The UAV positioning system further includes a second radio frequency transceiver device, a docking station, and a UAV. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the UAV, and the other is disposed on the docking station. The device includes:

[0047] A first transmitting module, configured to transmit an interrogation signal;

[0048] A first receiving module, configured to receive a signal sent by the second radio frequency transceiver device;

[0049] A first determining module, configured to determine a second actual reception time of receiving the response signal when it is determined that the received signal is a response signal;

[0050] A positioning module, configured to position the UAV according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time;

[0051] Wherein, the transmission time of the response signal is determined by the second radio frequency transceiver device based on the first actual reception time and a preset delay time. The first actual reception time is the time when the second radio frequency transceiver device receives the interrogation signal from the first radio frequency transceiver device. The first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase. The second actual reception time is obtained after synchronous search based on the Doppler frequency offset and the code phase.

[0052] According to a fifth aspect of the embodiments of the present disclosure, there is provided a positioning device for a drone, which is applied to a second radio frequency transceiver device in a drone positioning system. The drone positioning system further includes a first radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. The device includes:

[0053] A second receiving module, configured to receive a signal sent by the second radio frequency transceiver device;

[0054] A second determining module, configured to determine a first actual reception time of receiving the interrogation signal when it is determined that the received signal is an interrogation signal. The first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase;

[0055] A second transmitting module, configured to determine a response signal transmission time based on the first actual reception time and a preset delay time, and transmit a response signal at the response signal transmission time;

[0056] Wherein, the response signal is used for the first radio frequency transceiver device to determine a second actual reception time when the first radio frequency transceiver device receives the response signal, so as to position the drone. The second actual reception time is obtained after synchronous search based on the Doppler frequency offset and the code phase. The second actual reception time is determined by the first radio frequency transceiver device in response to determining that the response signal is received.

[0057] According to a sixth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the drone positioning method described in the second aspect or the third aspect in the above embodiments are implemented.

[0058] According to a seventh aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

[0059] A memory, on which a computer program is stored;

[0060] A processor is configured to execute the computer program in the memory to implement the steps of the method for positioning a drone according to the second aspect or the third aspect in the above embodiments.

[0061] Through the above technical solutions, in a drone positioning system, a first radio frequency transceiver device can transmit an interrogation signal. When the second radio frequency transceiver device determines that the received signal is the interrogation signal, it can determine the first actual reception time of the received interrogation signal. The second radio frequency transceiver device can determine the transmission time of the response signal based on the first actual reception time and a preset delay time, and transmit the response signal at the transmission time of the response signal. When the first radio frequency transceiver device determines that the received signal is the response signal, it can determine the second actual reception time of the received response signal. Finally, the drone positioning system can position the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time. Since when determining the actual reception time of the interrogation signal and the actual reception time of the response signal, a synchronous search is performed in two dimensions of Doppler frequency offset and code phase, the accuracy of the obtained code phase parameter can be improved, thereby improving the accuracy of the determined first actual reception time and second actual reception time, and further improving the accuracy of positioning the drone.

[0062] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific implementation, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings:

[0064] Figure 1 is a flowchart of a method for positioning a drone according to an exemplary embodiment;

[0065] Figure 2 is a waveform diagram of carrier modulation according to an exemplary embodiment;

[0066] Figure 3 is a geometric relationship diagram of a drone positioning system according to an exemplary embodiment;

[0067] Figure 4 is a timing relationship diagram of time according to an exemplary embodiment;

[0068] Figure 5 is a flowchart of a method for positioning a drone according to an exemplary embodiment;

[0069] Figure 6It is a flowchart of a positioning method for a drone shown according to an exemplary embodiment;

[0070] Figure 7 It is a flowchart of a positioning method for a drone shown according to an exemplary embodiment;

[0071] Figure 8 It is a block diagram of a positioning device for a drone shown according to an exemplary embodiment;

[0072] Figure 9 It is a block diagram of a positioning device for a drone shown according to an exemplary embodiment;

[0073] Figure 10 It is a block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0074] The following will explain the detailed implementation manners of the present disclosure with reference to the accompanying drawings. It should be understood that the detailed implementation manners described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0075] It should be noted that all actions of obtaining signals, information, or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located, and with the authorization given by the owner of the corresponding device.

[0076] Before explaining the embodiments of the present disclosure in detail, the drone positioning system of the embodiments of the present disclosure will be explained first.

[0077] In the embodiments of the present disclosure, the drone positioning system may include a first radio frequency transceiver device, a second radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is arranged on the drone, and the other is arranged on the docking station.

[0078] In some embodiments, the first radio frequency transceiver device may be arranged on the docking station, and the second radio frequency transceiver device may be arranged on the drone.

[0079] In other embodiments, the first radio frequency transceiver device may be arranged on the drone, and the second radio frequency transceiver device may be arranged on the docking station.

[0080] It should be noted that for the convenience of understanding, in the subsequent embodiments, without special instructions, the case where the first radio frequency transceiver device is arranged on the docking station and the second radio frequency transceiver device is arranged on the drone will be taken as an example for illustration.

[0081] The drones in the embodiments of the present disclosure may be delivery drones, automatic inspection drones, plant protection drones, etc. The embodiments of the present disclosure do not limit the functional types of the drones.

[0082] Figure 1 It is a flowchart of a positioning method for an unmanned aerial vehicle (UAV) shown according to an exemplary embodiment. This method can be applied to a UAV positioning system, which includes a first radio frequency transceiver, a second radio frequency transceiver, a docking station, and a UAV. One of the first radio frequency transceiver and the second radio frequency transceiver is disposed on the UAV, and the other is disposed on the docking station. As Figure 1 shown, the positioning method for the UAV may include the steps:

[0083] S110, the first radio frequency transceiver transmits an interrogation signal.

[0084] In an embodiment of the present disclosure, the first radio frequency transceiver may continuously transmit interrogation signals to the surroundings.

[0085] S120, when the second radio frequency transceiver determines that the received signal is an interrogation signal, it determines the first actual reception time of the received interrogation signal, where the first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase.

[0086] Considering that after the second radio frequency transceiver actually receives the interrogation signal, it will process the interrogation signal, and only after the processing is completed can the second radio frequency transceiver determine that it has actually received the interrogation signal sent by the first radio frequency transceiver. Therefore, in an embodiment of the present disclosure, in order to accurately position the UAV subsequently, when the second radio frequency transceiver determines that the received signal is an interrogation signal, it can determine the time when the second radio frequency transceiver actually receives the interrogation signal, that is, the first actual reception time.

[0087] In an embodiment of the present disclosure, when determining the first actual reception time, the second radio frequency transceiver may perform synchronous search based on two dimensions of the Doppler frequency offset and the code phase. The search result after the synchronous search includes the Doppler frequency offset parameter and the code phase parameter. Since the code phase parameter reflects the information in the time dimension, after obtaining the code phase parameter, the first actual reception time can be accurately estimated according to the code phase parameter.

[0088] In some embodiments, the directly searched code phase parameter may be directly determined as the first actual reception time.

[0089] In some embodiments, when the second radio frequency transceiver device performs a synchronization search based on two dimensions of Doppler frequency offset and code phase, the second radio frequency transceiver device may pre-copy a comparison signal with a preset frequency and a preset phase. By continuously adjusting the frequency and the code phase, different comparison signals can be obtained. The comparison signal and the received signal are passed through a mixer and a correlator to detect the correlation degree between the two. When a certain comparison signal is consistent with the received signal, the output power of the correlator reaches the maximum value. Therefore, the frequency and phase of the comparison signal corresponding to when the output power of the correlator reaches the maximum value can be determined as the Doppler frequency offset parameter and the code phase parameter obtained by the search.

[0090] In the embodiments of the present disclosure, by performing a synchronization search on two dimensions of Doppler frequency offset and code phase, the accuracy of the obtained code phase parameter can be improved, thereby improving the accuracy of the determined first actual reception time.

[0091] S130. The second radio frequency transceiver device determines the transmission time of the response signal based on the first actual reception time and a preset delay time, and transmits the response signal at the transmission time of the response signal.

[0092] Considering that the processing flow of the received interrogation signal by the second radio frequency transceiver device may be different in different stages, for example, the interrogation signal acquisition stage or the interrogation signal tracking stage, resulting in different processing times, in order to cover all possible processing times to facilitate subsequent accurate positioning of the unmanned aerial vehicle, in the embodiments of the present disclosure, after determining the first actual reception time, the second radio frequency transceiver device may add a preset delay time to the first actual reception time to obtain the transmission time of the response signal, and when the transmission time of the response signal arrives, the second radio frequency transceiver device can transmit the response signal.

[0093] In the embodiments of the present disclosure, the preset delay time is greater than the processing time of the received interrogation signal in each stage.

[0094] Exemplarily, in the interrogation signal acquisition stage, assuming that the processing time of the received interrogation signal is 80 ms, and in the interrogation signal tracking stage, assuming that the processing time of the received interrogation signal is 20 ms, in one example, the preset delay time can be set to 100 ms.

[0095] S140. When the first radio frequency transceiver device determines that the received signal is a response signal, it determines the second actual reception time of the received response signal, where the second actual reception time is obtained after a synchronization search based on Doppler frequency offset and code phase.

[0096] Among them, the second actual reception time, the transmission time of the interrogation signal, and the preset delay time are used to locate the drone.

[0097] In the embodiments of the present disclosure, in addition to continuously transmitting interrogation signals to the surrounding area, the first radio frequency transceiver can also receive the response signals returned by the second radio frequency transceiver.

[0098] Similarly, after the first radio frequency transceiver actually receives the response signal, it will process the response signal. After the processing is completed, the first radio frequency transceiver can determine that it has indeed received the response signal sent by the second radio frequency transceiver. Therefore, in the embodiments of the present disclosure, in order to accurately locate the drone subsequently, the first radio frequency transceiver can determine the time when the first radio frequency transceiver actually receives the response signal, that is, the second actual reception time, when it determines that the received signal is a response signal.

[0099] Similarly, in the embodiments of the present disclosure, by performing synchronous search in two dimensions of Doppler frequency offset and code phase, the accuracy of the obtained code phase parameter can be improved, thereby improving the accuracy of the determined second actual reception time.

[0100] Among them, the process of the first radio frequency transceiver performing synchronous search based on Doppler frequency offset and code phase can refer to the foregoing method, which will not be elaborated here.

[0101] S150. The drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0102] In the embodiments of the present disclosure, since the preset delay time is pre-agreed and is a fixed value, after knowing the second actual reception time and the transmission time of the interrogation signal, the drone positioning system can use the second actual reception time, the transmission time of the interrogation signal, and the preset delay time to locate the drone.

[0103] In the embodiments of the present disclosure, the drone positioning system locating the drone may be to determine the relative position information of the drone with respect to the docking station.

[0104] Combined with the foregoing content, it can be known that in some embodiments, when the first radio frequency transceiver is disposed at the docking station and the second radio frequency transceiver is disposed on the drone, after the drone positioning system locates the drone and determines the relative position information of the drone with respect to the docking station, the docking station can send the relative position information of the drone with respect to the docking station to the drone, so as to facilitate the drone to perform landing positioning guidance according to the relative position information.

[0105] Optionally, the docking station can carry relative position information in the interrogation signal sent from the first radio frequency transceiver device to the second radio frequency transceiver device, so as to implement the function of sending the relative position information of the UAV relative to the docking station to the UAV.

[0106] In some other embodiments, when the first radio frequency transceiver device is disposed on the UAV and the second radio frequency transceiver device is disposed on the docking station, after the UAV positioning system locates the UAV and determines the relative position information of the UAV relative to the docking station, the UAV can directly perform landing positioning guidance according to the relative position information.

[0107] In some embodiments, when the first radio frequency transceiver device is disposed on the UAV and the second radio frequency transceiver device is disposed on the docking station, the position information of the docking station relative to the UAV is determined according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time. At this time, according to the symmetry of the observation geometry, the relative position information of the UAV relative to the docking station can be obtained by conversion.

[0108] In some embodiments, when the first radio frequency transceiver device has positioning calculation ability, the first radio frequency transceiver device in the UAV positioning system can be used to locate the UAV based on the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0109] In some other embodiments, when the first radio frequency transceiver device does not have positioning calculation ability, the device where the first radio frequency transceiver device in the UAV positioning system is located (such as the docking station or the UAV) can be used to locate the UAV based on the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0110] By using the above method, in the UAV positioning system, the first radio frequency transceiver device can transmit an interrogation signal. When the second radio frequency transceiver device determines that the received signal is an interrogation signal, it can determine the first actual reception time of the received interrogation signal. The second radio frequency transceiver device can determine the transmission time of the response signal based on the first actual reception time and the preset delay time, and transmit the response signal at the transmission time of the response signal. When the first radio frequency transceiver device determines that the received signal is a response signal, it can determine the second actual reception time of the received response signal. Finally, the UAV positioning system can locate the UAV according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time. Since the actual reception time of the interrogation signal and the actual reception time of the response signal are determined by synchronously searching in two dimensions of Doppler frequency offset and code phase, the accuracy of the obtained code phase parameter can be improved, thereby improving the accuracy of the determined first actual reception time and second actual reception time, and further improving the accuracy of locating the UAV.

[0111] As can be seen from the foregoing, in some embodiments, the interrogation signal reception phase includes an interrogation signal acquisition phase and an interrogation signal tracking phase. In this case, when the second radio frequency transceiver device determines that the received signal is an interrogation signal, determining the first actual reception time of the received interrogation signal may include the following steps:

[0112] In response to determining that an interrogation signal is received in the interrogation signal acquisition phase, the second radio frequency transceiver device performs a synchronous search in the Doppler frequency offset dimension and the code phase dimension to obtain a first Doppler frequency offset parameter and a first code phase parameter, and enters the interrogation signal tracking phase;

[0113] In response to determining that an interrogation signal is received in the interrogation signal tracking phase, the second radio frequency transceiver device synchronously adjusts the Doppler frequency offset parameter and the code phase parameter of the previous signal reception cycle of the current signal reception cycle based on the correlation between the two previous and subsequent signal reception cycles to obtain the Doppler frequency offset parameter and the code phase parameter of the current signal reception cycle;

[0114] The second radio frequency transceiver device determines the first actual reception time based on the code phase parameter of the current signal reception cycle.

[0115] In the embodiments of the present disclosure, in order to reduce the computational complexity of the second radio frequency transceiver device for determining the first actual reception time, two stages of acquisition and tracking may be set.

[0116] In the acquisition stage, in response to determining that an interrogation signal is received in the interrogation signal acquisition phase, the second radio frequency transceiver device performs a complete synchronous search process in the Doppler frequency offset dimension and the code phase dimension to obtain a first Doppler frequency offset parameter and a first code phase parameter, and enters the interrogation signal tracking phase.

[0117] In the tracking stage, in response to determining that an interrogation signal is received in the interrogation signal tracking phase, the second radio frequency transceiver device may synchronously adjust the Doppler frequency offset parameter and the code phase parameter of the previous signal reception cycle of the current signal reception cycle based on the correlation between the two previous and subsequent signal reception cycles to obtain the Doppler frequency offset parameter and the code phase parameter of the current signal reception cycle.

[0118] In this way, compared with performing a complete synchronous search process in the Doppler frequency offset dimension and the code phase dimension in the acquisition stage, in the tracking stage, directly based on the correlation between the two previous and subsequent signal reception cycles, the Doppler frequency offset parameter and the code phase parameter of the previous signal reception cycle are synchronously adjusted to obtain the Doppler frequency offset parameter and the code phase parameter of the current signal reception cycle, which can greatly reduce the computational complexity of the second radio frequency transceiver device for determining the first actual reception time.

[0119] In addition, combining the foregoing content, it can be known that in some embodiments, the response signal receiving phase includes a response signal capturing phase and a response signal tracking phase. In this case, when it is determined that the received signal is a response signal, determining the second actual reception time of the received response signal may include the following steps:

[0120] In response to determining that a response signal is received in the response signal capturing phase, the first radio frequency transceiver device performs synchronous search in the Doppler frequency offset dimension and the code phase dimension, obtains the second Doppler frequency offset parameter and the second code phase parameter, and enters the response signal tracking phase;

[0121] In response to determining that a response signal is received in the response signal tracking phase, the first radio frequency transceiver device synchronously adjusts the Doppler frequency offset parameter and the code phase parameter of the previous signal reception cycle of the current signal reception cycle based on the correlation between the previous and the current signal reception cycles, and obtains the Doppler frequency offset parameter and the code phase parameter of the current signal reception cycle;

[0122] The first radio frequency transceiver device determines the second actual reception time based on the code phase parameter of the current signal reception cycle.

[0123] Similarly, through the above processing process, the computational complexity of the first radio frequency transceiver device for determining the second actual reception time can be greatly reduced.

[0124] In addition, for identity authentication and to avoid mutual interference between devices, in some embodiments, both the interrogation signal and the response signal are orthogonal waveforms. The orthogonal waveform corresponding to the interrogation signal includes an identity code chip combination for encoding the first identity information, and the orthogonal waveform corresponding to the response signal includes an identity code chip combination for encoding the second identity information. The first identity information is the identity information of the device where the first radio frequency transceiver device is located, and the second identity information is the identity information of the device where the second radio frequency transceiver device is located.

[0125] In the embodiments of the present disclosure, by setting both the interrogation signal and the response signal as orthogonal waveforms, the orthogonal waveforms can be used to encode the identity information to distinguish the identity information of the device where the first radio frequency transceiver device is located and the identity information of the device where the second radio frequency transceiver device is located.

[0126] In addition, to transmit communication information between the docking station and the unmanned aerial vehicle. For example, when the first radio frequency transceiver device is set at the docking station and the second radio frequency transceiver device is set on the unmanned aerial vehicle, the docking station can send the relative position information of the unmanned aerial vehicle to the unmanned aerial vehicle through the first radio frequency transceiver device. In this case, in some embodiments, the orthogonal waveform corresponding to the interrogation signal further includes a communication code chip combination for encoding the communication information sent by the docking station, and each communication code chip is modulated with an identity code chip combination.

[0127] In the embodiments of the present disclosure, in order to transmit identity information and relative position information simultaneously, a dual coding method can be adopted, that is, the orthogonal waveform corresponding to the interrogation signal includes a communication code chip combination for coding the communication information sent by the docking station, and each communication code chip in the communication code chip combination is modulated with an identity code chip combination.

[0128] In some embodiments, the interrogation signal and the response signal can adopt a pseudo-random code BPSK (Binary Phase Shift Keying) signal with a chip width of T chip and a repetition period of T per , and the communication code adopts a binary BPSK signal with a chip width of T per .

[0129] Exemplarily, assume that the pseudo-random code BPSK signal adopts a Gold code sequence with a length of 1023 and a chip width of T chip = 0.1 μs. At this time, its repetition period is R per = 102.3 μs ≈ 0.1 ms. Since the code group capacity formed by the Gold code sequence is 1024, the docking station and the UAV can be configured with up to 1024 mutually independent devices at the same time.

[0130] Exemplarily, as Figure 2 shown, each communication code chip is modulated with an identity code chip combination, and the width of each communication code chip is equal to one period of the identity code chip combination. It should be noted that Figure 2 in order to facilitate the understanding of the period relationship, the communication code chip and the identity code chip combination are drawn separately.

[0131] In some embodiments, when it is necessary to send communication information to the first radio frequency transceiver device, it can also be set that the orthogonal waveform corresponding to the response signal further includes a communication code chip combination for coding the communication information, and each communication code chip is modulated with an identity code chip combination representing the identity information of the device where the second radio frequency transceiver device is located.

[0132] In some embodiments, the UAV positioning system can perform positioning on the UAV, which can include positioning the distance and direction. Among them, positioning the direction can be understood as calculating the distance of the UAV relative to the docking station, and positioning the direction can include calculating the direction of the UAV relative to the docking station, which can specifically include the azimuth angle and pitch angle of the UAV relative to the docking station.

[0133] Since one of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the unmanned aerial vehicle (UAV), and the other is disposed at the docking station, the UAV positioning system for positioning the UAV may also include determining the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device, and determining the azimuth angle and the pitch angle of the second radio frequency transceiver device relative to the first radio frequency transceiver device.

[0134] Therefore, in some embodiments, the UAV positioning system for positioning the UAV according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time may include:

[0135] The UAV positioning system determines the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0136] In addition, in some embodiments, the first radio frequency transceiver device includes a plurality of receiving elements, and each receiving element corresponds to a second actual reception time respectively. In this case, the UAV positioning system for positioning the UAV according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time may include:

[0137] The UAV positioning system determines the phases of the response signals received by the respective receiving elements according to the second actual reception times respectively corresponding to the respective receiving elements, the transmission time of the interrogation signal, and the preset delay time.

[0138] The UAV positioning system determines the azimuth angle and the pitch angle of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the phases of the response signals received by the respective receiving elements.

[0139] In the embodiments of the present disclosure, during the process of positioning the UAV, the azimuth angle, the pitch angle, and the distance are all determined using the same waveform, avoiding sending multiple waveforms, which can improve the positioning efficiency.

[0140] In the embodiments of the present disclosure, the UAV can be positioned based on the principle of secondary radar. Taking the first radio frequency transceiver device being disposed at the docking station and the second radio frequency transceiver device being disposed on the UAV as an example, please refer to Figure 3 , Figure 3 shows a geometric relationship diagram of the UAV positioning system in this example, as Figure 3As shown, the UAV positioning system includes a docking station 31 and a UAV 32. The UAV 32 includes a second radio frequency transceiver device. A three-dimensional rectangular coordinate system is established with the first radio frequency transceiver device in the docking station 31 as the origin, where the positive direction of the z-axis is vertically upward, the positive direction of the x-axis is horizontally eastward, and the positive direction of the y-axis is horizontally northward. Among them, the first radio frequency transceiver device in the docking station 31 includes 1 transmitting element Sx and 4 receiving elements Rx1, Rx2, Rx3, and Rx4. The 4 receiving elements form a square array with a side length of λ c / 2, and the transmitting element is at the center of the square. Among them, λ c represents the carrier wavelength corresponding to the interrogation signal or the response signal, and the carrier wavelength corresponding to the interrogation signal is the same as the carrier wavelength corresponding to the response signal.

[0141] It should be noted that Figure 3 the layout method and layout parameters shown are only examples and can be adjusted according to actual needs.

[0142] In addition, please refer to Figure 4 , Figure 4 which shows the timing relationship of each time in this example. As Figure 4 shown, assume that the first radio frequency transceiver device in the docking station transmits an interrogation signal at time t1. After the interrogation signal propagates through space, the second radio frequency transceiver device in the UAV actually receives the interrogation signal at time t2, that is, time t2 represents the first actual reception time. After a preset delay time Δt on the basis of time t2, the response signal transmission time t3 is obtained. When time t3 arrives, the second radio frequency transceiver device sends a response signal. After the response signal propagates through space, the first radio frequency transceiver device in the docking station actually receives the response signal at time t4, that is, time t4 represents the second actual reception time.

[0143] It can be seen that the actual propagation time of the signal in space is (t4 - t1 - Δt). Thus, in some embodiments, the relative distance between the second radio frequency transceiver center on the UAV and the center of the first radio frequency transceiver device in the docking station can be expressed as follows:

[0144]

[0145] Among them, c represents the speed of light, and R(t) represents the relative distance between the second radio frequency transceiver center and the center of the first radio frequency transceiver device at time t.

[0146] Optionally, when the first radio frequency transceiver device includes multiple receiving array elements, when determining the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, the second actual reception time corresponding to any one of the receiving array elements can be used to calculate the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device, or the average value of the second actual reception times corresponding to each of the receiving array elements can be taken, and then this average value can be used to calculate the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device.

[0147] That is, when calculating based on the formula Optionally, t4 can be the second actual reception time corresponding to any one of the receiving array elements, and optionally, t4 can also be the average value of the second actual reception times corresponding to each of the receiving array elements.

[0148] Continuing to refer to Figure 3 , when the first radio frequency transceiver device includes 4 receiving array elements, and the receiving array elements are arranged at intervals to form a square array with a side length of λ c / 2, assuming that the signal phases received by the 4 receiving array elements Rx1 to Rx4 are φ1, φ2, φ3, and φ4 respectively. In some embodiments, according to the array angle measurement principle, when the azimuth angle and elevation angle of the second radio frequency transceiver device relative to the first radio frequency transceiver device are θ a , θ e respectively, these two angles can be solved according to the following formula:

[0149]

[0150] Thus, sinθ a and sinθ e can be obtained through the above formula, and further, θ a , θ e can be obtained.

[0151] Among them, the phase of the response signal received by each receiving array element can be calculated by the following formula:

[0152] φ m = -2πc(t m4 - t1 - Δt) / λ c

[0153] Among them, φ m represents the phase of the response signal received by the mth receiving array element, and t m4 represents the second actual reception time corresponding to the mth receiving array element.

[0154] Furthermore, after obtaining the azimuth angle, the elevation angle, and the distance between the second RF transceiver device and the first RF transceiver device, the relative position of the UAV with respect to the docking station can be represented by the azimuth angle, the elevation angle, and the distance between the second RF transceiver device and the first RF transceiver device, that is, the positioning of the UAV is achieved.

[0155] Next, the positioning accuracy in the above positioning method is verified with specific data:

[0156] Assume that the roll-off factor of the pseudo-random code BPSK signal is 0.22. At this time, the equivalent bandwidth of the interrogation signal and the response signal is approximately B = 10 MHz * 1.22 ≈ 12.2 MHz. According to the principle of pseudo-random code ranging, the ranging resolution in the above ranging process can reach c / 2B ≈ 12.3 m, and the ranging accuracy can reach 12.3 cm under high signal-to-noise ratio conditions.

[0157] Assume that the measurement accuracy of the phase difference of the receiving array elements can reach 2°. Then, the measurement accuracies of the above two angles can satisfy the following relationship:

[0158]

[0159] Assume θ a , θ e values are between -45° and 45°, then there is

[0160]

[0161] It can be seen that the two-dimensional angle of the UAV relative to the docking station can reach an accuracy of about 0.45°. Thus, with the UAV positioning method of this embodiment of the present disclosure, the three-dimensional spatial position of the UAV can be accurately measured, which is convenient for subsequent precise landing guidance.

[0162] In addition, assume that the chip width of the communication code is T per ≈ 0.1 ms. Therefore, the communication rate is about 10 kbps = 1.25 kB / s. Assume that the communication protocol overhead is 20% and the single-frame data volume is 30 B (excluding the protocol header). Then, the corresponding frame rate can reach 1250 * 0.8 / 30 ≈ 33.3 fps, that is, more than 33 frames per second, which is beneficial to the real-time positioning of the UAV.

[0163] Next, in combination with Figure 5 , a complete embodiment is used to elaborate in detail on the UAV positioning method of the present disclosure, as Figure 5 shown:

[0164] The first RF transceiver device continuously transmits an electromagnetic wave interrogation signal with its own coding information and continuously captures the response signal of the second RF transceiver device in the UAV.

[0165] The second RF transceiver continuously captures the interrogation signal of the first RF transceiver in a specific docking station. If the signal is captured, that is, it is determined that the received signal is an interrogation signal, then the first Doppler frequency offset parameter and the first code phase parameter corresponding to the interrogation signal are roughly estimated, and the tracking phase is entered to accurately estimate the code phase parameter and the Doppler frequency offset of the interrogation signal;

[0166] In the tracking phase, after the second RF transceiver determines that the received signal is an interrogation signal, it accurately estimates the code phase parameter and the Doppler frequency offset of the interrogation signal, thereby obtaining the first actual reception time, and performs a delay process with a preset delay time based on the first reception time, and transmits an electromagnetic wave response signal with its own coding information, where the waveform of the response signal is orthogonal to the waveform of the interrogation signal;

[0167] After the first RF transceiver captures the response signal of the specified unmanned aerial vehicle (UAV), that is, after it determines that the received signal is a response signal, it roughly estimates the second Doppler frequency offset parameter and the second code phase parameter corresponding to the response signal, and enters the tracking process to accurately estimate the code phase parameter and the Doppler frequency offset of the response signal;

[0168] In the tracking phase, after the first RF transceiver on the ground determines that the received signal is a response signal, it accurately estimates the code phase parameter and the Doppler frequency offset of the response signal, thereby obtaining the second actual reception time.

[0169] The first RF transceiver calculates the relative distance from the UAV to the docking station based on the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, and calculates the two-dimensional angle of the UAV relative to the docking station, that is, the azimuth angle and the elevation angle, using the phase difference between different array elements of the two-dimensional receiving array, thereby realizing the three-dimensional space positioning of the UAV relative to the docking station;

[0170] The docking station uses the communication code modulated on the continuously transmitted interrogation signal to send the positioning result of the UAV to the UAV;

[0171] The UAV can autonomously achieve precise landing using this positioning result.

[0172] By adopting the above method, by setting the capture and tracking processes in the UAV positioning method, the computational load of the first RF transceiver and the second RF transceiver can be reduced. In addition, based on the Doppler frequency offset and the code phase for synchronous search, the accuracy of the determined first actual reception time and the second actual reception time can be improved, further improving the positioning accuracy. In addition, the same waveform is used for ranging and angle measurement, and the positioning efficiency is higher. In addition, both the first RF transceiver and the second RF transceiver use mutually orthogonal waveforms, so that even if multiple docking stations and multiple UAVs work simultaneously, there will be no mutual interference phenomenon.

[0173] Figure 6 is a flowchart of a positioning method for a drone shown according to an exemplary embodiment. This method can be applied to the first radio frequency transceiver device in a drone positioning system. The drone positioning system further includes a second radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. As Figure 6 shown, the positioning method for the drone may include the steps:

[0174] S610, transmit an interrogation signal.

[0175] S620, receive the signal sent by the second radio frequency transceiver device.

[0176] S630, when it is determined that the received signal is a response signal, determine the second actual reception time of the received response signal.

[0177] S640, perform positioning on the drone according to the second actual reception time, the transmission time of the interrogation signal, and a preset delay time.

[0178] Wherein, the transmission time of the response signal is determined by the second radio frequency transceiver device based on the first actual reception time and the preset delay time. The first actual reception time is the time when the second radio frequency transceiver device receives the interrogation signal from the first radio frequency transceiver device. The first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase. The second actual reception time is obtained after synchronous search based on the Doppler frequency offset and the code phase.

[0179] Wherein, the detailed description of steps S610 - S640 can refer to the foregoing embodiments and will not be elaborated here.

[0180] Figure 7 is a flowchart of a positioning method for a drone shown according to an exemplary embodiment. This method can be applied to the second radio frequency transceiver device in a drone positioning system. The drone positioning system further includes a first radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. As Figure 7 shown, the positioning method for the drone may include the steps:

[0181] S710, receive the signal sent by the second radio frequency transceiver device.

[0182] S720, when it is determined that the received signal is an interrogation signal, determine the first actual reception time of the received interrogation signal.

[0183] Among them, the first actual reception time is determined based on the search result after synchronous search according to the Doppler frequency offset and the code phase.

[0184] S730. Based on the first actual reception time and the preset delay time, determine the transmission time of the response signal, and transmit the response signal at the transmission time of the response signal.

[0185] Among them, the response signal is used for the first radio frequency transceiver device to determine the second actual reception time when the first radio frequency transceiver device receives the response signal, so as to locate the unmanned aerial vehicle. The second actual reception time is obtained after synchronous search according to the Doppler frequency offset and the code phase, and the second actual reception time is determined by the first radio frequency transceiver device in response to determining that the response signal is received.

[0186] Among them, the second actual reception time, the transmission time of the interrogation signal, and the preset delay time are used to locate the unmanned aerial vehicle.

[0187] Among them, the detailed descriptions of steps S710 - S730 can refer to the foregoing embodiments and will not be elaborated here.

[0188] Figure 8 It is a block diagram of a positioning device for an unmanned aerial vehicle shown according to an exemplary embodiment. As Figure 8 shown, the embodiments of the present disclosure provide a positioning device for an unmanned aerial vehicle. The device is applied to the first radio frequency transceiver device in an unmanned aerial vehicle positioning system. The unmanned aerial vehicle positioning system further includes a second radio frequency transceiver device, a docking station, and an unmanned aerial vehicle. One of the first radio frequency transceiver device and the second radio frequency transceiver device is arranged on the unmanned aerial vehicle, and the other is arranged on the docking station. The device 800 includes:

[0189] A first transmitting module 810, configured to transmit an interrogation signal;

[0190] A first receiving module 820, configured to receive the signal sent by the second radio frequency transceiver device;

[0191] A first determining module 830, configured to determine the second actual reception time when the received signal is determined to be a response signal;

[0192] A positioning module 840, configured to locate the unmanned aerial vehicle according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

[0193] Wherein, the transmission time of the response signal is determined by the second radio frequency transceiver device based on the first actual reception time and a preset delay time. The first actual reception time is the time when the second radio frequency transceiver device receives the interrogation signal from the first radio frequency transceiver device. The first actual reception time is determined based on the search result after synchronous search based on Doppler frequency offset and code phase. The second actual reception time is obtained after synchronous search based on Doppler frequency offset and code phase.

[0194] Figure 9 is a block diagram of a positioning device of a drone shown according to an exemplary embodiment. As Figure 9 shown, an embodiment of the present disclosure provides a positioning device for a drone. The device is applied to the second radio frequency transceiver device in a drone positioning system. The drone positioning system further includes a first radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. The device 900 includes:

[0195] A second receiving module 910, configured to receive a signal sent by the second radio frequency transceiver device;

[0196] A second determining module 920, configured to determine a first actual reception time of receiving the interrogation signal when it is determined that the received signal is an interrogation signal. The first actual reception time is determined based on the search result after synchronous search based on Doppler frequency offset and code phase;

[0197] A second transmitting module 930, configured to determine a response signal transmission time based on the first actual reception time and a preset delay time, and transmit a response signal at the response signal transmission time.

[0198] Wherein, the response signal is used for the first radio frequency transceiver device to determine a second actual reception time when the first radio frequency transceiver device receives the response signal, so as to position the drone. The second actual reception time is obtained after synchronous search based on Doppler frequency offset and code phase. The second actual reception time is determined by the first radio frequency transceiver device in response to determining that the response signal is received.

[0199] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment related to the method, and will not be elaborated here.

[0200] Figure 10 is a block diagram of an electronic device 1000 shown according to an exemplary embodiment. As Figure 10As shown, the electronic device 1000 may include: a processor 1001 and a memory 1002. The electronic device 1000 may also include one or more of a multimedia component 1003, an input / output (I / O) interface 1004, and a communication component 1005.

[0201] Among them, the processor 1001 is used to control the overall operation of the electronic device 1000 to complete all or part of the steps in the above-mentioned positioning method of the drone. The memory 1002 is used to store various types of data to support the operation of the electronic device 1000. These data may include, for example, instructions for any application or method operating on the electronic device 1000, as well as application-related data, such as graphic symbols, model data of information collection devices, and so on. The memory 1002 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The multimedia component 1003 may include a screen and an audio component. Among them, the screen may be a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 1002 or sent through the communication component 1005. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1004 provides an interface between the processor 1001 and other interface modules, and the above other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1005 is used for wired or wireless communication between the electronic device 1000 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G, etc., or a combination of one or several of them, is not limited here. Therefore, the corresponding communication component 1005 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0202] In an exemplary embodiment, the electronic device 1000 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the above-mentioned positioning method of the unmanned aerial vehicle.

[0203] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the above-mentioned positioning method of the unmanned aerial vehicle are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 1002 including program instructions, and the above-mentioned program instructions may be executed by the processor 1001 of the electronic device 1000 to complete the above-mentioned positioning method of the unmanned aerial vehicle.

[0204] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code part for executing the above-mentioned positioning method of the unmanned aerial vehicle when executed by the programmable device.

[0205] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0206] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0207] Furthermore, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A positioning method for a drone, characterized in that, Applied to a drone positioning system, the drone positioning system includes a first radio frequency transceiver device, a second radio frequency transceiver device, a docking station, and a drone. One of the first radio frequency transceiver device and the second radio frequency transceiver device is disposed on the drone, and the other is disposed on the docking station. The method includes: The first radio frequency transceiver device transmits an interrogation signal; When the second radio frequency transceiver device determines that the received signal is the interrogation signal, it determines the first actual reception time of the received interrogation signal, where the first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase; The second radio frequency transceiver device determines the response signal transmission time based on the first actual reception time and a preset delay time, and transmits a response signal at the response signal transmission time; When the first radio frequency transceiver device determines that the received signal is the response signal, it determines the second actual reception time of the received response signal, where the second actual reception time is obtained based on the synchronous search based on the Doppler frequency offset and the code phase; The drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

2. The method according to claim 1, wherein Both the interrogation signal and the response signal are orthogonal waveforms. The orthogonal waveform corresponding to the interrogation signal includes an identity code chip combination for encoding first identity information. The orthogonal waveform corresponding to the response signal includes an identity code chip combination for encoding second identity information. The first identity information is the identity information of the device where the first radio frequency transceiver device is located, and the second identity information is the identity information of the device where the second radio frequency transceiver device is located.

3. The method according to claim 2, wherein The first radio frequency transceiver device is disposed on the docking station, and the second radio frequency transceiver device is disposed on the drone. The orthogonal waveform corresponding to the interrogation signal further includes a communication code chip combination for encoding communication information sent by the docking station, and each communication code chip is modulated with the identity code chip combination.

4. The method according to claim 1, characterized in that The drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, including: The drone positioning system determines the distance of the second radio frequency transceiver device relative to the first radio frequency transceiver device according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

5. The method according to claim 4, characterized in that, The distance is determined according to the following method: Where, t4 represents the second actual reception time, t1 represents the transmission time of the interrogation signal, Δt represents the preset delay time, c represents the speed of light, and R(t) represents the distance at time t.

6. The method according to claim 5, wherein The first radio frequency transceiver device includes a plurality of receiving array elements, and each receiving array element corresponds to the second actual reception time respectively. The drone positioning system locates the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time, including: The drone positioning system determines the phases of the response signals received by the respective receiving array elements based on the respective second actual reception times corresponding to the respective receiving array elements, the transmission time of the interrogation signal, and the preset delay time. The drone positioning system determines the azimuth angle and elevation angle of the second RF transceiver device relative to the first RF transceiver device based on the phases of the response signals received by the respective receiving array elements.

7. The method according to claim 6, wherein The phases of the response signals received by the respective receiving array elements are determined according to the following method: φ m = -2πc(t m4 - t1 - Δt) / λ c where φ m represents the phase of the response signal received by the m-th receiving array element, t m4 represents the second actual reception time corresponding to the m-th receiving array element, λ c represents the carrier wavelength corresponding to the interrogation signal.

8. The method according to claim 7, wherein The first radio frequency transceiver device includes 4 of the receiving array elements, and the receiving array elements are arranged at intervals to form a square array with a side length of λ c / 2. The azimuth angle and the elevation angle are determined according to the following method: Among them, φ1, φ2, φ3, φ4 represent the signal phases received by each of the receiving array elements, and θ a represents the azimuth angle, and θ e represents the elevation angle.

9. A positioning method for an unmanned aerial vehicle, characterized in that, A first RF transceiver device applied to a drone positioning system, the drone positioning system further including a second RF transceiver device, a docking station, and a drone, one of the first RF transceiver device and the second RF transceiver device is disposed on the drone, and the other is disposed on the docking station. The method includes: Transmitting an interrogation signal; Receiving the signal sent by the second RF transceiver device; When it is determined that the received signal is a response signal, determining the second actual reception time of receiving the response signal; Wherein, the transmission time of the response signal is determined by the second RF transceiver device based on the first actual reception time and the preset delay time. The first actual reception time is the time when the second RF transceiver device receives the interrogation signal from the first RF transceiver device. The first actual reception time is determined based on the search result after synchronous search based on the Doppler frequency offset and the code phase. The second actual reception time is obtained after synchronous search based on the Doppler frequency offset and the code phase. Position the drone according to the second actual reception time, the transmission time of the interrogation signal, and the preset delay time.

10. An electronic device, characterized in that, Including: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the positioning method of the drone according to any one of claims 1-9.

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