Air-ground synchronous positioning method and system

Abstract

The invention provides an air-ground synchronous positioning method and system, and the method comprises the following steps: waking up a positioning device worn by each livestock at preset time intervals, and enabling the positioning devices to sleep later; the base station generates livestock UWB position information according to the received UWB information; when the activity intensity of any livestock is greater than a first threshold value and the position information exceeds the pasture boundary, waking up the positioning device; the positioning device sends LoRa information and UWB information to a plurality of base stations to generate livestock LoRa position information and livestock UWB position information; and performing weighting calculation on the livestock GPS position information, the livestock LoRa position information and the livestock UWB position information to obtain the actual position information of the livestock. The centimeter-level positioning precision is achieved in the complex terrain through the multimode positioning technology, the system is excellent in performance in the complex terrain, and the positioning precision is not affected by the terrain and shielding.

Description

Technical Field

[0001] The present invention relates to the field of animal husbandry, and in particular to a method and system for synchronous positioning of air and ground. Background Art

[0002] Currently, positioning systems and methods for large grazing animals such as livestock have technical problems of low positioning accuracy and high power consumption in large-area, open or hilly terrains.

[0003] Specifically, traditional GPS positioning systems perform well in open areas or simple terrains. However, in remote and complex hilly terrains or forest areas, due to signal occlusion, the positioning accuracy drops significantly, unable to meet the precise positioning requirements of pasture management. Especially when the herd is dispersed, it is difficult to accurately locate the position of each animal. Currently, positioning devices based on GPS and cellular networks usually have high power consumption and short battery life, requiring frequent charging or battery replacement. However, frequent battery maintenance in remote grazing areas is a very difficult and unrealistic task. Especially when the number of livestock is large, the power maintenance cost of the equipment increases significantly. Summary of the Invention

[0004] The present invention provides a method and system for synchronous positioning of air and ground to solve the technical problems of low positioning accuracy and high power consumption in the monitoring system for livestock herds in the prior art.

[0005] In a first aspect of the present invention, a method for synchronous positioning of air and ground is provided, including the following steps: waking up the positioning device worn by each livestock at preset time intervals, and putting the positioning device to sleep after the positioning device sends the GPS position information and UWB information of the livestock; obtaining the activity intensity of each livestock and generating the UWB position information of the livestock according to the received UWB information; waking up the positioning device worn by the target livestock when the activity intensity of any livestock is greater than the first threshold, the GPS position information of the livestock exceeds the pasture boundary, or the UWB position information of the livestock exceeds the pasture boundary; the positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations to generate the LoRa position information and UWB position information of the livestock; Assign weights to the GPS position information, LoRa position information, and UWB position information of the livestock, and calculate to obtain the actual position information of the livestock.

[0006] In a further embodiment of the present invention, the LoRa information and UWB information sent by the positioning device worn by the target livestock to multiple base stations to generate livestock LoRa location information and livestock UWB location information include the following steps: the positioning device worn by the target livestock sends LoRa information and UWB information to any base station on the drone; the corresponding base station on the drone generates LoRa distance information and UWB distance information relative to the positioning device worn by the target livestock based on the received LoRa information and UWB information; obtains the GPS location information of the base station; generates livestock LoRa location information and livestock UWB location information based on the LoRa distance information, UWB distance information of the drone relative to the positioning device worn by the target livestock and the GPS location information of the base station.

[0007] In a further embodiment of the present invention, the following steps are also included: controlling the drone to fly along a spiral line, and determining the regular boundary of a livestock herd according to the extreme positions in the actual position information of multiple livestock; gridding the regular boundary area of ​​the livestock herd, and controlling the drone to fly within each regular boundary area grid of the herd; adjusting the regular boundary of the livestock herd according to the LoRa distance information and UWB distance information received by the drone to obtain the livestock herd boundary; generating a drone cruising route according to the livestock herd boundary, and controlling the drone to fly along the drone cruising route.

[0008] In a further embodiment of the present invention, the method of controlling the drone to fly within each herd regular boundary area grid includes: setting anchor points at both ends of the grid boundary, generating parallel line segment paths according to the anchor point positions, the path sequence is a return scanning method, and controlling the drone to fly along the parallel line segment path from any anchor point.

[0009] In a further embodiment of the present invention, the following steps are also included: when the actual position information of any livestock exceeds the regular boundary of the livestock herd, the UAV cruise route is adjusted according to the corresponding actual position information of the livestock; when the actual position information of any livestock exceeds the pasture boundary, an alarm message is issued.

[0010] In a further embodiment of the present invention, the LoRa information and UWB information sent by the positioning device worn by the target livestock to multiple base stations to generate livestock LoRa location information and livestock UWB location information include: the LoRa information and UWB information sent by the positioning device worn by the target livestock to multiple base stations; noise reduction processing of the received LoRa information and UWB information; processing the noise-reduced LoRa information and UWB information to generate livestock LoRa location information and livestock UWB location information.

[0011] In a further aspect of the present invention, the processing of the noise-reduced LoRa information and UWB information to generate livestock LoRa position information and livestock UWB position information includes: determining the LoRa distance between the base station and the positioning device worn by the target livestock according to the time of receiving the information and the signal strength; determining the UWB distance between the base station and the positioning device worn by the target livestock according to the time and angle of receiving the UWB information; generating livestock LoRa position information and livestock UWB position information according to the LoRa distance, UWB distance and the position information of the current base station.

[0012] In a further aspect of the present invention, the weighting of the livestock GPS position information, livestock LoRa position information and livestock UWB position information includes: weighting the livestock GPS position information, livestock LoRa position information and livestock UWB position information according to the occlusion degree and GPS signal strength; wherein, the occlusion degree and the weight of the livestock GPS position information are in an inverse proportional relationship, and the GPS signal strength and the weight of the livestock GPS position information are in a direct proportional relationship.

[0013] A second aspect of the present invention provides an air-ground synchronous positioning system, including a base station and a plurality of positioning devices, each positioning device being configured to be worn on any livestock, wherein the positioning device includes: a LoRa transmitting module configured to send LoRa information to a plurality of base stations; a UWB transmitting module configured to send UWB information to a plurality of base stations; a livestock GPS module configured to obtain livestock GPS position information; the base station includes: a LoRa receiving module configured to generate LoRa position information according to the LoRa information; a UWB receiving module configured to generate UWB position information according to the UWB information; a base station GPS module configured to obtain base station GPS position information; and a processing unit configured to wake up each positioning device worn by the livestock at preset time intervals, and put the positioning device into sleep after the positioning device sends the livestock GPS position information and UWB information; wake up the positioning device worn by the target livestock when the activity intensity of any livestock is greater than the first threshold, the livestock GPS position information exceeds the pasture boundary or the livestock UWB position information exceeds the pasture boundary; weight the livestock GPS position information, livestock LoRa position information and livestock UWB position information, and calculate to obtain the actual position information of the livestock.

[0014] In a further aspect of the present invention, a drone is further included, and the base station is arranged on the drone; the positioning device further includes an acceleration sensor, and the processing unit is further configured to generate the activity intensity of the current livestock according to the acceleration obtained by the acceleration sensor.

[0015] The air-ground synchronous positioning method and system provided by the present invention use multi-mode positioning technology: combined positioning of GPS position information, UWB position information, and LoRa position information to achieve centimeter-level positioning accuracy in complex terrain (such as hills and forests), wherein GPS position information provides wide-area coarse positioning information. UWB location information provides centimeter-level accurate positioning in close-range scenarios, and LoRa location information enables long-distance communication to ensure the stability of data transmission. The positioning device wakes up once every preset time period and immediately enters a dormant state after collecting data, significantly reducing power consumption. The positioning device is only woken up when an abnormality is detected (such as excessive activity intensity or location beyond the boundary), further reducing energy consumption. Through the combination of UWB and LoRa technology, the system performs well in complex terrains such as hills and forests, and the positioning accuracy is not affected by terrain and occlusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of the steps of an air-to-ground synchronous positioning method provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the above and other features and advantages of the present invention more clear, the present invention is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0021] In the present invention, unless otherwise clearly specified and defined, terms such as "installed", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0023] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0024] It should be noted that the principles and functions of the GPS positioning, LoRa positioning, and UWB positioning mentioned in this application are as follows: 1. GPS positioning: The Global Positioning System (GPS) calculates the geographical coordinates of a device by receiving signals from multiple satellites and using the principle of triangulation. The positioning device communicates with at least 4 satellites through a built-in GPS receiver; subsequently, the time differences provided by the satellite signals and the distances from the device to the satellites are used to calculate the current position; subsequently, the longitude and latitude coordinates of the device are output.

[0025] 2. LoRa positioning: Utilizes the signal strength (RSSI) and time difference measurement (ToA / TOF) of the Low-Power Wide-Area Communication Protocol (LoRa) to calculate the position of livestock through multiple base stations. The LoRa device sends signals to nearby base stations; after the base stations receive the signals, they calculate the distance from the device to the base stations based on RSSI (signal strength) and ToA (time of arrival); using the measurement data of at least 3 base stations, the position of the livestock is determined by triangulation.

[0026] 3. UWB positioning: Ultra-Wideband (UWB) technology achieves centimeter-level high-precision positioning by transmitting ultra-short pulse signals and measuring the time of flight (ToF) and angle of the signals. The worn UWB device periodically sends pulse signals; the UWB receiving devices on the base stations arranged in the target area receive the signals and record the time of flight (ToF) and angle of arrival (AoA) of the signals; the base stations cooperate to calculate the precise position of the livestock.

[0027] Please refer to Figure 1 , the first aspect of the present invention provides a method for air-ground synchronous positioning, including the following steps: S100: Wake up the positioning device worn by each livestock at preset time intervals, and make the positioning device go to sleep after the positioning device sends the GPS position information and UWB information of the livestock; When the livestock is stationary for a long time (such as during sleep or rest), the device enters the deep sleep mode: the MCU wakes up regularly (such as every 10 minutes) to collect environmental data; if the motion state is still stationary, it enters the sleep state again, thereby effectively reducing power consumption.

[0028] S200: Obtain the activity intensity of each livestock and generate livestock UWB position information based on the received UWB information; There is a UWB receiving module on the base station. According to the time of flight (ToF) and angle of arrival (AoA) of the UWB information received by the UWB receiving module, the livestock UWB position information can be generated.

[0029] S300: When the activity intensity of any livestock is greater than the first threshold, the GPS position information of the livestock exceeds the pasture boundary, or the UWB position information of the livestock exceeds the pasture boundary, wake up the positioning device worn by the target livestock; Among them, the calculation of the activity intensity is based on the data collection of sensors: by installing a low-power accelerometer (such as Bosch BMA400) and a gyroscope in the positioning device, it is used to monitor the movement state of livestock in real time (such as moving, stationary, running). The positioning device worn by the target livestock refers to the livestock with an activity intensity greater than the first threshold, the livestock GPS position information exceeding the pasture boundary, or the livestock UWB position information exceeding the pasture boundary.

[0030] The movement intensity of livestock can be obtained by combining the movement state of livestock with environmental impacts and historical data. Among them, by using a temperature and humidity sensor in combination with weather conditions, environmental factors that may affect livestock activities are judged (such as reduced activities caused by hot or cold weather). By analyzing historical behavior data (such as the peak and trough times of daily activities) and combining the current time period, the change trend of the activity volume of livestock is predicted.

[0031] S400: The positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations to generate livestock LoRa position information and livestock UWB position information; Specifically, step S400 can be completed by the following steps: The positioning device worn by the target livestock sends LoRa information and UWB information to any base station on the drone; The corresponding base station on the drone generates LoRa distance information and UWB distance information relative to the positioning device worn by the target livestock according to the received LoRa information and UWB information; Obtain the GPS position information of the base station; Generate livestock LoRa position information and livestock UWB position information according to the LoRa distance information, UWB distance information of the drone relative to the positioning device worn by the target livestock, and the GPS position information of the base station.

[0032] It should be noted that after the preliminary positioning of livestock is completed, it is necessary to continue to use the drone to monitor the livestock. In this process, the cruise route of the drone is generated by the following scheme: Control the drone to fly along a spiral line, and determine the regular boundary of the livestock group according to the extreme positions in the actual position information of multiple livestock; grid the regular boundary area of the livestock group, and control the drone to fly within each grid of the regular boundary area of the herd; adjust the regular boundary of the livestock group according to the LoRa distance information and UWB distance information received by the drone to obtain the boundary of the livestock group; generate the drone cruise route according to the boundary of the livestock group, and control the drone to fly along the drone cruise route.

[0033] Among them, controlling the drone to fly within each grid of the herd rule boundary area is achieved through the following scheme: Anchor points are set at both ends of the grid boundary, and parallel line segment paths are generated based on the positions of the anchor points. The path order is a back-and-forth scanning method, and the drone is controlled to fly along the parallel line segment path from any anchor point. Within the preliminarily delimited pastoral area boundary, the drone conducts precise cruising; combining the camera and sensor data carried by the drone, the boundary range is dynamically adjusted, and the boundary coordinate information is refined.

[0034] Specifically, with the preset center of the spiral flight as the starting point, the drone gradually expands outward along the spiral path to cover the pastoral area; the shortest coverage path is generated through an algorithm to avoid repeated coverage, reduce flight energy consumption and improve efficiency. The path is generated using the polar coordinate formula. The drone generates arc path points by continuously increasing values, gradually forming a complete spiral coverage area. The polar coordinate formula is as follows:

[0035] : The radius of the path; : The rotation angle; : The starting distance of the spiral; : The expansion distance of the spiral.

[0036] The herd rule boundary area is divided into regular grid cells, and the grid width and height are determined by the flight height and the sensor's field of view (such as the coverage width of the camera and the detection radius of the lidar). Path points are generated for each grid cell.

[0037] During the drone's cruising process, when the actual position information of any livestock exceeds the livestock herd rule boundary, the drone's cruising route is adjusted according to the actual position information of the corresponding livestock; when the actual position information of any livestock exceeds the pasture boundary, an alarm message is sent.

[0038] Specifically, the drone dynamically adjusts the flight path through the boundary data collected in real time; when a boundary change such as an expansion or contraction of the livestock activity range is detected, the system automatically generates a new cruising route to quickly complete the update of the boundary information and supplementary cruising.

[0039] The boundary change is realized by the drone carrying a camera to monitor the pastoral area boundary in real time. Image processing algorithms (such as YOLO) are used to analyze the changed area. When the boundary exceeds the set range (such as livestock exceeding the activity area), a supplementary task is triggered, that is, the drone's cruising route is adjusted.

[0040] The real-time path planning is completed using the following algorithm:

[0041] The adjusted drone cruising route; : Current path length; : Estimated path length to reach the target boundary, starting point: the current position of the drone; target point: the newly detected boundary or the uncovered area.

[0042] Specifically, after the drone adjusts the livestock herd's regular boundary based on the LoRa distance information and UWB distance information it receives, it will determine the distance of the current livestock relative to the center of the livestock herd's regular boundary according to the LoRa distance information and UWB distance information. When this distance is less than the current livestock herd's regular boundary, it will control the livestock herd's regular boundary to shrink inward towards its center, thereby effectively reducing the length of the drone's cruise route.

[0043] In a further embodiment of the present invention, the positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations; the received LoRa information and UWB information are subjected to noise reduction processing; the noise-reduced LoRa information and UWB information are processed to generate livestock LoRa position information and livestock UWB position information. When performing noise reduction, the Kalman Filter is used to filter out noise to improve the accuracy of position estimation.

[0044] S500: Assign weights to the livestock GPS position information, livestock LoRa position information, and livestock UWB position information, and calculate to obtain the actual livestock position information.

[0045] Specifically, step S500 can be completed by the following steps: Assign weights to the livestock GPS position information, livestock LoRa position information, and livestock UWB position information according to the occlusion degree and GPS signal strength; among them, the occlusion degree and the weight of the livestock GPS position information are in an inverse proportional relationship, and the GPS signal strength and the weight of the livestock GPS position information are in a direct proportional relationship.

[0046] In summary, the air-ground synchronous positioning method provided by the present invention uses multi-mode positioning technology: through combined positioning of GPS position information, UWB position information, and LoRa position information, centimeter-level positioning accuracy is achieved in complex terrains (such as hills and forest areas), where the GPS position information provides wide-area rough positioning information, The UWB position information provides centimeter-level precise positioning in short-distance scenarios, and the LoRa position information enables long-distance communication to ensure the stability of data transmission. The positioning device wakes up once every preset time period, immediately enters the sleep state after collecting data, significantly reducing power consumption. The positioning device is only woken up when an anomaly is detected (such as excessive activity intensity or position exceeding the boundary), further reducing energy consumption. Through the combination of UWB and LoRa technologies, the system performs excellently in complex terrains such as hills and forest areas, and the positioning accuracy is not affected by terrain and occlusion.

[0047] In a second aspect of the present invention, a ground-air synchronization positioning system is provided, including a base station and a plurality of positioning devices, each positioning device being configured to be worn on any livestock. The positioning device includes: a LoRa transmission module configured to send LoRa information to a plurality of base stations; a UWB transmission module configured to send UWB information to a plurality of base stations; a livestock GPS module configured to obtain livestock GPS position information; the base station includes: a LoRa reception module configured to generate LoRa position information according to the LoRa information; a UWB reception module configured to generate UWB position information according to the UWB information; a base station GPS module configured to obtain base station GPS position information; and a processing unit configured to wake up each positioning device worn by livestock at preset time intervals, and make the positioning device go into sleep after the positioning device sends the livestock GPS position information and the UWB information; wake up the positioning device worn by the target livestock when the activity intensity of any livestock is greater than a first threshold, the livestock GPS position information exceeds the pasture boundary or the livestock UWB position information exceeds the pasture boundary; weight the livestock GPS position information, the livestock LoRa position information and the livestock UWB position information, and calculate and obtain the actual position information of the livestock.

[0048] In a further embodiment of the present invention, a drone is further included, and the base station is arranged on the drone; the positioning device further includes an acceleration sensor, and the processing unit is further configured to generate the activity intensity of the current livestock according to the acceleration obtained by the acceleration sensor.

[0049] In a further embodiment, the system dynamically switches the main positioning method according to the operating state of the positioning device and environmental conditions: when the GPS signal strength is weak, it automatically switches to the LoRa+UWB mode; when the base station signal is weak, the drone transmits data through LoRa relay. In the dense livestock group area, multiple devices share position information through the LoRa network to form a collaborative positioning network. The positioning result is uploaded to the ground station through LoRa or 4G to form a real-time pasture heat map; by combining historical data analysis of livestock movement trajectories, the pasture management is optimized.

[0050] Furthermore, the accelerometer periodically detects the movement data of the livestock (such as acceleration change and direction change). If the movement acceleration exceeds a preset threshold (such as 0.5 m / s²), a movement interruption signal is generated; the threshold can be dynamically adjusted according to the activity characteristics of the livestock to avoid meaningless frequent wake-up. The interruption signal is used to wake up the system and activate the positioning function.

[0051] Furthermore, the positioning device can be integrated with a solar panel or provided with a long-endurance battery to ensure that the positioning device can work in remote areas for a long time and reduce the need for frequent battery replacement. The application of solar energy helps the device to operate continuously in the wild environment and significantly reduces the operation and maintenance cost.

[0052] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for synchronous positioning between air and ground, characterized in that: The following steps are involved: The positioning device worn by each livestock is awakened at a preset time interval, and the positioning device is put into sleep mode after the positioning device sends the livestock GPS location information and UWB information; Obtain the activity intensity of each livestock and generate livestock UWB location information based on the received UWB information; When the activity intensity of any livestock is greater than a first threshold, the livestock GPS location information exceeds the pasture boundary, or the livestock UWB location information exceeds the pasture boundary, the positioning device worn by the target livestock is awakened; The positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations to generate livestock LoRa location information and livestock UWB location information; The livestock GPS location information, livestock LoRa location information and livestock UWB location information are weighted, and the actual location information of the livestock is calculated.

2. The method according to claim 1, wherein The positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations to generate livestock LoRa location information and livestock UWB location information, including the following steps: The positioning device worn by the target livestock sends LoRa information and UWB information to any base station on the drone; The corresponding base station on the drone generates LoRa distance information and UWB distance information relative to the positioning device worn by the target livestock based on the received LoRa information and UWB information; Get the GPS location information of the base station; The livestock LoRa location information and the livestock UWB location information are generated based on the LoRa distance information and UWB distance information of the drone relative to the positioning device worn by the target livestock and the GPS location information of the base station.

3. The method according to claim 2, characterized in that The following steps are also included: Control the drone to fly along a spiral line and determine the regular boundary of the livestock group according to the extreme positions in the actual position information of multiple livestock; Grid the livestock herd rule boundary area and control the drone to fly within each herd rule boundary area grid; Adjust the livestock herd rule boundary according to the LoRa distance information and UWB distance information received by the drone to obtain the livestock herd boundary; Generate a drone cruising route according to the livestock herd boundary, and control the drone to fly along the drone cruising route.

4. The method according to claim 3, characterized in that, The controlling of the UAV to fly within each herd rule boundary area grid comprises: Anchor points are set at both ends of the grid boundary, and parallel line segment paths are generated according to the anchor point positions. The path sequence is a return scanning method, and the drone is controlled to fly along the parallel line segment path from any anchor point.

5. The method of the livestock herd monitoring system according to claim 3, characterized in that, The following steps are also included: When the actual location information of any livestock exceeds the rule boundary of the livestock group, the drone cruise route is adjusted according to the actual location information of the corresponding livestock; When the actual location of any livestock exceeds the pasture boundary, an alarm message will be issued.

6. The method according to claim 2, wherein The LoRa information and UWB information sent by the positioning device worn by the target livestock to multiple base stations to generate livestock LoRa location information and livestock UWB location information include: The positioning device worn by the target livestock sends LoRa information and UWB information to multiple base stations; Perform noise reduction on the received LoRa information and UWB information; Process the LoRa information and UWB information after noise reduction to generate livestock LoRa position information and livestock UWB position information.

7. The method according to claim 6, wherein The processing of the LoRa information and UWB information after noise reduction to generate livestock LoRa position information and livestock UWB position information includes: Determine the LoRa distance between the base station and the positioning device worn by the target livestock according to the time and signal strength of the received information. Determine the UWB distance between the base station and the positioning device worn by the target livestock according to the time and angle of the received UWB information. Generate livestock LoRa position information and livestock UWB position information according to the LoRa distance, UWB distance, and the position information of the current base station.

8. The method according to claim 1, characterized in that The weighting of the livestock GPS position information, livestock LoRa position information, and livestock UWB position information includes: Weight the livestock GPS position information, livestock LoRa position information, and livestock UWB position information according to the occlusion degree and GPS signal strength. Among them, the occlusion degree and the weight of the livestock GPS position information are in an inverse proportional relationship, and the GPS signal strength and the weight of the livestock GPS position information are in a direct proportional relationship.

9. An air-ground synchronization positioning system, characterized in that, It includes a base station and multiple positioning devices, each of which is used to be worn on any livestock, and the positioning device includes: A LoRa transmitting module configured to send LoRa information to multiple base stations. A UWB transmitting module configured to send UWB information to multiple base stations. A livestock GPS module configured to obtain livestock GPS position information. The base station includes: A LoRa receiving module configured to generate LoRa position information according to the LoRa information. A UWB receiving module configured to generate UWB position information according to the UWB information. A base station GPS module configured to obtain the base station GPS position information; and A processing unit configured to wake up each positioning device worn by livestock at preset time intervals, and put the positioning device into sleep when the positioning device sends the livestock GPS position information and UWB information. When the activity intensity of any livestock is greater than the first threshold, the livestock GPS position information exceeds the pasture boundary, or the livestock UWB position information exceeds the pasture boundary, wake up the positioning device worn by the target livestock. Weight the livestock GPS position information, livestock LoRa position information, and livestock UWB position information, and calculate to obtain the actual position information of the livestock.

10. The air-ground synchronous positioning system according to claim 9, characterized in that: It further includes a drone, and the base station is arranged on the drone. The positioning device further includes an acceleration sensor, and the processing unit is further configured to generate the activity intensity of the current livestock according to the acceleration obtained by the acceleration sensor.

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