Unmanned aerial vehicle navigation system and method

Abstract

The invention provides an unmanned aerial vehicle navigation system and method, and relates to the technical field of unmanned aerial vehicle navigation.The method comprises the steps that in the flight process of an unmanned aerial vehicle, a satellite positioning device, an auxiliary positioning device and an environment collection device are controlled to synchronously execute collection actions, recording an acquisition moment corresponding to each execution of the acquisition action, first position information actually acquired by the satellite positioning device, second position information acquired by the auxiliary positioning device and flight environment data acquired by the environment acquisition device in real time; in the flight process of the unmanned aerial vehicle, first position information is obtained for navigation when an external satellite signal is normally received; when external satellite signals cannot be normally received, according to the first position information, the second position information and the flight environment data which are actually collected in history and the second position information and the flight environment data which are collected in real time, the first position information which should be collected by the corresponding satellite positioning is predicted for navigation. The method has the beneficial effect that accurate navigation service can still be provided for the unmanned aerial vehicle when satellite signals are lost.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) navigation, and particularly to a UAV navigation system and method. Background Art

[0002] Due to the advantages of small size and low cost of UAVs, and with the rapid development of flight control technology, communication technology and electronic technology, the performance of UAVs is continuously enhanced and the types are constantly increasing, resulting in an increasing demand for their applications in military and civilian fields.

[0003] The navigation system is crucial for UAVs. However, due to the limitations of volume, weight and cost of the navigation system applied to small UAVs, the performance of sensors is very limited. Therefore, a combination of inertial navigation and GPS navigation is generally used for navigation. However, the above navigation method is highly dependent on satellite navigation. When the satellite navigation signal is interrupted, only pure inertial navigation can be performed through on-board inertial navigation equipment. However, the existing pure inertial navigation has large cumulative errors and cannot provide high-quality navigation for UAVs. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention provides a UAV navigation system, including:

[0005] A UAV, on which a satellite positioning device, an auxiliary positioning device and an environment acquisition device are installed;

[0006] A flight controller, integrated inside the UAV, and the flight controller includes:

[0007] An acquisition control module, connected to a storage module, for controlling the satellite positioning device, the auxiliary positioning device and the environment acquisition device to synchronously perform acquisition actions during the flight of the UAV, and for recording in real time the acquisition time corresponding to each execution of the acquisition action, the first position information actually acquired by the satellite positioning device, the second position information acquired by the auxiliary positioning device, and the flight environment data acquired by the environment acquisition device, and saving them to the storage module;

[0008] A first navigation module, connected to the storage module, for performing navigation by acquiring the first position information during the flight of the UAV when the satellite positioning device normally receives external satellite signals;

[0009] The second navigation module, connected to the storage module, is configured to, during the flight of the drone, when the satellite positioning device fails to normally receive external satellite signals, based on all the actually collected first position information, second position information, and flight environment data corresponding to the collection times before the current time, as well as the second position information and flight environment data corresponding to each execution of the collection action after the current time, predict the first position information that should be collected by the satellite positioning, and perform navigation based on the predicted first position information.

[0010] Preferably, the second navigation module includes:

[0011] A first extraction unit, configured to, during the flight of the drone, when the satellite positioning device fails to normally receive external satellite signals, extract from the storage module all the actually collected first position information, second position information, and flight environment data corresponding to the collection times before the current time and add them to a first set;

[0012] A second extraction unit, connected to the first extraction unit, is configured to extract from the first set the collection times, first position information, and second position information associated with the flight environment data that match the flight environment data corresponding to each execution of the collection action after the current time and add them to a second set;

[0013] A third extraction unit, connected to the second extraction unit, is configured to extract the corresponding first position information from the second set in the order of the collection times to form a satellite navigation position sequence, and extract the corresponding second position information to form an auxiliary navigation position sequence;

[0014] A position prediction unit, connected to the third extraction unit, is configured to predict the first position information that should be collected at the current time based on the satellite navigation position sequence, the auxiliary navigation position sequence, and the second position information collected at the current time.

[0015] Preferably, the position prediction unit includes:

[0016] A construction subunit, configured to consider the second position information in the satellite navigation position sequence as the first position information corresponding to the auxiliary navigation position sequence and introduce random noise to generate a noise model;

[0017] A prediction subunit, connected to the construction subunit, is configured to predict the first position information that should be collected at the current time based on the noise model and the second position information collected at the current time, and using an adaptive filtering algorithm.

[0018] Preferably, the expression of the noise model is as follows:

[0019] d2 = d1 + (e2 - e1)

[0020] Wherein, d2 is used to represent the second position information in the satellite navigation position sequence; d1 is used to represent the corresponding first position information in the auxiliary navigation sequence; e1 is used to represent the first random noise introduced by the corresponding first position information in the auxiliary navigation position sequence relative to an ideal signal; e2 is used to represent the second random noise introduced by the second position information in the satellite navigation position sequence relative to the ideal signal.

[0021] Preferably, the position prediction unit further includes a normalization subunit, connected to the construction subunit, for respectively performing normalization processing on each of the second position information in the satellite navigation position sequence and the corresponding first position information in the auxiliary navigation position sequence;

[0022] Then the construction subunit constructs the noise model according to each of the second position information and the corresponding first position information after normalization processing.

[0023] Preferably, the second navigation module is further connected to the first navigation module, and the second navigation module further includes a recovery monitoring unit, configured to generate a navigation recovery signal when it is monitored that the satellite positioning device changes from being unable to receive external satellite signals normally to receiving external satellite signals normally and lasting for a preset period;

[0024] Then the first navigation module is further configured to obtain the first position information according to the navigation recovery signal for navigation.

[0025] Preferably, the second navigation module further includes a period storage unit, connected to the recovery monitoring unit, for storing a pre-configured monitoring period;

[0026] Then the recovery monitoring unit calls the monitoring period to continuously monitor the signal transceiver state of the satellite positioning device periodically, so as to generate the navigation recovery signal when the signal transceiver state indicates that the satellite positioning device changes from being unable to receive external satellite signals normally to receiving external satellite signals normally and lasting for the preset period.

[0027] Preferably, the auxiliary navigation device is an inertial navigation sensor and / or a vision sensor.

[0028] The present invention further provides a drone navigation method, applying the above drone navigation system, and the drone navigation method includes:

[0029] Step S1, during the flight of the drone, the drone navigation system controls the satellite positioning device, the auxiliary positioning device, and the environment collection device loaded on the drone to perform collection actions synchronously, and records in real time the collection time corresponding to each execution of the collection action, the first position information actually collected by the satellite positioning device, the second position information collected by the auxiliary positioning device, and the flight environment data collected by the environment collection device and saves them;

[0030] Step S2, during the flight of the drone, the drone navigation system monitors whether the satellite positioning device can normally receive external satellite signals;

[0031] If so, proceed to Step S3;

[0032] If not, proceed to Step S4;

[0033] Step S3, the drone navigation system obtains the first position information for navigation, and then returns to Step S2;

[0034] Step S4, the drone navigation system predicts the first position information that the satellite positioning should collect according to all the first position information, the second position information, and the flight environment data actually collected at the collection times corresponding to before the current time, and the second position information and the flight environment data corresponding to each execution of the collection action at and after the current time, and performs navigation according to the predicted first position information, and then returns to Step S2.

[0035] Preferably, Step S4 includes:

[0036] Step S41, the drone navigation system extracts all the first position information, the second position information, and the flight environment data actually collected at the collection times corresponding to before the current time and adds them to a first set;

[0037] Step S42, the drone navigation system extracts the collection times, the first position information, and the second position information associated with the flight environment data that match the flight environment data corresponding to each execution of the collection action at and after the current time from the first set and adds them to a second set;

[0038] Step S43, the drone navigation system extracts the corresponding first position information from the second set in the order of the collection times to form a satellite navigation position sequence, and extracts the corresponding second position information to form an auxiliary navigation position sequence;

[0039] Step S44: The UAV navigation system predicts the first position information that should be collected at the current moment based on the satellite navigation position sequence, the assisted navigation position sequence, and the second position information collected at the current moment.

[0040] The above technical solution has the following advantages or beneficial effects:

[0041] 1) It can still provide precise navigation services for the UAV when the UAV loses satellite signals, especially suitable for navigation scenarios when performing flight tasks in long-distance and intermittent satellite signal environments;

[0042] 2) When the UAV loses satellite signals, based on the historical satellite navigation results and the synchronized historical assisted navigation results, and comprehensively considering the influence of environmental factors to predict the satellite navigation results, effectively solving the cumulative error problem caused by directly using the assisted navigation device for navigation and improving the navigation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic structural diagram of a UAV navigation system in a preferred embodiment of the present invention;

[0044] Figure 2 It is a schematic flowchart of a UAV navigation method in a preferred embodiment of the present invention;

[0045] Figure 3 It is a schematic sub-flowchart of step S4 in a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments can also belong to the scope of the present invention as long as they conform to the gist of the present invention.

[0047] In a preferred embodiment of the present invention, in view of the above problems existing in the prior art, a UAV navigation system is provided, as Figure 1 shown, including:

[0048] A UAV 1, on which a satellite positioning device 2, an assisted positioning device 3, and an environment acquisition device 4 are installed;

[0049] A flight controller 5, integrated inside the UAV 1, and the flight controller 5 includes:

[0050] The acquisition control module 51 is connected to a storage module 52 and is used to control the satellite positioning device, the auxiliary positioning device, and the environment acquisition device to synchronously perform acquisition actions during the flight of the unmanned aerial vehicle (UAV), record in real time the acquisition time corresponding to each execution of the acquisition action, the first position information actually acquired by the satellite positioning device, the second position information acquired by the auxiliary positioning device, and the flight environment data acquired by the environment acquisition device, and save them to the storage module 52.

[0051] The first navigation module 53 is connected to the storage module 52 and is used to obtain the first position information for navigation during the flight of the UAV when the satellite positioning device normally receives external satellite signals.

[0052] The second navigation module 54 is connected to the storage module 52 and is used to predict the first position information that should be acquired by the satellite positioning corresponding to the current moment according to all the acquisition times corresponding to the actually acquired first position information, second position information, and flight environment data before the current moment, as well as the second position information and flight environment data corresponding to each execution of the acquisition action after the current moment during the flight of the UAV when the satellite positioning device cannot normally receive external satellite signals, and perform navigation according to the predicted first position information.

[0053] Specifically, in this embodiment, the above-mentioned environment acquisition device 4 includes but is not limited to a wind direction and wind force acquisition device to collect real-time wind direction and real-time wind force as flight environment data during the flight of the UAV. The above-mentioned auxiliary positioning device 3 includes but is not limited to an inertial navigation device.

[0054] During the flight of the UAV, the satellite positioning device 2 and the auxiliary positioning device 3 work simultaneously to collect position information correspondingly. When the satellite positioning device 2 normally receives external satellite signals, the UAV directly uses the first position information obtained by positioning with the satellite positioning device 2 for UAV navigation, and simultaneously synchronously records and saves the first position information obtained by positioning with the satellite positioning device 2 and the second position information obtained by positioning with the auxiliary positioning device 3. Further, considering the influence of the flight environment on the positioning result, while the satellite positioning device 2 and the auxiliary positioning device 3 are working, the environment acquisition device 4 is controlled to collect flight environment data in real time for subsequent navigation use.

[0055] When the satellite positioning device 2 normally receives external satellite signals, the second position information collected by the auxiliary positioning device 3 and the flight environment data collected by the environment collection device 4 can be only recorded and saved without participating in navigation. When the satellite positioning device 2 cannot receive external satellite signals, especially when it cannot receive external satellite signals for a long time due to bad weather or environment, considering that the auxiliary positioning device 3, such as an inertial navigation device, will have cumulative errors during the positioning process, directly using the second position information obtained by positioning with the auxiliary positioning device 3 for navigation will be inaccurate. In this embodiment, by analyzing the relationship between the first position information, the second position information and the flight environment data collected historically, on the basis of positioning to the second position information, the second position information is corrected so that the correction result is close to the positioning result of the satellite positioning device 2, and then the UAV is navigated, effectively ensuring the accuracy of the UAV navigation and improving the navigation quality.

[0056] In a preferred embodiment of the present invention, the second navigation module 54 includes:

[0057] A first extraction unit 541, configured to extract all the actually collected first position information, second position information and flight environment data corresponding to the collection times before the current time from the storage module and add them to a first set when the satellite positioning device cannot normally receive external satellite signals during the flight of the UAV;

[0058] A second extraction unit 542, connected to the first extraction unit 541, is configured to extract the collection times, the first position information and the second position information associated with the flight environment data that match from the first set according to the flight environment data corresponding to each execution of the collection action after the current time and add them to a second set;

[0059] A third extraction unit 543, connected to the second extraction unit 542, is configured to extract the corresponding first position information from the second set in the order of the collection times to form a satellite navigation position sequence, and extract the corresponding second position information to form an auxiliary navigation position sequence;

[0060] A position prediction unit 544, connected to the third extraction unit 543, is configured to predict the first position information that should be collected at the current time according to the satellite navigation position sequence, the auxiliary navigation position sequence and the second position information collected at the current time.

[0061] In a preferred embodiment of the present invention, the position prediction unit 544 includes:

[0062] A construction subunit 5441, configured to introduce random noise into the second position information in the satellite navigation position sequence considered as the corresponding first position information in the auxiliary navigation position sequence to construct a noise model;

[0063] The predictor unit 5442 is connected to the construction unit 5441 and is used to predict the first position information that should be collected at the current moment according to the noise model and the second position information collected at the current moment, and by using an adaptive filtering algorithm.

[0064] Specifically, in this embodiment, considering that the first position information is predicted based on the second position information, the first position information and the second position information can be considered to be obtained by collecting based on the same ideal signal. Among them, the first position information d1 can be considered to be obtained by introducing a first random noise e1 relative to the ideal signal d, that is, d1 = d + e1, and the second position information d2 can be considered to be obtained by introducing a second random noise e2 relative to the ideal signal d, that is, d2 = d + e2. Then, in a preferred embodiment of the present invention, based on the above two formulas to eliminate the common ideal signal d, the expression of the noise model can be obtained as follows:

[0065] d2 = d1 + (e2 - e1)

[0066] Wherein, d2 is used to represent the second position information in the satellite navigation position sequence; d1 is used to represent the corresponding first position information in the auxiliary navigation sequence; e1 is used to represent the first random noise introduced by the corresponding first position information in the auxiliary navigation position sequence relative to an ideal signal; e2 is used to represent the second random noise introduced by the second position information in the satellite navigation position sequence relative to the ideal signal.

[0067] In a preferred embodiment of the present invention, the position prediction unit 544 further includes a normalization unit 5443, which is connected to the construction unit 5441 and is used to perform normalization processing on each second position information in the satellite navigation position sequence and the corresponding first position information in the auxiliary navigation position sequence respectively;

[0068] Then, the construction unit 5441 constructs a noise model according to each normalized second position information and the corresponding first position information.

[0069] Specifically, in this embodiment, considering that the dimensions of the position information collected by different position acquisition devices are different, before constructing the noise model, normalization processing is first performed to remove the dimensions.

[0070] In a preferred embodiment of the present invention, the second navigation module 54 is further connected to the first navigation module 53. The second navigation module 54 further includes a recovery monitoring unit 545, which is used to generate a navigation recovery signal when it is monitored that the satellite positioning device changes from being unable to normally receive external satellite signals to normally receiving external satellite signals and lasts for a preset period;

[0071] Then, the first navigation module 53 is further used to obtain the first position information according to the navigation recovery signal for navigation.

[0072] Specifically, in this embodiment, using the second position information to predict the first position information for navigation can be understood as an emergency measure. The predicted result cannot be completely consistent with the actual result, and there will always be some deviation. To improve the navigation quality, after the external satellite signal cannot be received normally, continuous monitoring is carried out to be able to detect the recovery of the external satellite signal in a timely manner, and then switch the navigation in a timely manner. Considering the stability of the recovery of the external satellite signal, it is preferably considered that the navigation is restored when the external satellite signal can be received normally and continuously for a preset period, so as to avoid inaccurate positioning caused by occasional signal connection.

[0073] In a preferred embodiment of the present invention, the second navigation module 54 further includes a cycle storage unit 546, connected to the recovery monitoring unit 545, for storing a pre-configured monitoring cycle.

[0074] Then, the recovery monitoring unit 545 calls the monitoring cycle to continuously monitor the signal transceiver state of the satellite positioning device periodically, so as to generate a navigation recovery signal when the signal transceiver state indicates that the satellite positioning device changes from being unable to receive the external satellite signal normally to receiving the external satellite signal normally and continuously for a preset period.

[0075] In a preferred embodiment of the present invention, the auxiliary navigation device is an inertial navigation sensor and / or a vision sensor.

[0076] The present invention also provides a drone navigation method, applying the above-mentioned drone navigation system, as Figure 2 shown, the drone navigation method includes:

[0077] Step S1, during the flight of the drone, the drone navigation system controls the satellite positioning device, the auxiliary positioning device, and the environment acquisition device loaded on the drone to synchronously execute the acquisition action, and records in real time the acquisition time corresponding to each execution of the acquisition action, the first position information actually acquired by the satellite positioning device, the second position information acquired by the auxiliary positioning device, and the flight environment data acquired by the environment acquisition device and stores them;

[0078] Step S2, during the flight of the drone, the drone navigation system monitors whether the satellite positioning device can receive the external satellite signal normally:

[0079] If so, it turns to step S3;

[0080] If not, it turns to step S4;

[0081] Step S3, the drone navigation system obtains the first position information for navigation, and then returns to step S2;

[0082] Step S4: The UAV navigation system predicts the first position information that should be collected by satellite positioning based on all the actually collected first position information, second position information, and flight environment data corresponding to all the collection times before the current time, as well as the second position information and flight environment data corresponding to each execution of the collection action at and after the current time, and performs navigation based on the predicted first position information, and then returns to Step S2.

[0083] In a preferred embodiment of the present invention, as Figure 3 shown, Step S4 includes:

[0084] Step S41: The UAV navigation system extracts all the actually collected first position information, second position information, and flight environment data corresponding to all the collection times before the current time and adds them to a first set;

[0085] Step S42: The UAV navigation system extracts the collection times, first position information, and second position information associated with the flight environment data that match the flight environment data corresponding to each execution of the collection action at and after the current time from the first set and adds them to a second set;

[0086] Step S43: The UAV navigation system extracts the corresponding first position information from the second set in the order of the collection times to form a satellite navigation position sequence, and extracts the corresponding second position information to form an auxiliary navigation position sequence;

[0087] Step S44: The UAV navigation system predicts the first position information that should be collected at the current time based on the satellite navigation position sequence, the auxiliary navigation position sequence, and the second position information collected at the current time.

[0088] The above are only the preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the content of this specification and the drawings should be included in the protection scope of the present invention.

Claims

1. A drone navigation system, characterized in that, Including: A drone, on which a satellite positioning device, an auxiliary positioning device and an environment acquisition device are installed; A flight controller, integrated inside the drone, and the flight controller includes: An acquisition control module, connected to a storage module, and used for controlling the satellite positioning device, the auxiliary positioning device and the environment acquisition device to synchronously perform acquisition actions during the flight of the drone, and recording in real time the acquisition time corresponding to each execution of the acquisition action, the first position information actually acquired by the satellite positioning device, the second position information acquired by the auxiliary positioning device and the flight environment data acquired by the environment acquisition device and saving them to the storage module; A first navigation module, connected to the storage module, and used for acquiring the first position information for navigation during the flight of the drone when the satellite positioning device normally receives external satellite signals; A second navigation module, connected to the storage module, and used for predicting the first position information that the satellite positioning should acquire according to all the first position information, the second position information and the flight environment data actually acquired at the acquisition times corresponding to the current time and before, and the second position information and the flight environment data corresponding to each execution of the acquisition action after the current time during the flight of the drone when the satellite positioning device cannot normally receive external satellite signals, and performing navigation according to the predicted first position information.

2. The drone navigation system according to claim 1, characterized in that, The second navigation module includes: A first extraction unit, used for extracting, from the storage module, all the first position information, the second position information and the flight environment data actually acquired at the acquisition times corresponding to the current time and before during the flight of the drone when the satellite positioning device cannot normally receive external satellite signals and adding them to a first set; A second extraction unit, connected to the first extraction unit, and used for extracting, from the first set, the acquisition times, the first position information and the second position information associated with the flight environment data that match according to the flight environment data corresponding to each execution of the acquisition action after the current time and adding them to a second set; A third extraction unit, connected to the second extraction unit, and used for extracting the corresponding first position information from the second set in the order of the acquisition times to form a satellite navigation position sequence, and extracting the corresponding second position information to form an auxiliary navigation position sequence; A position prediction unit, connected to the third extraction unit, and used for predicting the first position information that should be acquired at the current time according to the satellite navigation position sequence, the auxiliary navigation position sequence and the second position information acquired at the current time.

3. The drone navigation system according to claim 2, wherein The position prediction unit includes: A construction subunit, used for regarding the second position information in the satellite navigation position sequence as the first position information corresponding in the auxiliary navigation position sequence and introducing random noise to generate a noise model; A predictor unit, connected to the construction unit, is configured to predict the first position information that should be collected at the current moment according to the noise model and the second position information collected at the current moment, and by using an adaptive filtering algorithm.

4. The drone navigation system according to claim 3, characterized in that, The expression of the noise model is as follows: d2 = d1 + (e2 - e1) Wherein, d2 is used to represent the second position information in the satellite navigation position sequence; d1 is used to represent the corresponding first position information in the auxiliary navigation sequence; e1 is used to represent the first random noise introduced by the corresponding first position information in the auxiliary navigation position sequence relative to an ideal signal; e2 is used to represent the second random noise introduced by the second position information in the satellite navigation position sequence relative to the ideal signal.

5. The drone navigation system according to claim 4, wherein, The position prediction unit further includes a normalization unit, connected to the construction unit, for respectively performing normalization processing on each of the second position information in the satellite navigation position sequence and the corresponding first position information in the auxiliary navigation position sequence; Then the construction unit constructs the noise model according to the normalized second position information and the corresponding first position information.

6. The drone navigation system according to claim 1, wherein, The second navigation module is further connected to the first navigation module. The second navigation module further includes a recovery monitoring unit, configured to generate a navigation recovery signal when it is monitored that the satellite positioning device changes from being unable to normally receive external satellite signals to being able to normally receive external satellite signals and lasts for a preset period; Then the first navigation module is further configured to obtain the first position information according to the navigation recovery signal for navigation.

7. The drone navigation system according to claim 6, characterized in that, The second navigation module further includes a period storage unit, connected to the recovery monitoring unit, for storing a preset monitoring period; Then the recovery monitoring unit calls the monitoring period to continuously monitor the signal transceiver state of the satellite positioning device periodically, so as to generate the navigation recovery signal when the signal transceiver state indicates that the satellite positioning device changes from being unable to normally receive external satellite signals to being able to normally receive external satellite signals and lasts for the preset period.

8. The drone navigation system according to claim 1, characterized in that, The auxiliary navigation device is an inertial navigation sensor and / or a vision sensor.

9. A method for unmanned aerial vehicle navigation, characterized in that, Applying the unmanned aerial vehicle navigation system according to any one of claims 1-8, the unmanned aerial vehicle navigation method includes: Step S1, during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle navigation system controls the satellite positioning device, the auxiliary positioning device and the environment collection device loaded on the unmanned aerial vehicle to synchronously perform collection actions, and records in real time the collection moment corresponding to each execution of the collection action, the first position information actually collected by the satellite positioning device, the second position information collected by the auxiliary positioning device, and the flight environment data collected by the environment collection device and saves them; Step S2, during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle navigation system monitors whether the satellite positioning device can normally receive external satellite signals: If so, then turn to step S3; If not, then turn to step S4; Step S3, the unmanned aerial vehicle navigation system obtains the first position information for navigation, and then returns to step S2; Step S4: The UAV navigation system predicts the first position information that should be collected by satellite positioning according to all the actually collected first position information, second position information, and flight environment data corresponding to the collection times before the current time, as well as the second position information and flight environment data corresponding to each collection action after the current time and subsequent times. Then, it performs navigation based on the predicted first position information and returns to step S2.

10. The drone navigation method according to claim 9, wherein, The step S4 includes: Step S41: The UAV navigation system extracts all the actually collected first position information, second position information, and flight environment data corresponding to the collection times before the current time and adds them to a first set. Step S42: The UAV navigation system extracts the collection times, first position information, and second position information associated with the flight environment data that match the flight environment data corresponding to each collection action after the current time from the first set and adds them to a second set. Step S43: The UAV navigation system extracts the corresponding first position information from the second set in the order of the collection times to form a satellite navigation position sequence, and extracts the corresponding second position information to form an auxiliary navigation position sequence. Step S44: The UAV navigation system predicts the first position information that should be collected at the current time based on the satellite navigation position sequence, the auxiliary navigation position sequence, and the second position information collected at the current time.

Images