Positioning method, electronic equipment, storage medium and satellite compass

Abstract

The invention discloses a positioning method, electronic equipment, a storage medium and a satellite compass, and relates to the field of positioning. A cooperation mechanism of a control module and a cloud server is introduced into a satellite compass, the mode that a traditional satellite compass directly outputs positioning data depending on a single positioning module is changed, positioning is triggered through the control module, data is uploaded, feedback of the cloud server is received, and flow control of calculation of the positioning module is driven. The intelligent closed-loop management of the positioning process is realized; besides, differential positioning data is calculated based on an initial positioning data set by using a cloud server, the positioning precision is remarkably improved by means of a differential positioning technology, traditional meter-level precision basic positioning information is optimized to a higher-precision centimeter-level level, and the requirements of high-precision application scenes such as forest fire prevention and dynamic target tracking can be met. The problem that the positioning precision is limited is solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a positioning method, electronic equipment, storage medium and satellite compass. Background Art

[0002] A satellite compass is a device that uses satellite signals for positioning and orientation. It can obtain positioning coordinates, azimuth angles, attitude angles, and elevation data, providing key technical support for precise target coordinate positioning in scenarios such as forest fire prevention and border protection. The application value of satellite compasses is particularly significant in monitoring equipment such as pan-tilt cameras. Specifically, by providing azimuth information, it ensures that the camera can still accurately point to the target area in complex environments (such as strong wind disturbances and terrain obstructions), greatly improving the reliability and response accuracy of the monitoring system. The heading and attitude data it outputs can be deeply integrated with image information, and algorithms can be used to achieve dynamic target tracking and abnormal behavior warnings (such as ship track deviation identification), significantly enhancing the intelligence level of the monitoring system. In remote areas or scenarios with poor ground network coverage, the data output by the satellite compass can be transmitted directly to the monitoring center via satellite communication links, enabling real-time control of remote equipment.

[0003] Among the current relevant positioning technologies, satellite compasses usually rely on a single positioning module to directly output positioning data, lacking intelligent control of the positioning process; in addition, the basic positioning information such as latitude, longitude, and altitude obtained by the positioning module is limited in accuracy by satellite signal quality and environmental interference, and can usually only reach the meter level, which cannot meet high-precision application scenarios. Summary of the Invention

[0004] The purpose of the present invention is to provide a positioning method, electronic equipment, storage medium and satellite compass, which realize intelligent closed-loop management of the positioning process through the collaboration of a control module and a cloud server, optimize the positioning module calculation through differential positioning data calculated by the cloud, and improve the meter-level accuracy to meet the requirements of high-precision scenarios, thereby solving the problem of limited positioning accuracy.

[0005] In a first aspect, the present application provides a positioning method, which is applied to a control module in a satellite compass, wherein the satellite compass also includes a positioning module. The positioning method includes: In response to the positioning instruction, triggering the positioning module to obtain an initial positioning data set; Uploading the initial positioning data set fed back by the positioning module to a cloud server, and the cloud server calculating differential positioning data based on the initial positioning data set; The differential positioning data fed back by the cloud server is sent to the positioning module, so that the positioning module calculates the final positioning result according to the differential positioning data.

[0006] In an exemplary embodiment, sending the differential positioning data fed back by the cloud server to the positioning module includes: The differential positioning data fed back by the cloud server is sent to the positioning module in a cyclic manner according to a preset period.

[0007] In an exemplary embodiment, after sending the differential positioning data fed back by the cloud server to the positioning module so that the positioning module calculates a final positioning result based on the differential positioning data, the method further includes: In response to a solution completion signal sent by the positioning module, the differential positioning data fed back by the cloud server is stopped from being cyclically sent to the positioning module according to a preset period.

[0008] In an exemplary embodiment, in response to a positioning instruction, triggering the positioning module to obtain an initial positioning data set includes: In response to the positioning instruction, generating a module configuration instruction according to the positioning instruction; The module configuration instruction is sent to the positioning module to trigger the positioning module to obtain the initial positioning data set according to the module configuration instruction.

[0009] In an exemplary embodiment, before triggering the positioning module to acquire the initial positioning data set in response to the positioning instruction, the method further includes: Determining whether a network instruction sent by the cloud server is received; When the network instruction is received, the network instruction is parsed to obtain the positioning instruction or the data request instruction; When the network instruction is not received, the initial positioning data set fed back by the positioning module is stored.

[0010] In an exemplary embodiment, the method further includes: In response to the data request instruction, the initial positioning data set fed back by the positioning module stored in the self-stored data set is uploaded to the cloud server.

[0011] In an exemplary embodiment, before triggering the positioning module to acquire the initial positioning data set in response to the positioning instruction, the method further includes: In response to the initialization configuration instruction, the working mode of the positioning module is pre-configured according to the parameter set in the initialization configuration instruction.

[0012] In a second aspect, the present application provides an electronic device, comprising: memory for storing computer programs; The control module is used to implement the steps of the positioning method described above when executing the computer program.

[0013] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the positioning method as described above are implemented.

[0014] In a fourth aspect, the present application provides a satellite compass, comprising the electronic device described above and also a positioning module.

[0015] In a fifth aspect, the present application provides an imaging gimbal equipped with the satellite compass described above.

[0016] The present invention provides a positioning method, electronic device, storage medium, and satellite compass, all of which relate to the field of positioning. By introducing a control module into the satellite compass and collaborating with a cloud server, this method changes the traditional satellite compass model of directly outputting positioning data from a single positioning module. Through process-based control of the control module triggering positioning, uploading data, receiving feedback from the cloud server, and driving the positioning module's calculations, intelligent closed-loop management of the positioning process is achieved. Furthermore, differential positioning data is calculated using a cloud server based on an initial positioning data set, significantly improving positioning accuracy with the help of differential positioning technology. This optimizes basic positioning information, which traditionally has meter-level accuracy, to a higher centimeter-level precision. This method can meet the needs of high-precision application scenarios such as forest fire prevention and dynamic target tracking, addressing the issue of limited positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 A basic flow chart of a positioning method provided by the present invention; Figure 2 A schematic diagram of communication between modules provided by the present invention; Figure 3 This is a specific implementation flow chart of a positioning method provided by the present invention. DETAILED DESCRIPTION

[0019] The core of the present invention is to provide a positioning method, electronic equipment, storage medium and satellite compass, which realize intelligent closed-loop management of the positioning process through the collaboration of the control module and the cloud server, optimize the positioning module calculation through the differential positioning data calculated by the cloud, and improve the meter-level accuracy to meet the requirements of high-precision scenarios, thus solving the problem of limited positioning accuracy.

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] First, as Figure 1 The present application provides a positioning method, which is applied to a control module in a satellite compass. The satellite compass also includes a positioning module (the communication connection between each module is as follows Figure 2 As shown, 11 is a positioning module, 12 is a control module, and 13 is a cloud server. The modules can be connected by wire or wireless means. The positioning method includes: S11: In response to the positioning instruction, trigger the positioning module to obtain an initial positioning data set; Specifically, in response to a trigger mechanism triggered by an external positioning command, the control module proactively schedules the positioning module to begin performing the initial positioning task. This description primarily focuses on the command-driven perception and acquisition process. Upon receiving a positioning command generated by a user, a host device, or a preset task trigger (such as a timer, a displacement sensor signal, or a camera target recognition result), the control module immediately activates the positioning module, causing it to begin receiving satellite signals. Based on the received satellite data, the control module performs a calculation to obtain an initial positioning dataset consisting of the current location's latitude and longitude coordinates, altitude, satellite signal strength, positioning timestamp, and the number and distribution of visible satellites. This initial positioning dataset serves as the input for subsequent differential positioning corrections and reflects the signal conditions and positioning quality level in the current environment. Its acquisition process is affected by factors such as antenna layout, environmental occlusion, and multipath interference. Therefore, the accuracy of this initial positioning dataset is lower than that of the final positioning result.

[0022] The initial positioning data set may include, but is not limited to, a combination of one or more of latitude and longitude, azimuth, roll angle, and altitude, used to comprehensively reflect the position and attitude of the target device in three-dimensional space. Latitude and longitude represent geographic location, azimuth reflects heading information, roll angle reflects attitude parameters, and altitude indicates vertical position.

[0023] In this step, the control module actively controls the positioning module through the command response mechanism, ensuring that the data collection process is started in scenarios where positioning is required, providing data support for subsequent cloud-based differential calculations and the generation of final positioning results, and reflecting the collaborative work between the control module and the positioning module and the orderly scheduling of the positioning process.

[0024] S12: Uploading the initial positioning data set fed back by the positioning module to the cloud server, and the cloud server calculating the differential positioning data based on the initial positioning data set; Specifically, after receiving the initial positioning data set (e.g., basic positioning information in multiple dimensions, including latitude and longitude, azimuth, roll angle, and altitude) from the positioning module, the control module, acting as the core hub for data exchange, packages and uploads the initial positioning data set to the cloud server via a pre-defined communication link (e.g., wireless transmission channels such as 4G, 5G, and satellite communications) in accordance with a specific data format and protocol. The cloud server, acting as a remote data processing center, uses the received initial positioning data set and its own stored regional reference station observation data to apply a differential positioning algorithm to model and analyze the satellite signal errors present in the initial positioning data. This algorithm then generates high-precision differential positioning data through error compensation and parameter optimization.

[0025] During this process, the control module realizes information interaction between the local positioning module and the cloud server through the data upload mechanism. The cloud server uses professional data processing capabilities to calibrate the errors of the initial positioning data, providing a high-precision correction basis for the subsequent positioning module to calculate the final positioning result using differential positioning data.

[0026] S13: Send the differential positioning data fed back by the cloud server to the positioning module, so that the positioning module calculates the final positioning result based on the differential positioning data.

[0027] Specifically, after receiving differential positioning data from the cloud server, the control module, acting as the core control unit for data flow, transmits the differential positioning data to the positioning module via a pre-set communication link (such as a wireless transmission channel or a wired interface) and interactive protocol. The positioning module, as the executor of the positioning calculation, uses the received differential positioning data and its stored positioning algorithm model to calibrate the systematic errors generated during satellite signal transmission by incorporating error correction parameters from the differential positioning data into the original positioning solution process, thereby eliminating or reducing the impact of environmental interference and signal quality on positioning accuracy.

[0028] During this process, the control module, through a data distribution mechanism, closes the information loop between the cloud server's processing results and the local positioning module. The positioning module, in turn, uses differential positioning data to deeply optimize the initial positioning information, ultimately generating a final positioning result (such as centimeter-level positioning coordinates and highly reliable attitude parameters) that meets the requirements of high-precision application scenarios. This demonstrates the synergistic integration of cloud data processing results and local positioning calculations, and their impact on improving positioning accuracy. It is important to understand that this final positioning result is the position of the satellite compass structure (i.e., the entire installation).

[0029] In an exemplary embodiment, after the differential positioning data fed back by the cloud server is sent to the positioning module so that the positioning module calculates the final positioning result based on the differential positioning data, the method further includes: Obtain the angle data obtained by the positioning module and the calculated final positioning result; The final positioning result and angle data are sent to the gimbal controller, so that the controller generates control instructions based on the final positioning result, angle data and the two-dimensional image with the target of interest sent by the camera module, and adjusts the gimbal posture according to the control instructions to achieve positioning and tracking of the target of interest.

[0030] Specifically, after the positioning module calculates the final positioning result including latitude, longitude and altitude through the differential positioning data fed back by the cloud server, it simultaneously obtains the azimuth angle, attitude angle and other angle data output by the positioning module and sends these data to the gimbal controller.

[0031] For example, when a target of interest, such as a fire, is identified by the camera module in the captured image, the controller determines the precise current position of the gimbal based on the final positioning results. Combined with the angle data, the controller determines the gimbal's real-time posture (i.e., the spatial orientation of the lens). Using the camera's imaging model, the 2D image coordinates of the fire are mapped into three-dimensional space, calculating the actual positional deviation of the fire relative to the gimbal. Based on this deviation, the controller generates corresponding control instructions, driving the gimbal's horizontal and vertical rotation mechanisms to adjust their posture, gradually aligning the lens with the fire's position in real space. This allows for accurate tracking of the fire, ensuring that it remains within the camera's effective field of view or aligned with the target center.

[0032] In addition, the PTZ controller can accurately locate the target of interest based on the final positioning result and the position of the target in the two-dimensional image. Furthermore, the positioning data of the target of interest can be displayed in real time on the monitoring screen, so that the monitoring screen can not only show the scene image but also the precise location of the target, achieving accurate positioning of the fire point. This enables the acquisition of precise target coordinates in scenarios such as forest fire prevention and border protection.

[0033] Based on the above embodiment: In an exemplary embodiment, sending the differential positioning data fed back by the cloud server to the positioning module includes: The differential positioning data fed back by the cloud server is sent to the positioning module in a preset cycle.

[0034] Specifically, the application level is divided into mobile station and base station modes. The difference lies in the number of times the rough positioning information is sent in the first step. The base station only sends it once, while the mobile station needs to send it multiple times. In other words, the mechanism by which the control module sends differential positioning data to the positioning module can be divided into base station mode and mobile station mode. The core difference between the two is reflected in the frequency of information interaction and data update strategy: For the base station mode (usually used in fixed base station scenarios), the control module only needs to send rough positioning information (such as base station coordinates) to the cloud server once during the initialization phase. Subsequently, a stable error correction benchmark can be established by receiving differential positioning data fed back from the cloud in a single time, without the need for periodic updates; while in mobile station mode (suitable for dynamic positioning terminals, such as vehicle-mounted and drone-mounted equipment), since the target continues to move in the environment or its posture changes dynamically (such as equipment posture offset in strong winds, carrier movement causing satellite signal obstruction), high-frequency data interaction is required to maintain positioning accuracy.

[0035] Specifically, given that satellite signal quality, device attitude, or target position may change over time in dynamic environments (e.g., monitoring equipment may drift due to strong wind disturbances, or mobile targets may change position in real time), the positioning process requires continuous acquisition of the latest error correction information to maintain high-precision positioning. As the control center for the system's data flow, the control module adopts rover-based logic and establishes a periodic data exchange mechanism based on preset time intervals (e.g., 100ms, 1s, etc., depending on the application scenario). Specifically, after receiving differential positioning data from the cloud server, it is not transmitted once, but rather packaged and sent cyclically according to a predetermined period, ensuring that the positioning module obtains the latest differential positioning data within each cycle. This approach enables the positioning module to incorporate the latest differential positioning data in real time as it continuously calculates positioning results, effectively addressing the impact of errors caused by real-time dynamic interference and avoiding positioning accuracy degradation caused by stale data after a single transmission.

[0036] Among them, the flexibility of the preset cycle supports adaptive adjustment according to different application scenarios (such as high-frequency updates required in high-speed mobile scenarios and lower update frequency in static monitoring scenarios), optimizing system power consumption and communication resource usage while ensuring positioning accuracy.

[0037] In this embodiment, the periodic data sending mechanism of the control module is used to achieve dynamic synchronization between cloud differential data and local positioning calculations, ensuring that the positioning module can continuously generate high-precision, real-time final positioning results in complex environments.

[0038] In an exemplary embodiment, after the differential positioning data fed back by the cloud server is sent to the positioning module so that the positioning module calculates the final positioning result based on the differential positioning data, the method further includes: In response to the solution completion signal sent by the positioning module, stop sending the differential positioning data fed back by the cloud server to the positioning module according to the preset cycle.

[0039] Specifically, after the positioning module completes the final positioning result calculation based on the received differential positioning data, it feeds back a calculation completion signal (which may include, but is not limited to, a command frame and / or a status flag containing a task status identifier) to the control module, indicating that the error compensation and parameter correction process within the current positioning cycle has been completed and that the generated final positioning result (e.g., high-precision centimeter-level coordinates, attitude parameters, etc.) meets the accuracy requirements of the current scenario. Upon receiving this signal, the control module, acting as the control center for data flow, determines that the current positioning process has entered a stable state (e.g., the target position has been fixed) and no longer needs to cyclically send differential positioning data at a preset period, thereby triggering a stop mechanism. This approach of this embodiment balances positioning accuracy requirements with system resource consumption. During the positioning module calculation process, differential positioning data is periodically sent to address time-varying errors in dynamic environments and ensure the real-time incorporation of the latest error correction information. However, once the calculation is complete and the result is stable, continuing to send data would waste communication resources, such as wireless transmission power consumption and bandwidth usage. Stopping data transmission effectively reduces system power consumption, extends device battery life, and avoids the potential impact of invalid data exchange on system stability.

[0040] In this embodiment, intelligent start and stop control of data transmission is achieved through the interaction of status signals between the control module and the positioning module. Adaptive adjustment can be performed in dynamic positioning and static holding scenarios to balance power consumption optimization and resource utilization.

[0041] like Figure 3 In an exemplary embodiment, in response to a positioning instruction, triggering a positioning module to obtain an initial positioning data set includes: In response to the positioning instruction, generating a module configuration instruction according to the positioning instruction; The module configuration instruction is sent to the positioning module to trigger the positioning module to obtain the initial positioning data set according to the module configuration instruction.

[0042] Specifically, when the control module receives a positioning instruction, in one embodiment, it may not simply activate the positioning module directly, but first generate a module configuration instruction containing targeted parameters (for example, specifying the collection data type as a combination of latitude and longitude + azimuth + altitude, setting the sensor sampling frequency, configuring the working frequency band of the satellite signal receiving module, etc.) based on the specific requirements of the positioning instruction (such as positioning accuracy requirements, data collection type, application scenario mode, etc.), in accordance with the preset configuration protocol and logical rules. The module configuration instruction clarifies the specific rules and working parameters that the positioning module must follow during the data collection phase. Subsequently, the control module sends the module configuration instruction to the positioning module through a preset communication link. After the positioning module parses the instruction, it initializes or dynamically adjusts the internal sensor unit according to the parameter configuration in the instruction, and then collects environmental spatial information in real time according to the configuration requirements and generates an initial positioning data set.

[0043] In this embodiment, through the hierarchical control logic of command parsing, parameter configuration, and data collection, the working mode of the positioning module can be dynamically adapted according to the requirements of different positioning commands (for example, forest fire prevention scenarios require high-frequency collection of latitude and longitude and altitude, while border protection scenarios require focusing on acquiring direction angles and roll angles). This avoids the limitations of the traditional single collection mode and realizes intelligent scheduling of the positioning module through refined parameter configuration, ensuring the integrity and pertinence of the initial positioning data set.

[0044] In an exemplary embodiment, before triggering the positioning module to acquire the initial positioning data set in response to the positioning instruction, the method further includes: Determine whether a network instruction sent by the cloud server is received; When a network instruction is received, the network instruction is parsed to obtain a positioning instruction or a data request instruction; When no network command is received, the initial positioning data set fed back by the positioning module is stored.

[0045] Specifically, the control module primarily interacts between the cloud server and the positioning module. During the positioning process, the control module monitors in real time whether it has received network commands from the cloud server. This monitoring mechanism can be achieved by continuously monitoring the communication link status via a pre-set network communication protocol. Upon receiving a network command, the control module deconstructs it according to command parsing rules to determine its nature. If it is a positioning command, the control module triggers the subsequent process of generating module configuration instructions and driving the positioning module to collect data, responding to the cloud server's remote demand for real-time positioning. If it is a data request command, the control module skips the positioning trigger process and directly executes the upload of the initial positioning dataset or the retrieval and transmission of locally stored data, meeting the cloud server's demand for historical or real-time data. If no network command is received, the control module defaults to the local positioning process, storing the initial positioning dataset provided by the positioning module locally (e.g., writing it to the control module's internal memory or cache area). This preserves the original data for subsequent cloud uploads or offline positioning solutions, preventing data loss due to network interruptions.

[0046] This method in this embodiment can not only respond to remote management needs in real time (such as dynamically adjusting positioning tasks through cloud instructions), but also maintain localized data collection capabilities in scenarios where network coverage is weak or disconnected, thereby improving adaptability and reliability in complex network environments, and ensuring the integrity of the positioning process and the flexibility of data management.

[0047] In an exemplary embodiment, the method further includes: In response to the data request instruction, the initial positioning data set fed back by the positioning module stored in itself is uploaded to the cloud server.

[0048] Specifically, when the control module parses the data request command sent by the cloud server through the network protocol, it, as the hub of system data interaction, activates the data return process. Based on the parameters carried in the data request command (such as the timestamp range and data type identifier), it retrieves the corresponding initial positioning data set from the local storage area (such as the control module's Flash memory or RAM cache) and packages it according to the preset data packaging format. The control module then uploads the packaged data to the cloud to meet the remote monitoring center's needs for historical positioning data analysis or to provide more observation samples for the cloud server's differential calculation.

[0049] This embodiment achieves seamless connection between local data and cloud servers through the process of instruction parsing, data retrieval, format packaging, and remote transmission. It not only supports real-time data synchronization when the network is normal, but also ensures the ability to retransmit historical data after the network is restored.

[0050] In an exemplary embodiment, before triggering the positioning module to acquire the initial positioning data set in response to the positioning instruction, the method further includes:

[0051] In response to the initialization configuration instruction, the working mode of the positioning module is pre-configured according to the parameter set in the initialization configuration instruction.

[0052] Specifically, upon receiving the initialization configuration command, the control module parses the parameter set contained in the command (such as data acquisition frequency, positioning accuracy requirements, and sensor operating mode) and converts these parameters into specific configuration commands. The control module then transmits the configuration command to the positioning module via an internal communication link, completing initialization operations for each operating module within the positioning module. This includes starting the hardware circuit, loading operating parameters, and calibrating the initial sensor state, thus placing the positioning module into a preparatory operating mode.

[0053] The positioning module in the preparatory working mode monitors the positioning instructions issued by the control module in real time. Once a positioning instruction is received, it can quickly respond and collect an initial positioning data set containing information such as longitude, latitude, and azimuth according to the preconfigured working mode, thereby ensuring that the positioning module has completed hardware and software preparations before performing the positioning task, laying the foundation for the efficient and accurate operation of the subsequent positioning process.

[0054] In a second aspect, the present application provides an electronic device, comprising: memory for storing computer programs; The control module is used to implement the steps of the above positioning method when executing the computer program.

[0055] Specifically, the memory serves as a data storage medium, used to solidify or dynamically store computer programs that implement positioning methods (such as control logic code, configuration parameter tables, communication protocol stacks, etc.), providing software support for the functional implementation of the control module. The control module (such as a hardware unit such as an MCU) serves as the system control center. It reads and executes program code in the memory through its internal processor core, converting software logic into specific hardware operations. During the positioning process, it parses positioning instructions based on program instructions, generates module configuration parameters, drives the positioning module to collect data, manages cloud communication links, and coordinates data storage and transmission. Taking the MCU as an example, it implements hardware control of the positioning module (such as initializing the sensor operating mode), communication scheduling of the network module (such as packaging and uploading initial positioning data to the cloud server), and read and write operations on the memory (such as storing the initial positioning data set that has not been uploaded).

[0056] The control module also has a fault self-healing mechanism, monitoring the main thread's running status through a watchdog timer and automatically restarting the core process in the event of an anomaly. Specifically, the control module (e.g., MCU) serves as the core hardware unit for executing the positioning method computer program. Its internal or external watchdog timer is used to monitor the program's running status. When the control module's software logic (e.g., instruction parsing, data exchange, process control, etc.) is executing normally, the program will periodically send a feed signal to the watchdog timer (i.e., reset the timer status) according to preset logic. If the program stops running or enters an infinite loop due to code anomalies, environmental interference, or other factors, preventing the watchdog from being fed on time, the watchdog timer will trigger a timeout event, forcing the control module to automatically restart to clear the abnormal state and resume the positioning process.

[0057] For other introductions to the electronic device, please refer to the above embodiments, and this application will not go into details here.

[0058] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the positioning method as described above are implemented.

[0059] For further introduction to computer-readable storage media, please refer to the above embodiments, and this application will not go into details here.

[0060] In a fourth aspect, the present application provides a satellite compass, comprising the aforementioned electronic device and a positioning module. The positioning module may be, but is not limited to, a UM982, and the control module may be, but is not limited to, an MCU.

[0061] For other introductions to the satellite compass, please refer to the above embodiments, and this application will not go into details here.

[0062] In a fifth aspect, the present application provides an imaging platform on which the satellite compass is provided. For other descriptions of the imaging platform, please refer to the above embodiments, and the present application will not elaborate on them here.

[0063] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0064] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A positioning method, characterized in that: A control module applied to a satellite compass, wherein the satellite compass further includes a positioning module, and the positioning method includes: In response to the positioning instruction, triggering the positioning module to obtain an initial positioning data set; Uploading the initial positioning data set fed back by the positioning module to a cloud server, and the cloud server calculating differential positioning data based on the initial positioning data set; The differential positioning data fed back by the cloud server is sent to the positioning module, so that the positioning module calculates the final positioning result according to the differential positioning data.

2. The positioning method according to claim 1, wherein: Sending the differential positioning data fed back by the cloud server to the positioning module includes: The differential positioning data fed back by the cloud server is sent to the positioning module in a cyclic manner according to a preset period.

3. The positioning method according to claim 2, wherein: After sending the differential positioning data fed back by the cloud server to the positioning module so that the positioning module calculates a final positioning result based on the differential positioning data, the method further includes: In response to a solution completion signal sent by the positioning module, the differential positioning data fed back by the cloud server is stopped from being cyclically sent to the positioning module according to a preset period.

4. The positioning method according to claim 1, wherein: In response to the positioning instruction, triggering the positioning module to obtain an initial positioning data set includes: In response to the positioning instruction, generating a module configuration instruction according to the positioning instruction; The module configuration instruction is sent to the positioning module to trigger the positioning module to obtain the initial positioning data set according to the module configuration instruction.

5. The positioning method according to claim 1, wherein: Before triggering the positioning module to acquire an initial positioning data set in response to the positioning instruction, the method further includes: Determining whether a network instruction sent by the cloud server is received; When the network instruction is received, the network instruction is parsed to obtain the positioning instruction or the data request instruction; When the network instruction is not received, the initial positioning data set fed back by the positioning module is stored.

6. The positioning method according to claim 5, wherein: Also includes: In response to the data request instruction, the initial positioning data set fed back by the positioning module stored in the self-stored data set is uploaded to the cloud server.

7. The positioning method according to claim 1, wherein: Before triggering the positioning module to acquire an initial positioning data set in response to the positioning instruction, the method further includes: In response to the initialization configuration instruction, the working mode of the positioning module is pre-configured according to the parameter set in the initialization configuration instruction.

8. The positioning method according to any one of claims 1 to 7, wherein: After sending the differential positioning data fed back by the cloud server to the positioning module so that the positioning module calculates a final positioning result based on the differential positioning data, the method further includes: Obtaining the angle data obtained by the positioning module and the calculated final positioning result; The final positioning result and the angle data are sent to the controller of the gimbal, so that the controller generates a control instruction based on the final positioning result, the angle data and the two-dimensional image with the target of interest sent by the camera module, and adjusts the posture of the gimbal according to the control instruction to achieve positioning and tracking of the target of interest.

9. An electronic device, characterized in that: include: memory for storing computer programs; A control module is used to implement the steps of the positioning method according to any one of claims 1 to 8 when executing a computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 8 are implemented.

11. A satellite compass, characterized in that: The electronic device as claimed in claim 9 further comprises a positioning module.

12. The satellite compass according to claim 11, wherein: The control module in the electronic device is MCU, and the positioning module is um982.

13. An imaging gimbal, characterized in that: A satellite compass according to claim 11 or 12 is provided.

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