Radio navigation positioning method and system of unmanned aerial vehicle
By generating a temporary radio navigation path in the UAV and switching the navigation mode, the positioning interruption problem caused by satellite interruption was solved, ensuring the positioning accuracy and robustness of the UAV in complex environments.
Patent Information
- Application Number
- CN202510841107.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-23
- Publication Date
- 2025-10-10
AI Technical Summary
In complex environments, the positioning of drones is interrupted in satellite outage areas, which affects the accuracy of navigation and positioning data and reduces robustness.
By obtaining the initial starting point and return point data of the UAV, an initial path is generated, and radio nodes are deployed in the satellite outage area to generate a radio temporary navigation path. The radio positioning data of the UAV in the satellite outage area is received, and the radio nodes are used to trigger a path change request in the buffer area to realize the switching of satellite-radio navigation mode.
Maintain navigation and positioning accuracy in satellite outage areas and improve the positioning robustness of drones in complex environments.
Smart Images
Figure CN120762071A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) navigation and positioning, and in particular to a radio navigation and positioning method and system for an UAV. Background Art
[0002] Currently, satellite navigation can be used to obtain real-time positioning data for drone navigation and positioning, resulting in accurate data. However, in complex environments, such as remote areas and tunnels, where satellite outages are common, positioning can be interrupted, affecting the accuracy of drone navigation and positioning data and reducing the robustness of positioning in complex environments.
[0003] Therefore, it is very necessary to propose a radio navigation positioning method and system to solve the problem of UAV positioning interruption in satellite outage areas under complex circumstances, avoid affecting the accuracy of UAV navigation and positioning data, and thus improve the positioning robustness of UAV in complex environments. Summary of the Invention
[0004] The purpose of the present invention is to provide a radio navigation and positioning method and system for unmanned aerial vehicles (UAVs), aiming to solve the technical problem in the prior art that UAVs are prone to positioning interruptions in satellite outage areas under complex circumstances, thereby affecting the accuracy of UAV navigation and positioning data and reducing the positioning robustness of UAVs in complex environments.
[0005] To achieve the above object, the present invention adopts a radio navigation positioning method for an unmanned aerial vehicle, comprising the following steps: Obtain the initial starting point and initial return point data of the UAV, and generate an initial path based on satellite navigation. Based on the satellite outage area in the initial path, generate a temporary radio navigation path for the outage area; Receive UAV flight data and obtain satellite positioning data of UAV in areas where satellites are not interrupted; A buffer area is associated with the satellite outage area, a route change request is triggered in the buffer area, and radio positioning data of the UAV in the satellite outage area is received.
[0006] Among them, in the step of obtaining the initial starting point and initial return point data of the drone, generating an initial path based on satellite navigation, and generating a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path: Obtain the drone's take-off and return point data, generate an initial path based on satellite navigation, and output the initial path data; Determine the satellite outage area in the path based on the initial path data and deploy radio nodes in the satellite outage area; Acquire radio node data and generate a temporary path based on radio ranging.
[0007] Wherein, in the step of determining a satellite outage area in the path according to the initial path data and deploying a radio node in the satellite outage area: Set the regional signal strength threshold, obtain the satellite signal strength in the initial path, compare the signal strength threshold with the satellite signal strength, and determine the satellite interruption area and the satellite non-interruption area.
[0008] Among them, in the steps of setting a signal strength threshold, obtaining satellite signal strength in the initial path, comparing the signal strength threshold and the satellite signal strength, and determining the satellite interruption area and the satellite non-interruption area: When the satellite signal strength of an area is less than the signal strength threshold, the area is determined to be a satellite outage area.
[0009] Among them, in the steps of setting a signal strength threshold, obtaining satellite signal strength in the initial path, comparing the signal strength threshold and the satellite signal strength, and determining the satellite interruption area and the satellite non-interruption area: When the satellite signal strength of an area is greater than or equal to the signal strength threshold, the area is determined to be a satellite non-interrupted area.
[0010] Among them, in the step of receiving the UAV flight data and obtaining the satellite positioning data of the UAV in the satellite uninterrupted area: Receive satellite positioning data, set the data update frequency, and obtain drone location data based on the update frequency; The position data is validated and noise reduction operations are performed.
[0011] Among them, in the step of verifying the position data and performing the noise reduction operation: Set the accuracy threshold, obtain the horizontal precision factor of the location data, and compare the accuracy threshold and the horizontal precision factor of the location data to determine the accuracy of the location data.
[0012] Among them, in the steps of setting the accuracy threshold, obtaining the horizontal precision factor of the location data, comparing the accuracy threshold and the horizontal precision factor of the location data, and determining the accuracy of the location data: When the horizontal precision dilution of the location data is less than the precision threshold, the location data is judged to be of low precision.
[0013] Among them, in the steps of associating a buffer area with the satellite outage area, triggering a path change request in the buffer area, and receiving radio positioning data of the UAV in the satellite outage area: Set a buffer area at the edge of the satellite outage area to determine whether the current position of the drone is within the buffer area; A route change request is triggered in the buffer area to smoothly connect the initial route with the temporary route and receive the UAV radio positioning data.
[0014] The present invention also provides a radio navigation and positioning system for an unmanned aerial vehicle, comprising an initial and temporary path generation module, a satellite positioning data receiving module, and a radio positioning data receiving module; wherein: The initial and temporary path generation module is used to obtain the initial starting point and initial return point data of the UAV, and generate an initial path based on satellite navigation, and generate a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path; The satellite positioning data receiving module is used to receive the UAV flight data and obtain the satellite positioning data of the UAV in the area where the satellite is not interrupted; The radio positioning data receiving module is used to associate a buffer area with the satellite outage area, trigger a path change request in the buffer area, and receive radio positioning data of the UAV in the satellite outage area.
[0015] A radio navigation positioning method and system for an unmanned aerial vehicle (UAV) of the present invention utilizes the initial and temporary path generation module, the satellite positioning data receiving module, and the radio positioning data receiving module to perform the following steps: obtaining the initial starting point and initial return point data of the UAV, generating an initial path based on satellite navigation, and generating a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path; receiving UAV flight data and obtaining satellite positioning data of the UAV in the area where the satellite is not interrupted; associating a buffer area with the satellite interruption area, triggering a path change request in the buffer area, and receiving radio positioning data of the UAV in the area where the satellite is interrupted; and pre-generating a temporary navigation path in the initial path, changing the satellite-radio navigation positioning mode in the buffer area, and obtaining positioning data, thereby solving the problem of UAV positioning interruption in the satellite interruption area under complex circumstances, avoiding affecting the accuracy of the UAV navigation positioning data, and thus improving the positioning robustness of the UAV in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.
[0017] Figure 1 The present invention is a flowchart of the steps of the radio navigation positioning method of the unmanned aerial vehicle.
[0018] Figure 2 It is a step flow chart of S100 of the present invention.
[0019] Figure 3 It is a step flow chart of S200 of the present invention.
[0020] Figure 4 It is a step flow chart of S300 of the present invention.
[0021] Figure 5 The figure is a schematic diagram of the structure of the radio navigation and positioning system of the UAV of the present invention.
[0022] Figure 6 It is a structural principle diagram of the electronic device of the present invention.
[0023] 401 - initial and temporary path generation module, 402 - satellite positioning data receiving module, 403 - radio positioning data receiving module. DETAILED DESCRIPTION
[0024] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this application.
[0025] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
[0026] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".
[0027] See also Figures 1 to 4 The present invention provides a radio navigation and positioning method for an unmanned aerial vehicle, comprising the following steps: S100: Acquire the data of the initial starting point and the initial return point of the UAV, generate an initial path based on satellite navigation, and generate a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path.
[0028] In this embodiment, the initial starting point and initial return point data of the drone are obtained, and an initial path is generated based on satellite navigation. According to the satellite interruption area in the initial path, a radio temporary navigation path is generated for the interruption area. The specific process is as follows: S101: Obtain the take-off point and return point data of the UAV, generate an initial path based on satellite navigation, and output the initial path data; S102: Determine a satellite outage area in the path based on the initial path data, and deploy radio nodes in the satellite outage area; S103: Acquire radio node data and generate a temporary path based on radio ranging.
[0029] Wherein, in the step of determining a satellite outage area in the path according to the initial path data and deploying a radio node in the satellite outage area: Set the regional signal strength threshold, obtain the satellite signal strength in the initial path, compare the signal strength threshold with the satellite signal strength, and determine the satellite interruption area and the satellite non-interruption area; When the satellite signal strength of an area is less than the signal strength threshold, the area is determined to be a satellite outage area; When the satellite signal strength of an area is greater than or equal to the signal strength threshold, the area is determined to be a satellite non-interrupted area.
[0030] In the above process, the take-off point (latitude and longitude coordinates) and return point (mission target point) of the UAV are input through the ground station software (such as MissionPlanner, QGroundControl) or the UAV flight control system interface. The coordinate data is as follows: Take-off point: P0 (Lat0, Lon0, h0) Turnaround point: P n (Lat n , Lon n , h n ) The initial path L is generated by combining the positioning accuracy of satellite navigation.
[0031] Path representation: A path is represented by a series of waypoints P i (x i ,y i , z i ), where i=0, 1,…, n.
[0032] Path length L calculation: ; Azimuth angle θ between waypoints i Calculation, for Dubins path: θ i =arctan2(y i+1 -y i ,x i+1 -x i ); Store path data as KML, GeoJSON, or custom format files and transmit them to the UAV flight control system.
[0033] Set the satellite signal strength threshold S according to the UAV navigation requirements threshold (e.g. -130dBm).
[0034] Get the satellite signal strength S at each point in the path GNSS (x,y,z), the signal strength source can be obtained from historical data, simulation and actual testing.
[0035] For each waypoint Pi on the path, compare its satellite signal strength S GNSS (Pi) and threshold S threshold .
[0036] If S GNSS (Pi) threshold , then the area where Pi is located is determined to be the satellite outage area.
[0037] Mark consecutive satellite outage waypoints as an outage area R interrupt .
[0038] Radio node deployment: LoRa nodes are used. LoRa nodes are used for long-distance communication and location broadcasting, with a coverage radius of approximately 500-1000 meters. LoRa nodes can utilize existing terminal nodes, such as existing LoRa terminals, UWB tags, and IoT devices.
[0039] Request radio nodes at the edge or inside the outage area and deploy them to ensure coverage of the entire outage area.
[0040] Record the position P of the radio node radio,j(xj,yj,zj) , communication parameters (such as frequency, power) and coverage range.
[0041] By measuring the propagation time Δt of the radio signal from the node to the drone, the distance d is calculated: d = c·Δt; where c is the speed of light.
[0042] TDOA (Time Difference of Arrival) ranging: By measuring the time difference Δt between the arrival of the signal at two nodes 12 , calculate the drone position: ; RSSI (received signal strength) ranging, calculates distance through the signal strength attenuation model: ; Among them, P tx is the transmission power, Prx is the received power, α is the path loss constant, and n is the path loss exponent.
[0043] After the drone enters the interruption area, it calculates its own position in real time through radio node ranging. Based on the current position and the target position (interruption area exit or the next satellite uninterrupted waypoint), a temporary path L is generated. radio .
[0044] Path optimization uses smoothing and obstacle avoidance processing: Use B-spline curve to smooth the path and avoid sharp turns. B-spline curve generation: ; where N i,p is the B-spline basis function, P control,i For the control point.
[0045] Obstacle avoidance: Combines obstacle information from radio nodes, such as obstacle locations broadcast by LoRa nodes, and adjusts the path to avoid obstacles.
[0046] Set the temporary path L radio The information is transmitted to the drone’s flight control system, and the drone can fly along the path until it leaves the satellite outage area.
[0047] S200: Receive UAV flight data and obtain satellite positioning data of the UAV in an area where satellites are not interrupted.
[0048] In this embodiment, the flight data of the UAV is received and the satellite positioning data of the UAV in the area where the satellite is not interrupted is obtained. The specific process is as follows: S201: Receive satellite positioning data, set the data update frequency, and obtain the drone location data according to the update frequency; S202: Verify the position data and perform noise reduction operations.
[0049] In the above process, the drone transmits satellite positioning data (such as GPS, Beidou) to the ground station or cloud platform through wireless communication (such as 4G / 5G, LoRa, digital radio) through the flight control system (such as Pixhawk). The satellite positioning data includes latitude and longitude, altitude, timestamp, and positioning accuracy (HDOP / VDOP) information.
[0050] Set the update frequency f according to task requirements update , such as 1Hz, 5Hz, 10Hz.
[0051] Extract latitude, longitude and altitude from satellite positioning data as location data.
[0052] The position data is stored in the database or displayed in real time on the ground station interface.
[0053] Positioning accuracy check: Check if the HDOP (Horizontal Dilution of Precision) is less than the threshold HDOP threshold , such as 3.0.
[0054] If HDOP>HDOP threshold , the data is marked as low-precision and discarded.
[0055] Reasonability check: Check that the location is within a reasonable range (such as within the mission area boundaries).
[0056] Check whether the speed complies with the UAV dynamic constraints (such as the maximum speed v max ).
[0057] A Kalman filter is used to smooth the position data and reduce the influence of noise.
[0058] The above steps are as follows: Assume that the drone flies from the starting point P0(0,0,100) to the return point P n (1000,1000,100), there is a satellite outage area R in the path interrupt (e.g. x∈[300,700],y∈[300,700]).
[0059] The drone obtains position data via GPS in areas where satellites are not interrupted (such as x<300 or x>700), with an update frequency of 5Hz.
[0060] The position data is subjected to Kalman filtering for noise reduction to obtain a smooth trajectory.
[0061] S300: Associating a buffer area with the satellite outage area, triggering a path change request in the buffer area, and receiving radio positioning data of the UAV in the satellite outage area.
[0062] In this embodiment, a buffer area is associated with the satellite outage area, a route change request is triggered in the buffer area, and radio positioning data of the UAV in the satellite outage area is received. The specific process is as follows: S301: Setting a buffer area at the edge of the satellite outage area and determining whether the current position of the UAV is within the buffer area; S302: Trigger a path change request in the buffer area, smoothly connect the initial path with the temporary path, and receive drone radio positioning data.
[0063] In the above process, the buffer area range is: in the satellite outage area R interrupt The edge of the buffer(e.g. 50-100 meters), forming a buffer area R buffer .
[0064] If the interruption area is a polygon R interrupt , the buffer area can be generated by polygon offset algorithm, and the rectangular buffer area formula is: R buffer ={(x,y)|min(x interrupt )-d buffer ≤x≤max(x interrupt )+d buffer ,min(y interrupt )-d buffer ≤y≤max(y interrupt )+d buffer}; Every time the drone receives a satellite positioning data P(t), it checks whether it is within the buffer area and determines the conditions: if P(t)∈R buffer , then trigger path replacement request. When the UAV enters the buffer zone, the ground station or flight control system sends a path change instruction to the UAV.
[0065] Instruction content: including temporary path L radio The waypoint sequence, speed, altitude and other information.
[0066] At the connection point between the initial path Li and the temporary path L=radio, a B-spline curve as shown in step S100 is used for smoothing to avoid sharp turns.
[0067] The above steps are as follows: Set the buffer area R buffer (e.g. x∈[250,750],y∈[250,750]).
[0068] When the UAV enters the buffer area (e.g. x=280), a path change request is triggered.
[0069] The last waypoint P of the initial path initial,end (300,300,100) and the first waypoint P of the temporary path radio,start (300,310,100) is smoothly connected by a B-spline curve.
[0070] In the present invention, firstly, the data of the initial starting point and the initial turning point of the UAV are obtained, and an initial path is generated based on satellite navigation. According to the satellite interruption area in the initial path, a radio temporary navigation path is generated for the interruption area; then, the flight data of the UAV is received, and the satellite positioning data of the UAV in the satellite non-interruption area is obtained; finally, a buffer area is associated with the satellite interruption area, a path change request is triggered in the buffer area, and the radio positioning data of the UAV in the satellite interruption area is received; by pre-generating a temporary navigation path in the initial path, changing the satellite-radio navigation positioning mode in the buffer area, and obtaining positioning data, the problem of UAV positioning interruption in the satellite interruption area under complex circumstances is solved, and the accuracy of the UAV navigation positioning data is avoided, thereby improving the positioning robustness of the UAV in complex environments.
[0071] Corresponding to the aforementioned embodiment of the radio navigation and positioning method for a UAV, the present application also provides an embodiment of a radio navigation and positioning system for a UAV.
[0072] Figure 5 FIG1 is a block diagram of a radio navigation and positioning system for a UAV according to an exemplary embodiment. Figure 5 The system may include: an initial and temporary path generation module 401, a satellite positioning data receiving module 402, and a radio positioning data receiving module 403; wherein: The initial and temporary path generation module 401 is used to obtain the initial starting point and initial return point data of the UAV, and generate an initial path based on satellite navigation, and generate a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path; The satellite positioning data receiving module 402 is used to receive the UAV flight data and obtain the satellite positioning data of the UAV in the area where the satellite is not interrupted; The radio positioning data receiving module 403 is used to associate a buffer area with the satellite outage area, trigger a path change request in the buffer area, and receive radio positioning data of the UAV in the satellite outage area.
[0073] In this embodiment, the initial and temporary path generation module 401 obtains the initial starting point and initial return point data of the UAV, and generates an initial path based on satellite navigation, and generates a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path; the satellite positioning data receiving module 402 receives the UAV flight data and obtains the satellite positioning data of the UAV in the satellite non-interruption area; the radio positioning data receiving module 403 associates the satellite interruption area with the buffer area, triggers a path change request in the buffer area, and receives the radio positioning data of the UAV in the satellite interruption area; by pre-generating a temporary navigation path in the initial path, changing the satellite-radio navigation positioning method in the buffer area, and obtaining positioning data, the problem of UAV positioning interruption in the satellite interruption area in complex situations is solved, and the accuracy of the UAV navigation positioning data is avoided, thereby improving the positioning robustness of the UAV in complex environments.
[0074] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0075] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. A person of ordinary skill in the art can understand and implement it without paying any creative work.
[0076] Accordingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the radio navigation and positioning method for the drone as described above. Figure 6 As shown in the figure, a hardware structure diagram of a radio navigation and positioning system of a drone provided by an embodiment of the present invention is provided, in which any device with data processing capability is provided, except Figure 6 In addition to the processor, memory, and network interface shown, any device with data processing capabilities in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capabilities, which will not be described in detail.
[0077] Accordingly, the present application also provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the radio navigation and positioning method for a drone as described above. The computer-readable storage medium may be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or memory. The computer-readable storage medium may also be an external storage device, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Furthermore, the computer-readable storage medium may include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and may also be used to temporarily store data that has been output or is to be output.
[0078] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed in this application.
[0079] It will be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.
Claims
1. A radio navigation positioning method for an unmanned aerial vehicle, characterized in that: The steps include: Obtain the initial starting point and initial return point data of the UAV, and generate an initial path based on satellite navigation. Based on the satellite outage area in the initial path, generate a temporary radio navigation path for the outage area; Receive UAV flight data and obtain satellite positioning data of UAV in areas where satellites are not interrupted; A buffer area is associated with the satellite outage area, a route change request is triggered in the buffer area, and radio positioning data of the UAV in the satellite outage area is received.
2. The radio navigation positioning method for an unmanned aerial vehicle according to claim 1, wherein: In the steps of obtaining the initial starting point and initial return point data of the drone, generating an initial path based on satellite navigation, and generating a temporary radio navigation path for the satellite outage area according to the satellite outage area in the initial path: Obtain the drone's take-off and return point data, generate an initial path based on satellite navigation, and output the initial path data; Determine the satellite outage area in the path based on the initial path data and deploy radio nodes in the satellite outage area; Acquire radio node data and generate a temporary path based on radio ranging.
3. The radio navigation positioning method for an unmanned aerial vehicle according to claim 2, wherein: In the step of determining a satellite outage area in the path according to the initial path data and deploying a radio node in the satellite outage area: Set the regional signal strength threshold, obtain the satellite signal strength in the initial path, compare the signal strength threshold with the satellite signal strength, and determine the satellite interruption area and the satellite non-interruption area.
4. The radio navigation positioning method for an unmanned aerial vehicle according to claim 3, wherein: In the steps of setting the signal strength threshold, obtaining the satellite signal strength in the initial path, comparing the signal strength threshold with the satellite signal strength, and determining the satellite interruption area and the satellite non-interruption area: When the satellite signal strength of an area is less than the signal strength threshold, the area is determined to be a satellite outage area.
5. The radio navigation positioning method for an unmanned aerial vehicle according to claim 3, wherein: In the steps of setting the signal strength threshold, obtaining the satellite signal strength in the initial path, comparing the signal strength threshold with the satellite signal strength, and determining the satellite interruption area and the satellite non-interruption area: When the satellite signal strength of an area is greater than or equal to the signal strength threshold, the area is determined to be a satellite non-interrupted area.
6. The radio navigation positioning method for an unmanned aerial vehicle according to claim 1, wherein: In the steps of receiving drone flight data and obtaining satellite positioning data of the drone in the area where the satellite is not interrupted: Receive satellite positioning data, set the data update frequency, and obtain drone location data based on the update frequency; The position data is validated and noise reduction operations are performed.
7. The radio navigation positioning method for an unmanned aerial vehicle according to claim 6, wherein: In the steps of verifying the position data and performing noise reduction operations: Set the accuracy threshold, obtain the horizontal precision factor of the location data, and compare the accuracy threshold and the horizontal precision factor of the location data to determine the accuracy of the location data.
8. The radio navigation positioning method for an unmanned aerial vehicle according to claim 7, wherein: In the steps of setting the accuracy threshold, obtaining the horizontal dilution of precision of the location data, and comparing the accuracy threshold and the horizontal dilution of precision of the location data to determine the accuracy of the location data: When the horizontal precision dilution of the location data is less than the precision threshold, the location data is judged to be of low precision.
9. The radio navigation positioning method for an unmanned aerial vehicle according to claim 1, wherein: In the steps of associating a buffer area with a satellite blackout area, triggering a route change request in the buffer area, and receiving radio positioning data of a drone in the satellite blackout area: Set a buffer area at the edge of the satellite outage area to determine whether the current position of the drone is within the buffer area; A route change request is triggered in the buffer area to smoothly connect the initial route with the temporary route and receive the UAV radio positioning data.
10. A radio navigation and positioning system for an unmanned aerial vehicle, applied to the radio navigation and positioning method for an unmanned aerial vehicle according to claim 1, characterized in that: It includes an initial and temporary path generation module, a satellite positioning data receiving module, and a radio positioning data receiving module; wherein: The initial and temporary path generation module is used to obtain the initial starting point and initial return point data of the UAV, and generate an initial path based on satellite navigation, and generate a radio temporary navigation path for the interruption area according to the satellite interruption area in the initial path; The satellite positioning data receiving module is used to receive the UAV flight data and obtain the satellite positioning data of the UAV in the area where the satellite is not interrupted; The radio positioning data receiving module is used to associate a buffer area with the satellite outage area, trigger a path change request in the buffer area, and receive radio positioning data of the UAV in the satellite outage area.