Unmanned aerial vehicle hangar positioning method, apparatus, device, and medium

Abstract

This invention provides a method, apparatus, device, and medium for locating drone hangars, relating to the technical field of drones. A positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing motion of the door mechanism, effectively forming multiple positioning base stations. The method includes: when the door mechanism changes from a moving state to a stationary state, triggering the positioning base station to send a differential positioning signal corresponding to its current position; and determining first hangar attitude data corresponding to the drone hangar based on at least two differential positioning signals, so that a designated drone performs a target action according to the first hangar attitude data. This invention can effectively improve the problem of low signal-to-noise ratio caused by the obstruction of positioning base stations, thereby improving the positioning accuracy of drone hangars.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, equipment, and medium for UAV hangar positioning. Background Technology

[0002] Currently, RTK (Real-Time Kinematic) base stations are deployed in drone hangars. Their core purpose is to provide a positioning reference for drones, assist in calibrating the spatial position of drones and hangars, and guide drones to achieve accurate positioning when returning to the hangar, thus ensuring a safe landing.

[0003] The accuracy of RTK positioning technology relies on the base station antenna remaining stationary, meaning its position must be fixed to maintain stable reference coordinates and ensure the validity of base station observations. However, during actual hangar operations, when the mechanical structures used for lifting, transporting, or opening / closing drones are raised, these structures directly obstruct the RTK base station antenna. This obstructs the transmission path of GNSS (Global Navigation Satellite System) satellite signals received by the base station, rapidly deteriorating the signal-to-noise ratio of the observations. Consequently, this affects the stability of the positioning reference, and in severe cases, can lead to a decrease in drone positioning accuracy, threatening the safety of the drone's return landing. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, apparatus, device and medium for locating drone hangars, which can effectively improve the problem of low signal-to-noise ratio caused by the obstruction of the positioning base station, thereby improving the positioning accuracy of drone hangars.

[0005] In a first aspect, the present invention provides a method for locating unmanned aerial vehicle (UAV) hangars. The method is applied to a UAV hangar, wherein a positioning base station is installed on the hangar's door mechanism. The positioning base station moves with the opening and closing action of the door mechanism, effectively constituting multiple positioning base stations. The method includes:

[0006] Monitor the current state of the door mechanism during its opening and closing action;

[0007] When the current state changes from a moving state to a stationary state, the positioning base station is triggered to send the differential positioning signal corresponding to its current location;

[0008] Based on differential positioning signals corresponding to at least two locations, determine the attitude data of the first hangar corresponding to the UAV hangar;

[0009] The attitude data of the first hangar is sent to the designated drone so that the designated drone can perform the target action according to the attitude data of the first hangar.

[0010] In one implementation, the multi-positioning base station includes at least two equivalent base stations, which are associated with the current opening / closing state of the door mechanism; when the current state changes from a moving state to a stationary state, the positioning base station is triggered to send a differential positioning signal corresponding to its location, including:

[0011] When the current state changes from a moving state to a stationary state, the positioning base station is configured as an equivalent base station associated with the current opening and closing state, triggering the equivalent base station to send the differential positioning signal corresponding to its location.

[0012] In one implementation, when the current state changes from a moving state to a stationary state, the positioning base station is configured as an equivalent base station associated with the current opening / closing state, triggering the equivalent base station to send a differential positioning signal corresponding to its location, including:

[0013] When the current state changes from a moving state to a stationary state, and the current opening / closing state is a closed state, the positioning base station acts as the first equivalent base station and triggers the first equivalent base station to send the first differential positioning signal corresponding to its location.

[0014] When the current state changes from a moving state to a stationary state, and the current opening / closing state is the open state, the positioning base station acts as the second equivalent base station and triggers the second equivalent base station to send the second differential positioning signal corresponding to its location.

[0015] In one implementation, determining the attitude data of a first hangar corresponding to the UAV hangar based on differential positioning signals corresponding to at least two locations includes:

[0016] Based on the differential positioning signals corresponding to at least two locations, determine the positioning results corresponding to at least two locations respectively;

[0017] Establish a coordinate system using the positioning result corresponding to any location as the origin.

[0018] Based on the positioning deviation in the coordinate system corresponding to the positioning results of at least two locations, the attitude data of the first hangar corresponding to the UAV hangar is determined.

[0019] In one implementation, first hangar attitude data is sent to a designated drone so that the designated drone performs a target action according to the first hangar attitude data, including:

[0020] Send the attitude data of the first hangar to the designated drone;

[0021] The differential positioning signal is sent to the designated drone so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal, and perform the target action according to the first hangar attitude data and its position relative to the drone hangar.

[0022] In one implementation, the method further includes:

[0023] When the current state is in motion, the positioning base station is prohibited from sending the differential positioning signal corresponding to its location, so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal in the stationary state.

[0024] In one implementation, the method further includes:

[0025] If a hangar location offset is detected, the positioning base station is triggered to send a new differential positioning signal corresponding to its current location.

[0026] If the error between the differential positioning signal corresponding to the same location and the new differential positioning signal exceeds a preset range, the attitude data of the second hangar corresponding to the UAV hangar is determined based on the new differential positioning signals corresponding to at least two locations.

[0027] Secondly, the present invention also provides a drone hangar positioning device, which is applied to a drone hangar. A positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively constituting multiple positioning base stations. The device includes:

[0028] The status monitoring module is used to monitor the current status of the hatch mechanism during the opening and closing process;

[0029] The signal triggering module is used to trigger the positioning base station to send the differential positioning signal corresponding to its current location when the current state changes from a moving state to a stationary state.

[0030] The hangar positioning module is used to determine the first hangar attitude data corresponding to the UAV hangar based on differential positioning signals corresponding to at least two locations.

[0031] The data transmission module is used to send the attitude data of the first hangar to the designated UAV, so that the designated UAV can perform the target action according to the attitude data of the first hangar.

[0032] Thirdly, the present invention also provides a method for locating unmanned aerial vehicle (UAV) hangars. The method is applied to UAVs, wherein a positioning base station is installed on the door mechanism of the UAV hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively constituting multiple positioning base stations. The method includes:

[0033] The drone hangar receives first hangar attitude data sent by the drone hangar; wherein, the drone hangar is used to trigger the positioning base station to send a differential positioning signal corresponding to its current position when the current state of the positioning base station changes from a moving state to a stationary state, and the first hangar attitude data is determined based on differential positioning signals corresponding to at least two positions.

[0034] Receive differential positioning signals sent from the drone hangar;

[0035] Based on differential positioning signals, the position of the drone relative to the drone hangar is determined;

[0036] Based on the attitude data of the first hangar and the position of the UAV relative to the UAV hangar, execute the target action.

[0037] Fourthly, the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement any of the methods provided in the first aspect.

[0038] This invention provides a method, apparatus, device, and medium for locating drone hangars. Applied to drone hangars, the hangar's door mechanism is equipped with a positioning base station. This positioning base station moves with the opening and closing motion of the door mechanism, effectively forming multiple positioning base stations. First, the current state of the door mechanism during its opening and closing motion is monitored. Then, when the current state changes from a moving state to a stationary state, the positioning base station is triggered to send a differential positioning signal corresponding to its current position. Next, based on the differential positioning signals corresponding to at least two positions, first hangar attitude data corresponding to the drone hangar is determined. Finally, the first hangar attitude data is sent to a designated drone, enabling the designated drone to perform a target action according to the first hangar attitude data. This invention proposes setting the positioning base station on the door mechanism and having it move with the opening and closing motion of the door mechanism, thus effectively forming multiple positioning base stations. Based on this, the attitude data of the drone hangar is located based on the differential positioning signals corresponding to at least two positions of the positioning base station in a stationary state. This effectively avoids the problem of reduced signal-to-noise ratio caused by the positioning base station being obstructed, thereby helping to improve the positioning accuracy of the drone hangar.

[0039] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a method for locating a drone hangar, as provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of a positioning base station handover provided in an embodiment of the present invention;

[0044] Figure 3 This invention provides a schematic diagram of a drone hangar linkage process.

[0045] Figure 4 This is a schematic diagram of a positioning base station coordinate system provided in an embodiment of the present invention;

[0046] Figure 5 A flowchart illustrating another method for locating a drone hangar provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of a drone hangar positioning device provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Currently, in existing technologies, the transmission path of GNSS satellite signals received by RTK base stations is obstructed by mechanical structures (such as mechanical structures used for lifting, transporting, or opening and closing of drone doors), resulting in a rapid deterioration of the signal-to-noise ratio of the observed values ​​and thus affecting the stability of the positioning reference. Based on this, the present invention provides a drone hangar positioning method, device, equipment, and medium that can effectively improve the problem of low signal-to-noise ratio caused by the obstruction of the positioning base station, thereby improving the positioning accuracy of drone hangars.

[0051] To facilitate understanding of this embodiment, a detailed description of a UAV hangar positioning method disclosed in this embodiment of the invention will be provided first. This method is applied to a UAV hangar, where a positioning base station is installed on the hangar's door mechanism. The positioning base station can be an RTK base station, and it moves with the opening and closing motion of the door mechanism, effectively forming multiple positioning base stations a. See [link to documentation]. Figure 1 The diagram shows a flowchart of a method for locating a drone in a hangar. The method mainly includes the following steps S102 to S108:

[0052] Step S102: Monitor the current state of the hatch mechanism during the opening and closing process.

[0053] The current state includes a static state and a moving state. For example, when the door mechanism performs an opening or closing action, it will go through the process of entering a moving state from a static state and then returning to a static state. The drone hangar will monitor the current state during this process.

[0054] Step S104: When the current state changes from a moving state to a stationary state, the positioning base station is triggered to send the differential positioning signal corresponding to its location.

[0055] In one implementation, when the hatch mechanism performs a closing action, if it is detected that its current state changes from a moving state to a stationary state (i.e., the closing action is completed and the hatch mechanism is closed), the positioning base station at this time can be regarded as the first equivalent base station among multiple positioning base stations, and a command is sent to the positioning base station to trigger it to send a first differential positioning signal and a first base station identifier; similarly, when the hatch mechanism performs an opening action, if it is detected that its current state changes from a moving state to a stationary state (i.e., the opening action is completed and the hatch mechanism is fully open), the positioning base station at this time can be regarded as the second equivalent base station among multiple positioning base stations, and a command is sent to the positioning base station to trigger it to send a second differential positioning signal and a second base station identifier.

[0056] Step S106: Determine the attitude data of the first hangar corresponding to the UAV hangar based on the differential positioning signals corresponding to at least two positions.

[0057] The first hangar attitude data includes at least the hangar orientation. In one embodiment, the positioning result of the UAV hangar can be determined based on the differential positioning signal corresponding to each position, and the first hangar attitude data corresponding to the UAV hangar can be determined based on the positioning deviation of at least two positioning results in the same coordinate system.

[0058] Step S108: The first hangar attitude data is sent to the designated UAV so that the designated UAV performs the target action according to the first hangar attitude data. The target action can be a landing action. In one example, after sending the first hangar attitude data and differential positioning signal to the designated UAV, the designated UAV determines its position relative to the UAV based on the differential positioning signal, and then lands according to the first hangar attitude data and its position relative to the UAV.

[0059] The UAV hangar positioning method provided in this embodiment proposes to set up a positioning base station on the door mechanism and move it with the opening and closing of the door mechanism, thereby effectively forming multiple positioning base stations. Based on this, the attitude data of the UAV hangar is located based on the differential positioning signals corresponding to at least two positions of the positioning base station in a stationary state. This can effectively avoid the problem of reduced signal-to-noise ratio caused by the obstruction of the positioning base station, and thus help to improve the positioning accuracy of the UAV hangar.

[0060] For ease of understanding, this embodiment of the invention provides a specific implementation method for a drone hangar positioning method.

[0061] In one embodiment, the multi-positioning base station includes at least two equivalent base stations. The equivalent base stations are associated with the current opening and closing state of the door mechanism. For example, when the door mechanism is in the closed state, the positioning base station moves to a first position as the door mechanism opens and closes. At this time, the positioning base station is equivalent to the first equivalent base station in the multi-positioning base station, that is, the closed state is associated with the first equivalent base station. Similarly, when the door mechanism is in the open state, the positioning base station moves to a second position as the door mechanism opens and closes. At this time, the positioning base station is equivalent to the second equivalent base station in the multi-positioning base station, that is, the open state is associated with the second equivalent base station.

[0062] Based on this, this embodiment of the invention provides an implementation method for triggering a positioning base station to send a differential positioning signal corresponding to its location. When the current state changes from a moving state to a stationary state, the positioning base station is configured as an equivalent base station associated with the current open / closed state, and the equivalent base station is triggered to send a differential positioning signal corresponding to its location.

[0063] In one example, when the current state changes from a moving state to a stationary state, and the current open / closed state is closed, the positioning base station acts as the first equivalent base station and triggers the first equivalent base station to send the first differential positioning signal corresponding to its location.

[0064] In another example, when the current state changes from a moving state to a stationary state, and the current opening / closing state is the open state, the positioning base station acts as the second equivalent base station and triggers the second equivalent base station to send the second differential positioning signal corresponding to its location.

[0065] This invention uses a petal-shaped hatch mechanism as an example, see [link / reference]. Figure 2 The diagram illustrates a switching mechanism for a positioning base station. When the lantern-shaped door mechanism is closed, the positioning base station is considered the first equivalent base station and is designated as position 1. When the lantern-shaped door mechanism is open, the positioning base station is considered the second equivalent base station and is designated as position 2. Each time the door mechanism switches from dynamic to static, the UAV hangar sends a command (denoted as the modebase command) to the positioning base station. The positioning base station then feeds back the differential positioning signal corresponding to its current position and the corresponding base station identifier. When the door mechanism switches from static to dynamic, the positioning base station is prohibited from sending differential positioning signals.

[0066] The embodiments of the present invention further provide a complete linkage process, see [link / reference]. Figure 3 The diagram illustrates a drone hangar linkage process. Initially, the door mechanism is closed, and the coordinates of the positioning base station are recorded as base station coordinate 1. The drone powers on and initializes. During initialization, the door mechanism opens and the mechanical structure rises. When the door mechanism is fully open, the coordinates of the positioning base station are recorded as base station coordinate 2, and the drone takes off and performs its mission. While performing the mission, the mechanical structure descends and the door mechanism closes, and the coordinates of the positioning base station are again recorded as base station coordinate 1. When the drone hovers above the hangar and prepares to land, the door mechanism opens and the mechanical structure rises, and the coordinates of the positioning base station are again recorded as base station coordinate 2, and the drone begins to land. After landing, the mechanical structure descends and the skylight closes, and the coordinates of the positioning base station are again recorded as base station coordinate 1.

[0067] In this context, base station coordinate 1 refers to the coordinates calculated by the drone hangar based on the first differential positioning signal after sending a modebase command to the positioning base station, which then returns a first differential positioning signal. Base station coordinate 2 refers to the coordinates calculated by the drone hangar based on the second differential positioning signal after sending a modebase command to the positioning base station, which then returns a second differential positioning signal. The modebase command is also the command used to trigger the positioning base station to return the differential positioning signal.

[0068] Based on the above linkage process, the drone hangar can determine the corresponding first hangar attitude data according to base station coordinates 1 and 2.

[0069] Furthermore, this embodiment of the invention also provides an implementation method for determining the attitude data of a first hangar corresponding to a UAV hangar, including: determining the positioning results corresponding to at least two positions based on differential positioning signals corresponding to at least two positions; establishing a coordinate system with the positioning result corresponding to any position as the coordinate origin; and determining the attitude data of the first hangar corresponding to the UAV hangar based on the positioning deviation of the positioning results corresponding to at least two positions in the coordinate system. For example, see [link to example]. Figure 4 The diagram illustrates a positioning base station coordinate system, where A (Lon1, Lat1) represents base station coordinate 1, and B (Lon2, Lat2) represents base station coordinate 2. The coordinate system is established with A as the origin. The angle between the line connecting points A and B and the north direction represents the orientation of the UAV hangar. This embodiment of the invention can calculate the hangar orientation using two base station coordinates, simultaneously addressing the need for hangar orientation determination.

[0070] The designated drone can be controlled to land based on the orientation of the aforementioned drone hangar. The specific process is as follows: the first hangar attitude data is sent to the designated drone; a differential positioning signal is sent to the designated drone so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal, and execute the target action according to the first hangar attitude data and its position relative to the drone hangar.

[0071] In another example, after sending the first hangar attitude data and differential positioning signal to the designated UAV, the designated UAV determines its position relative to itself based on the differential positioning signal and simultaneously generates hangar attitude data. If the attitude data generated by the designated UAV matches the first hangar attitude data, the designated UAV will land according to the first hangar attitude data and its position relative to itself. In specific implementation, when the door mechanism is closed, the designated UAV acquires the first differential positioning data from the first equivalent base station, indicating that the RTK base station antenna is positioned at the top of the hangar skylight when the door mechanism is closed. When the door mechanism is open, the designated UAV acquires the second differential positioning data from the second equivalent base station, indicating that the RTK base station antenna moves with the hangar to the position corresponding to the preset position when the door mechanism moves to a preset position. After completing its operation, the UAV returns to the hangar and lands. The UAV decodes the first and second differential positioning data to obtain first and second calibration data, and calculates the orientation of the second hangar based on the first and second calibration data. Simultaneously, the drone hangar calculates the first hangar orientation based on the first and second calibration data, and sends the first hangar orientation to the drone. The drone determines whether the first hangar orientation matches the second hangar orientation, and if they match, it lands in the drone hangar according to the hangar orientation and the drone's position relative to the drone hangar.

[0072] Furthermore, when the current state is in motion, this embodiment of the invention will prohibit the positioning base station from sending the differential positioning signal corresponding to its location. At this time, the designated drone and the drone hangar will rely on the position calculation function of the positioning base station for positioning. That is, the position of the designated drone relative to the drone hangar will be determined based on the differential positioning signal in the stationary state, and the position divergence will be set to 1 cm within 30 seconds of differential age to meet the positioning accuracy requirements.

[0073] Furthermore, if a hangar position offset is detected, the positioning base station is triggered to send a new differential positioning signal corresponding to its current location. If the error between the differential positioning signal at the same location and the new differential positioning signal exceeds a preset range, the second hangar attitude data corresponding to the drone hangar is determined based on the new differential positioning signals corresponding to at least two locations. Specifically, since the drone hangar is deployed on a mountain, landslides or other events can cause subsidence. Therefore, after the drone and hangar automatically identify the position offset, they are automatically calibrated to obtain the third calibration data of the first equivalent base station and the fourth calibration data of the second equivalent base station. The first and third calibration data are compared to determine whether the first error between them is within a preset range, or the second and fourth calibration data are compared to determine whether the second error between them is within a preset range. If either the first or second error is not within the preset range, a new hangar orientation is determined based on the third and fourth calibration data.

[0074] Based on the foregoing embodiments, this invention also provides another method for locating drone hangars. This method is applied to drones, and a positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively forming multiple positioning base stations. See [link to documentation]. Figure 5 The flowchart shown is another method for locating drone hangars. This method mainly includes the following steps S502 to S508:

[0075] Step S502: Receive first hangar attitude data sent by the UAV hangar; wherein, the UAV hangar is used to trigger the positioning base station to send a differential positioning signal corresponding to its current position when the current state of the positioning base station changes from a moving state to a stationary state, and the first hangar attitude data is determined based on differential positioning signals corresponding to at least two positions.

[0076] Step S504: Receive the differential positioning signal sent by the UAV hangar;

[0077] Step S506: Determine the position of the UAV relative to the UAV hangar based on the differential positioning signal;

[0078] Step S508: Execute the target action based on the first hangar attitude data and the position of the UAV relative to the UAV hangar.

[0079] For details on the implementation process, please refer to the foregoing embodiments; the present invention will not elaborate further. The UAV hangar positioning method provided in this invention proposes to place a positioning base station on the door mechanism and allow it to move with the opening and closing of the door mechanism, thereby effectively forming multiple positioning base stations. Based on this, the attitude data of the UAV hangar is located using differential positioning signals corresponding to at least two positions of the positioning base station in a stationary state. This effectively avoids the problem of reduced signal-to-noise ratio caused by obstruction of the positioning base station, thereby helping to improve the positioning accuracy of the UAV hangar.

[0080] In summary, the UAV hangar positioning method provided by the embodiments of the present invention has at least the following characteristics:

[0081] First, by deploying the positioning base station on the door mechanism, this embodiment of the invention avoids the reduction in the signal-to-noise ratio of the observed value due to the obstruction of the positioning base station, thereby significantly improving the positioning accuracy of the UAV hangar.

[0082] Furthermore, most mainstream RTK base stations on the market are static base stations. Their core characteristic is that the base station antenna's installation position remains fixed, maintaining stable spatial coordinates throughout the entire operating cycle, thus providing a positioning reference. Although related technologies have proposed mobile base stations, existing solutions, to ensure positioning accuracy, must use complex algorithms to compensate for errors caused by changes in base station position. This not only increases the system's computational complexity but also places high demands on the algorithm's real-time performance and stability, increasing the difficulty and cost of technical implementation. In contrast, this invention's embodiment moves the positioning base station with the opening and closing of the door mechanism, effectively forming multiple positioning base stations, which better guarantees the real-time performance and reliability of positioning.

[0083] Finally, because hangar interiors are mostly made of steel, prolonged use can cause internal components to become magnetized, generating a large magnetic field. This magnetic field interferes with the drone's magnetic compass, affecting not only the accuracy of the aircraft's calibration with the hangar but also the drone's heading, making precise positioning impossible. When the drone returns to the hangar to land, the calibration deviation causes an error in the drone's orientation of the hangar, making the drone's arms more susceptible to damage during landing. This embodiment of the invention, by deploying the positioning base station on the door mechanism, eliminates magnetic field interference during the positioning process and further improves the accuracy of drone hangar positioning.

[0084] Based on the foregoing embodiments, this invention provides a drone hangar positioning device. This device is applied to a drone hangar, and a positioning base station is installed on the hangar's door mechanism. The positioning base station moves with the opening and closing motion of the door mechanism, effectively constituting multiple positioning base stations. See [link to documentation]. Figure 6 The diagram shows a structural schematic of a drone hangar positioning device, which mainly includes the following parts:

[0085] The status monitoring module 602 is used to monitor the current status of the hatch mechanism during the opening and closing process;

[0086] The signal triggering module 604 is used to trigger the positioning base station to send the differential positioning signal corresponding to its current position when the current state changes from a moving state to a stationary state.

[0087] The hangar positioning module 606 is used to determine the first hangar attitude data corresponding to the UAV hangar based on differential positioning signals corresponding to at least two locations.

[0088] The data transmission module 608 is used to send the first hangar attitude data to the designated UAV so that the designated UAV can perform the target action according to the first hangar attitude data.

[0089] The drone hangar positioning device provided in this embodiment of the invention proposes to set up a positioning base station on the door mechanism and make it move with the opening and closing movement of the door mechanism, thereby effectively forming multiple positioning base stations. Based on this, the attitude data of the drone hangar is located based on the differential positioning signals corresponding to at least two positions of the positioning base station in a stationary state. This can effectively avoid the problem of reduced signal-to-noise ratio caused by the obstruction of the positioning base station, thereby helping to improve the positioning accuracy of the drone hangar.

[0090] In one embodiment, the multi-positioning base station includes at least two equivalent base stations, which are associated with the current opening / closing state of the door mechanism; the signal triggering module 604 is specifically used for:

[0091] When the current state changes from a moving state to a stationary state, the positioning base station is configured as an equivalent base station associated with the current opening and closing state, triggering the equivalent base station to send the differential positioning signal corresponding to its location.

[0092] In one embodiment, the signal triggering module 604 is specifically used for:

[0093] When the current state changes from a moving state to a stationary state, and the current opening / closing state is a closed state, the positioning base station acts as the first equivalent base station and triggers the first equivalent base station to send the first differential positioning signal corresponding to its location.

[0094] When the current state changes from a moving state to a stationary state, and the current opening / closing state is the open state, the positioning base station acts as the second equivalent base station and triggers the second equivalent base station to send the second differential positioning signal corresponding to its location.

[0095] In one embodiment, the hangar positioning module 606 is specifically used for:

[0096] Based on the differential positioning signals corresponding to at least two locations, determine the positioning results corresponding to at least two locations respectively;

[0097] Establish a coordinate system using the positioning result corresponding to any location as the origin.

[0098] Based on the positioning deviation in the coordinate system corresponding to the positioning results of at least two locations, the attitude data of the first hangar corresponding to the UAV hangar is determined.

[0099] In one implementation, the data sending module 608 is specifically used for:

[0100] Send the attitude data of the first hangar to the designated drone;

[0101] The differential positioning signal is sent to the designated drone so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal, and perform the target action according to the first hangar attitude data and its position relative to the drone hangar.

[0102] In one embodiment, the hangar positioning module 606 is further configured to:

[0103] When the current state is in motion, the positioning base station is prohibited from sending the differential positioning signal corresponding to its location, so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal in the stationary state.

[0104] In one embodiment, the hangar positioning module 606 is further configured to:

[0105] If a hangar location offset is detected, the positioning base station is triggered to send a new differential positioning signal corresponding to its current location.

[0106] If the error between the differential positioning signal corresponding to the same location and the new differential positioning signal exceeds a preset range, the attitude data of the second hangar corresponding to the UAV hangar is determined based on the new differential positioning signals corresponding to at least two locations.

[0107] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0108] This invention provides an electronic device, specifically, the electronic device includes a processor and a memory; the memory stores a computer program, which, when run by the processor, executes the method described in any of the above embodiments.

[0109] Figure 7 The present invention provides a schematic diagram of the structure of an electronic device 100, which includes a processor 70, a memory 71, a bus 72 and a communication interface 73. The processor 70, the communication interface 73 and the memory 71 are connected through the bus 72. The processor 70 is used to execute executable modules, such as computer programs, stored in the memory 71.

[0110] The memory 71 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 73 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0111] Bus 72 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0112] The memory 71 is used to store programs. After receiving an execution instruction, the processor 70 executes the programs. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 70 or implemented by the processor 70.

[0113] The processor 70 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 70 or by instructions in software form. The processor 70 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 71. Processor 70 reads the information in memory 71 and, in conjunction with its hardware, completes the steps of the above method.

[0114] The computer program product of the readable storage medium provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the foregoing method embodiments. For specific implementation, please refer to the foregoing method embodiments, which will not be repeated here.

[0115] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for locating unmanned aerial vehicle (UAV) hangars, characterized in that, The method is applied to a drone hangar, wherein a positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively constituting multiple positioning base stations. The multiple positioning base stations include at least two equivalent base stations, and the equivalent base stations are associated with the current opening and closing state of the door mechanism. The method includes: Monitor the current state of the hatch mechanism during the opening and closing process; When the current state changes from a moving state to a stationary state, triggering the positioning base station to send a differential positioning signal corresponding to its location includes: when the current state changes from a moving state to a stationary state, the positioning base station is configured as the equivalent base station associated with the current opening / closing state, and triggering the equivalent base station to send a differential positioning signal corresponding to its location; wherein, when the door mechanism performs a closing action, if it detects that its current state has changed from a moving state to a stationary state, the positioning base station is considered as the first equivalent base station among the multiple positioning base stations; when the door mechanism performs an opening action, if it detects that its current state has changed from a moving state to a stationary state, the positioning base station is considered as the second equivalent base station among the multiple positioning base stations; Based on the differential positioning signals corresponding to at least two of the aforementioned locations, determine the first hangar attitude data corresponding to the UAV hangar; The first hangar attitude data is sent to a designated drone so that the designated drone performs the target action according to the first hangar attitude data.

2. The UAV hangar positioning method according to claim 1, characterized in that, When the current state changes from a moving state to a stationary state, the positioning base station is configured as the equivalent base station associated with the current opening / closing state, triggering the equivalent base station to send a differential positioning signal corresponding to its location, including: When the current state changes from a moving state to a stationary state, and the current opening / closing state is a closed state, the positioning base station acts as a first equivalent base station and triggers the first equivalent base station to send a first differential positioning signal corresponding to its location. When the current state changes from a moving state to a stationary state, and the current opening / closing state is an open state, the positioning base station acts as a second equivalent base station and triggers the second equivalent base station to send a second differential positioning signal corresponding to its location.

3. The UAV hangar positioning method according to claim 1 or 2, characterized in that, Based on the differential positioning signals corresponding to at least two of the aforementioned locations, determine the first hangar attitude data corresponding to the UAV hangar, including: Based on the differential positioning signals corresponding to at least two of the locations, determine the positioning results corresponding to at least two of the locations respectively; A coordinate system is established using the positioning result corresponding to any of the aforementioned locations as the origin. Based on the positioning deviation of the positioning results corresponding to at least two of the positions in the coordinate system, the attitude data of the first hangar corresponding to the UAV hangar is determined.

4. The UAV hangar positioning method according to claim 1, characterized in that, Sending the first hangar attitude data to a designated drone, so that the designated drone performs a target action according to the first hangar attitude data, includes: Send the attitude data of the first hangar to the designated drone; The differential positioning signal is sent to the designated drone so that the designated drone determines its position relative to the drone hangar based on the differential positioning signal, and performs the target action according to the first hangar attitude data and its position relative to the drone hangar.

5. The UAV hangar positioning method according to claim 1, characterized in that, The method further includes: When the current state is in motion, the positioning base station is prohibited from sending the differential positioning signal corresponding to its location, so that the designated drone can determine its position relative to the drone hangar based on the differential positioning signal in the stationary state.

6. The UAV hangar positioning method according to claim 1, characterized in that, The method further includes: If a hangar location offset is detected, the positioning base station is triggered to send a new differential positioning signal corresponding to its current location. If the error between the differential positioning signal corresponding to the same location and the new differential positioning signal exceeds a preset range, the second hangar attitude data corresponding to the UAV hangar is determined based on the new differential positioning signals corresponding to at least two locations.

7. A drone hangar positioning device, characterized in that, The device is applied to a drone hangar, wherein a positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively constituting multiple positioning base stations. The multiple positioning base stations include at least two equivalent base stations, and the equivalent base stations are associated with the current opening and closing state of the door mechanism. The device includes: The status monitoring module is used to monitor the current status of the hatch mechanism during the opening and closing process; A signal triggering module is used to trigger the positioning base station to send a differential positioning signal corresponding to its current position when the current state changes from a moving state to a stationary state. This includes: when the current state changes from a moving state to a stationary state, the positioning base station is configured as the equivalent base station associated with the current opening / closing state, and the equivalent base station is triggered to send a differential positioning signal corresponding to its current position. Specifically, when the door mechanism performs a closing action, if its current state changes from a moving state to a stationary state, the positioning base station is considered the first equivalent base station among the multiple positioning base stations; when the door mechanism performs an opening action, if its current state changes from a moving state to a stationary state, the positioning base station is considered the second equivalent base station among the multiple positioning base stations. The hangar positioning module is used to determine the first hangar attitude data corresponding to the UAV hangar based on the differential positioning signals corresponding to at least two of the locations. The data transmission module is used to send the first hangar attitude data to a designated drone so that the designated drone performs the target action according to the first hangar attitude data.

8. A method for locating unmanned aerial vehicle (UAV) hangars, characterized in that, The method is applied to a drone. A positioning base station is installed on the door mechanism of the drone hangar. The positioning base station moves with the opening and closing action of the door mechanism, effectively forming multiple positioning base stations. The multiple positioning base stations include at least two equivalent base stations, and each equivalent base station is associated with the current opening and closing state of the door mechanism. The method includes: The drone hangar receives first hangar attitude data sent by the drone hangar; wherein, the drone hangar is used to trigger the positioning base station to send a differential positioning signal corresponding to its current position when the current state of the positioning base station changes from a moving state to a stationary state, and the first hangar attitude data is determined based on the differential positioning signals corresponding to at least two of the positions. Receive the differential positioning signal sent by the UAV hangar; Based on the differential positioning signal, the position of the UAV relative to the UAV hangar is determined; Based on the first hangar attitude data and the position of the UAV relative to the UAV hangar, execute the target action; Specifically, when the current state changes from a moving state to a stationary state, triggering the positioning base station to send a differential positioning signal corresponding to its location includes: when the current state changes from a moving state to a stationary state, the positioning base station is configured as the equivalent base station associated with the current opening / closing state, and triggering the equivalent base station to send a differential positioning signal corresponding to its location; wherein, when the door mechanism performs a closing action, if it detects that its current state has changed from a moving state to a stationary state, the positioning base station is considered as the first equivalent base station among the multiple positioning base stations; when the door mechanism performs an opening action, if it detects that its current state has changed from a moving state to a stationary state, the positioning base station is considered as the second equivalent base station among the multiple positioning base stations.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 6.

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