Positioning method and device based on unmanned aerial vehicle, equipment and storage medium
By acquiring satellite ephemeris and correction information, and combining it with carrier phase observations for differential calculation, the problem of UAV positioning failure in network-free environments was solved, achieving high-precision UAV positioning.
Patent Information
- Application Number
- CN202511847344.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-08
- Publication Date
- 2026-03-06
AI Technical Summary
In remote areas, mountainous regions, oceans, and other areas without network coverage, traditional positioning systems that rely on internet signals cannot provide high-precision drone location information, leading to positioning failure.
By acquiring ephemeris and correction information from preset satellites, and combining carrier phase observations from UAVs and base stations, differential calculations are performed using real-time dynamic carrier phase differential technology to eliminate common errors and achieve precise positioning of the UAV.
Real-time high-precision positioning of UAVs was achieved in a network-free environment, improving positioning accuracy and achieving centimeter-level positional precision.
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Figure CN121613485A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of electronic communication technology, and in particular to a positioning method, apparatus, device and storage medium based on unmanned aerial vehicles (UAVs). Background Technology
[0002] The application of drone technology is becoming increasingly widespread in fields such as surveying and mapping, agricultural and forestry plant protection, disaster monitoring and relief, and logistics distribution.
[0003] However, in remote areas, mountainous regions, and oceans where there is no network coverage, traditional positioning systems that rely on internet signals (such as cellular network-based assisted positioning technologies) become completely ineffective, preventing drones from acquiring high-precision location information. Therefore, a positioning solution that does not rely on network signals is urgently needed. Summary of the Invention
[0004] This application provides a drone-based positioning method, apparatus, device, and storage medium to improve the accuracy of drone positioning.
[0005] In a first aspect, embodiments of this application provide a positioning method based on an unmanned aerial vehicle (UAV), comprising:
[0006] The system acquires ephemeris information, correction information, first observation information, and second observation information for a preset satellite. The ephemeris information represents the ephemeris parameters broadcast by the preset satellite. The correction information represents the deviation data broadcast by the preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellite. The first observation information represents the carrier phase observation values of the preset satellite collected by a preset base station. The second observation information represents the carrier phase observation values of the preset satellite collected by a UAV. There are at least four preset satellites.
[0007] Based on the ephemeris information and correction information of the preset satellite, the coordinate information of the preset satellite is determined; the coordinate information represents the position of the preset satellite in three-dimensional space as collected by the UAV.
[0008] The location information of the UAV is determined based on the coordinate information of each preset satellite, the first observation information, and the second observation information.
[0009] In one possible implementation, the location information of the UAV is determined based on the coordinate information of each of the preset satellites, the first observation information, and the second observation information, including:
[0010] A reference satellite is selected from all preset satellites, and all preset satellites are grouped to obtain multiple satellite groups; each satellite group includes two preset satellites, one of which is the reference satellite.
[0011] For each preset satellite, the single difference information of the preset satellite is determined based on the first observation information and the second observation information of the preset satellite; the single difference information represents the deviation between the carrier phase observation value of the preset satellite collected by the preset base station and the carrier phase observation value of the preset satellite collected by the UAV.
[0012] For each satellite group, the double difference information of the satellite group is determined based on the single difference information of two preset satellites in the satellite group; the double difference information of the satellite group characterizes the deviation between the single difference information of the reference satellite in the satellite group and the single difference information of the preset satellites other than the reference satellite.
[0013] The location information of the UAV is determined based on the coordinate information of each preset satellite and the double difference information of each satellite group.
[0014] In one possible implementation, the position information of the UAV is determined based on the coordinate information of each preset satellite and the double-difference information of each satellite group, including:
[0015] Based on the double difference information of each satellite group, the fuzzy information of each satellite group is determined; the fuzzy information of the satellite group represents the integer difference between the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the preset base station and the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the UAV.
[0016] The location information of the UAV is determined based on the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite.
[0017] In one possible implementation, the position information of the UAV is determined based on the double-difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, including:
[0018] Based on the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, the deviation information is determined; the deviation information represents the error between the position information of the UAV and the position information of the preset base station.
[0019] The location information of the preset base station is obtained, and the location information of the UAV is determined based on the deviation information and the location information of the preset base station.
[0020] In one possible implementation, determining the coordinate information of the preset satellite based on its ephemeris information and correction information includes:
[0021] Based on the ephemeris information of the preset satellite, the initial information of the preset satellite is determined; the initial information of the preset satellite represents the initial position of the preset satellite in three-dimensional space as collected by the UAV.
[0022] The coordinate information of the preset satellite is determined based on the initial and correction information of the preset satellite.
[0023] In one possible implementation, the correction information for the preset satellite includes first information, which characterizes deviation data for correcting the position of the preset satellite in three-dimensional space collected by the UAV.
[0024] Based on the initial and correction information of the preset satellite, the coordinate information of the preset satellite is determined, including:
[0025] The coordinate information of the preset satellite is determined based on the first information in the initial information and the correction information of the preset satellite.
[0026] In one possible implementation, the drone communicates with the preset base station via satellite.
[0027] Secondly, embodiments of this application provide a positioning device based on an unmanned aerial vehicle (UAV), comprising:
[0028] The acquisition module is used to acquire ephemeris information, correction information, first observation information, and second observation information of a preset satellite; the ephemeris information represents the ephemeris parameters broadcast by the preset satellite; the correction information represents the deviation data broadcast by the preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellite; the first observation information represents the carrier phase observation value of the preset satellite collected by a preset base station; the second observation information represents the carrier phase observation value of the preset satellite collected by a UAV; there are at least four preset satellites;
[0029] The first determining module is used to determine the coordinate information of the preset satellite based on the ephemeris information and correction information of the preset satellite; the coordinate information represents the position of the preset satellite in three-dimensional space as collected by the UAV.
[0030] The second determining module is used to determine the position information of the UAV based on the coordinate information of each preset satellite, the first observation information, and the second observation information.
[0031] Thirdly, embodiments of this application provide a positioning device based on an unmanned aerial vehicle (UAV), including: a memory and a processor;
[0032] The memory stores computer-executed instructions;
[0033] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.
[0034] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.
[0035] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.
[0036] The UAV-based positioning method, apparatus, device, and storage medium provided in this application acquire ephemeris information of a preset satellite. The ephemeris data of the preset satellite represents the ephemeris parameters broadcast by the preset satellite, so as to roughly extract the position of the preset satellite based on the ephemeris information. Correction information of the preset satellite is acquired to correct the roughly extracted position of the preset satellite, thus obtaining the coordinate information of the preset satellite. The coordinate information of the preset satellite is the corrected and precise position. First observation information and second observation information of the preset satellite are acquired. The first observation information represents the carrier phase observation value of the preset satellite collected by a preset base station, and the second observation information represents the carrier phase observation value of the preset satellite collected by the UAV. Based on the coordinate information of each preset satellite, differential calculation is performed to eliminate common errors, thereby obtaining the position deviation of the UAV relative to the preset base station. Then, based on the known position of the preset base station, the position information of the UAV is inferred. Since the entire data processing process does not rely on network data acquisition, all processing data can be obtained through satellite communication. Therefore, real-time calculation of the UAV's position is achieved even without a network. Meanwhile, by performing differential calculations between data collected by preset base stations and data collected by drones, common errors can be eliminated, thereby improving the accuracy of drone data processing. Attached Figure Description
[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0038] Figure 1 A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 1 ;
[0039] Figure 2A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 2 ;
[0040] Figure 3 A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 3 ;
[0041] Figure 4 A schematic diagram of the structure of a drone-based positioning device provided in an embodiment of this application;
[0042] Figure 5 This is a schematic diagram of the structure of a drone-based positioning device provided in an embodiment of this application.
[0043] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0045] Drone technology is increasingly being used in surveying, agricultural and forestry protection, disaster monitoring and relief, and logistics. However, in remote areas, mountainous regions, and oceans where there is no network coverage, traditional positioning systems that rely on internet signals (such as cellular network-based assisted positioning technology) become completely ineffective, preventing drones from acquiring high-precision location information. For example, when conducting topographic surveying in mountainous or uninhabited areas, the lack of real-time positioning can lead to data inaccuracies and affect map accuracy.
[0046] In related technologies, positioning is achieved by receiving auxiliary positioning information (such as pseudorange and phase data) provided by ground base stations or satellite networks, combined with the Global Navigation Satellite System (GNSS). However, this technology completely fails in areas without network coverage (such as remote mountainous areas and oceans), where no positioning assistance data can be provided. Furthermore, positioning accuracy is limited by network signal quality, resulting in significant deviations and making it difficult to meet the requirements of high-precision operations.
[0047] The UAV-based positioning method, apparatus, device, and storage medium provided in this application are intended to solve the aforementioned technical problems.
[0048] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.
[0049] Figure 1 A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method includes:
[0050] S101. Acquire ephemeris information, correction information, first observation information, and second observation information of the preset satellite; the ephemeris information represents the ephemeris parameters broadcast by the preset satellite; the correction information represents the deviation data broadcast by the preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellite; the first observation information represents the carrier phase observation value of the preset satellite collected by the preset base station; the second observation information represents the carrier phase observation value of the preset satellite collected by the UAV; there are at least four preset satellites.
[0051] It should be noted that this application is applied to drones and can be used to locate drones in real time in environments without a network.
[0052] For example, when a drone operates in a signal-free environment, such as when conducting terrain mapping in mountainous or uninhabited areas, it needs to obtain its position in three-dimensional space in real time. This can be achieved by receiving ephemeris information from preset satellites and second observation information in real time through the drone's built-in Global Navigation Satellite System (GNSS) receiver. The ephemeris information represents the ephemeris parameters broadcast by the preset satellites, from which pseudorange, phase, and ionospheric parameters can be extracted. The second observation information represents the carrier phase observation values of the preset satellites collected by the drone, i.e., the phase change data of the preset satellite carrier signal. The built-in GNSS system in the drone can receive satellite signals broadcast by all visible navigation satellites in real time; the preset satellites are visible navigation satellites. Using the ephemeris information and second observation information, the position of the preset satellites in three-dimensional space can be roughly inferred, providing data support for subsequent drone positioning. At least four preset satellites are used to facilitate subsequent inference of the drone's position using real-time dynamic carrier phase differential technology.
[0053] Simultaneously, the UAV acquires correction information from preset satellites via its built-in satellite-based communication module. This correction information represents the deviation data used by the preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellites, such as ephemeris errors and ionospheric delays. The satellite-based communication module can obtain this correction information from the geostationary satellites of the satellite-based augmentation system. This correction information can then be used to further refine the positions of the preset satellites in three-dimensional space derived from the strategy inference, resulting in more accurate correction data.
[0054] Simultaneously, the system acquires first observation information from a preset satellite, where the first observation information represents the carrier phase observation values of the preset satellite collected by a preset base station. The preset base station is a preset ground reference station, and its location is known. The UAV is a rover station relative to the preset base station. By using the preset base station as a reference, and since its location is known, the relative position of the UAV to the preset base station can be inferred using the carrier phase observation values of the preset satellite collected by the preset base station and those collected by the UAV, thus enabling precise location of the UAV. The UAV communicates with the preset base station via satellite; that is, the processing center of the preset base station sends base station data to a geostationary or low-Earth orbit communication satellite, which then broadcasts the base station data. The UAV receives the broadcast base station data, thereby obtaining the first observation information, ensuring successful acquisition of data collected by the preset base station even in environments without a network.
[0055] S102. Determine the coordinate information of the preset satellite based on the ephemeris information and correction information of the preset satellite; the coordinate information represents the position of the preset satellite in three-dimensional space as collected by the UAV.
[0056] For example, for each preset satellite, its position in the geocentric coordinate system can be calculated based on its ephemeris information. This position is a rough estimate. For instance, the interface control document of the Global Navigation Satellite System can be used, which details how to calculate the satellite's position in the geocentric coordinate system using ephemeris parameters. Therefore, the position of the preset satellite in the geocentric coordinate system can be calculated based on its ephemeris information.
[0057] Next, by incorporating correction information, the roughly obtained position of the preset satellite is corrected to obtain its coordinate information. This coordinate information represents the position of the preset satellite in three-dimensional space, as collected by the UAV, and is the corrected position. For example, the ephemeris error of the preset satellite in the correction information can be incorporated to eliminate deviations caused by ephemeris errors in the roughly obtained position. Similarly, the ionospheric delay data of the preset satellite in the correction information can be incorporated to eliminate deviations caused by electrical delays in the roughly obtained position. By correcting the roughly obtained position of the preset satellite using correction information, a more accurate position can be obtained, providing a more precise data foundation for subsequent analysis of the UAV's position information.
[0058] S103. Determine the UAV's position information based on the coordinate information of each preset satellite, the first observation information, and the second observation information.
[0059] For example, after obtaining the coordinate information of each preset satellite, real-time dynamic carrier phase differential technology can be used to perform differential calculations based on the coordinate information of each preset satellite, using the first observation information collected by the preset base station (reference station) and the second observation information collected by the UAV (rover). This eliminates common errors and yields the position deviation of the UAV relative to the preset base station. Given that the position of the preset base station is known, the position of the UAV can be deduced by combining the position of the preset base station with the position deviation of the UAV relative to it, thus obtaining the UAV's position information.
[0060] For example, at least four preset satellites can be grouped to obtain multiple satellite groups, each containing two preset satellites. For each satellite group, using real-time dynamic carrier phase differential technology, a carrier phase observation equation is established based on the first observation information, second observation information, and coordinate information of each preset satellite in the group. The carrier phase observation equation includes a first unknown, which is the position deviation of the UAV relative to the preset base station. By combining the carrier phase observation equations of each satellite group and solving all the carrier phase observation equations, the position deviation of the UAV relative to the preset base station can be obtained. Then, based on the position of the preset base station and the position deviation of the UAV relative to the preset base station, the position of the UAV can be deduced, thus obtaining the UAV's position information.
[0061] The UAV-based positioning method provided in this application acquires ephemeris information of a preset satellite. The ephemeris data of the preset satellite represents the ephemeris parameters broadcast by the preset satellite, and the position of the preset satellite is roughly extracted based on the ephemeris information. Correction information of the preset satellite is acquired to correct the roughly extracted position of the preset satellite, thereby obtaining the coordinate information of the preset satellite. The coordinate information of the preset satellite is the corrected and precise position. By acquiring first observation information and second observation information of the preset satellite, wherein the first observation information represents the carrier phase observation value of the preset satellite collected by the preset base station, and the second observation information represents the carrier phase observation value of the preset satellite collected by the UAV, differential calculation is performed based on the coordinate information of each preset satellite to eliminate common errors, thereby obtaining the position deviation of the UAV relative to the preset base station. Then, based on the known position of the preset base station, the position information of the UAV is inferred. Since the entire data processing process does not rely on network data acquisition, all processing data can be obtained through satellite communication. Therefore, real-time calculation of the UAV's position is achieved even without a network. Meanwhile, by performing differential calculations between data collected by preset base stations and data collected by drones, common errors can be eliminated, thereby improving the accuracy of drone data processing.
[0062] Figure 2 A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the method for determining the UAV's position information based on the coordinate information of each preset satellite, the first observation information, and the second observation information includes: selecting a reference satellite from all preset satellites and grouping all preset satellites to obtain multiple satellite groups; each satellite group includes two preset satellites, one of which is the reference satellite; for each preset satellite, determining its single-difference information based on the first and second observation information; the single-difference information characterizes the deviation between the carrier phase observation value of the preset satellite collected by the preset base station and the carrier phase observation value of the preset satellite collected by the UAV; for each satellite group, determining its double-difference information based on the single-difference information of the two preset satellites in the satellite group; the double-difference information characterizes the deviation between the single-difference information of the reference satellite in the satellite group and the single-difference information of the preset satellites other than the reference satellite; and determining the UAV's position information based on the coordinate information of each preset satellite and the double-difference information of each satellite group. This method includes:
[0063] S201. Obtain the ephemeris information, correction information, first observation information, and second observation information of the preset satellite.
[0064] S202. Determine the coordinate information of the preset satellite based on the ephemeris information and correction information of the preset satellite.
[0065] S203. Select a reference satellite from all preset satellites and group all preset satellites to obtain multiple satellite groups; each satellite group includes two preset satellites, one of which is the reference satellite.
[0066] For example, one preset satellite can be randomly selected from all preset satellites as a reference satellite. Then, all preset satellites are grouped to obtain multiple satellite groups, where each satellite group includes two preset satellites, one of which is the reference satellite. For instance, assuming there are four preset satellites: the first preset satellite, the second preset satellite, the third preset satellite, and the fourth preset satellite, if the first preset satellite is randomly selected as the reference satellite, then grouping all preset satellites will result in three satellite groups. The first satellite group includes the first and second preset satellites; the second satellite group includes the first and third preset satellites; and the third satellite group includes the first and fourth preset satellites.
[0067] S204. For each preset satellite, determine the single difference information of the preset satellite based on the first observation information and the second observation information of the preset satellite; the single difference information represents the deviation between the carrier phase observation value of the preset satellite collected by the preset base station and the carrier phase observation value of the preset satellite collected by the UAV.
[0068] For example, for each of all preset satellites, the difference between the first observation information and the second observation information of the preset satellite can be used as the single difference information of the preset satellite. The single difference information represents the deviation between the carrier phase observation value of the preset satellite collected by the preset base station and the carrier phase observation value of the preset satellite collected by the UAV, that is, the deviation between the first observation information and the second observation information.
[0069] For example, based on real-time dynamic carrier phase differential technology, for UAVs, the carrier phase observation equation of the second observation information can be expressed by the following formula (1):
[0070] (1);
[0071] In the formula, This indicates the second observation information; This indicates the actual geometric distance between the preset satellite and the drone; Indicates integer ambiguity; Indicates the carrier wavelength; This indicates the ionospheric delay of the second observation information; This indicates the tropospheric delay of the second observation information; This represents the speed of light in a vacuum. Indicates the clock bias of the drone; Indicates the preset satellite clock bias; This represents the measurement noise of the second observation information.
[0072] For a preset base station, the carrier phase observation equation for the first observation information can be expressed by the following formula (2):
[0073] (2);
[0074] In the formula, Indicates the first observation information; This represents the actual geometric distance between the preset satellite and the preset base station; Indicates integer ambiguity; Indicates the carrier wavelength; The ionospheric delay represents the initial observation information; This indicates the tropospheric delay of the first observation information; Indicates the preset base station clock bias; This represents the measurement noise of the first observation information.
[0075] Since the difference between the first and second observation information of the preset satellite is used as the single difference information of the preset satellite, it can be seen from the definitions of formula (1) and formula (2) that the error caused by the clock error of the preset satellite can be eliminated through the single difference information.
[0076] S205. For each satellite group, the double difference information of the satellite group is determined based on the single difference information of the two preset satellites in the satellite group; the double difference information of the satellite group characterizes the deviation between the single difference information of the reference satellite in the satellite group and the single difference information of the preset satellites other than the reference satellite.
[0077] For example, for each satellite group, the difference between the single-difference information of two preset satellites in the satellite group is used as the double-difference information of the satellite group. The double-difference information of the satellite group characterizes the deviation between the single-difference information of the reference satellite in the satellite group and the single-difference information of the preset satellites other than the reference satellite; that is, the difference between the single-difference information of the reference satellite in the satellite group and the single-difference information of the preset satellites other than the reference satellite.
[0078] Based on single-difference information, double-difference information further eliminates UAV clock bias and preset base station clock bias, while significantly reducing ionospheric delay and distance error caused by process delay. Based on real-time dynamic carrier phase differential technology, the double-difference observation equation for double-difference information can be expressed by the following formula (3):
[0079] (3);
[0080] In the formula, Indicates the double difference symbol; Represents double difference information; This represents the true geometric distance corresponding to the double difference information, and is a data item related to the position of the preset satellite, the position of the preset base station, and the position of the UAV; This represents the integer ambiguity corresponding to the double difference information; This represents the measurement noise corresponding to the double difference information.
[0081] S205. Determine the UAV's position information based on the coordinate information of each preset satellite and the double difference information of each satellite group.
[0082] For example, after obtaining the double-difference information of each satellite group, the real-time dynamic carrier phase difference technology can be used to solve the double-difference observation equations corresponding to all satellite groups based on the coordinate information of each preset satellite and the double-difference information of each satellite group, so as to obtain the position information of the UAV.
[0083] Specifically, in this embodiment of the application, determining the UAV's position information based on the coordinate information of each preset satellite and the double-difference information of each satellite group includes:
[0084] Based on the double-difference information of each satellite group, the fuzzy information of each satellite group is determined; the fuzzy information of the satellite group represents the integer difference between the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the preset base station and the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the UAV; based on the double-difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, the position information of the UAV is determined.
[0085] For example, for the double-difference information of each preset satellite group, based on the double-difference observation equations of all double-difference information, a preset mathematical search algorithm, such as the LAMBDA algorithm, is invoked to determine the fuzzy information of each satellite group, that is, to obtain the double-difference observation equations of each double-difference information. This serves as the fuzzy information for the corresponding satellite group. The fuzzy information for the satellite group represents the integer difference between the carrier period of the carrier phase observations of each preset satellite in the satellite group collected by the preset base station and the carrier period of the carrier phase observations of each preset satellite in the satellite group collected by the UAV. Specifically, it is the difference between the first difference between the carrier period of the reference satellite in the satellite group collected by the preset base station and the carrier period of the reference satellite in the satellite group collected by the UAV, and the second difference between the carrier period of the carrier phase observations of the preset satellites (excluding the reference satellite) in the satellite group collected by the preset base station and the carrier period of the carrier phase observations of the preset satellites (excluding the reference satellite) in the satellite group collected by the UAV.
[0086] After obtaining the corresponding double difference information Afterwards, Substituting back into the corresponding double-difference observation equation, we can obtain the true geometric distance corresponding to the double-difference information. .because For data items related to the positions of preset satellites, preset base stations, and the drone's position, the drone's position can be calculated from the positions of the preset satellites and preset base stations. That is, the drone's position information can be determined based on the double-difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite.
[0087] The advantage of this setup is that by using the double-difference information of each satellite group, the fuzzy information of each satellite group can be determined. This allows us to obtain the integer difference between the carrier period of the carrier phase observation values of each preset satellite in the satellite group collected by the preset base station and the carrier period of the carrier phase observation values of each preset satellite in the satellite group collected by the UAV. The determined fuzzy information of each satellite group makes the unknowns in the double-difference observation equation corresponding to the double-difference information known. This lays the data foundation for determining the UAV's position information in subsequent data processing.
[0088] In this embodiment of the application, determining the UAV's position information based on the double-difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite includes:
[0089] Based on the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, the deviation information is determined; the deviation information represents the error between the UAV's position information and the position information of the preset base station; the position information of the preset base station is obtained, and the UAV's position information is determined based on the deviation information and the position information of the preset base station.
[0090] For example, for the double-difference observation equation of each satellite group, all double-difference observation equations can be written in the form of the following formula (4) based on the double-difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite:
[0091] (4);
[0092] In the formula, This represents a vector composed of all double-difference information. This represents a matrix composed of all preset satellite coordinate information; This indicates the relative distance between the preset base station and the drone; This represents the coefficient matrix related to wavelength, and is usually a multiple of the identity matrix; This represents a matrix composed of all fuzzy information. The observation noise is represented by a vector consisting of the measurement noise corresponding to all double-difference information. Since... , ,as well as Given the numbers, we can let:
[0093] (5);
[0094] By solving the equation in formula (5) above, the relative distance between the preset base station and the UAV can be obtained. The relative distance between the preset base station and the drone This serves as deviation information.
[0095] Since the location information of the preset base station is known, it can be directly obtained from the drone's storage unit. Therefore, the location information of the preset base station can be obtained. The location information of the preset base station and its relative distance to the drone can then be compared. The sum of the deviation information and the location information of the preset base station is used as the location information of the drone.
[0096] The advantage of this setup is that by using the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, we can obtain the deviation information that characterizes the error between the UAV's position information and the position information of the preset base station. Thus, by using the position information of the preset base station, we can reverse-engineer the UAV's position information, thereby obtaining the UAV's position information with centimeter-level accuracy.
[0097] In this embodiment, by grouping all preset satellites, multiple satellite groups are obtained. This facilitates the construction of carrier phase observation equations for each preset satellite group using real-time dynamic carrier phase differential technology. Specifically, for each preset satellite, the single difference information of the preset satellite is determined based on the first and second observation information of the preset satellite. For each satellite group, the double difference information of the satellite group is determined based on the single difference information of the two preset satellites in the satellite group. The carrier phase observation equation is obtained based on the double difference information. Thus, all carrier phase observation equations are solved based on the coordinate information of each preset satellite group and the double difference information of each satellite group, thereby obtaining the UAV's position information accurate to the centimeter level.
[0098] Figure 3 A flowchart illustrating the UAV-based positioning method provided in this application embodiment. Figure 3 ,like Figure 3 As shown, the above-mentioned determination of the coordinate information of the preset satellite based on the ephemeris information and correction information of the preset satellite includes: determining the initial information of the preset satellite based on the ephemeris information of the preset satellite; the initial information of the preset satellite represents the position of the preset satellite in three-dimensional space initially collected by the UAV; and determining the coordinate information of the preset satellite based on the initial information and correction information of the preset satellite. This method includes:
[0099] S301. Obtain the ephemeris information, correction information, first observation information, and second observation information of the preset satellite.
[0100] S302. Determine the initial information of the preset satellite based on the ephemeris information of the preset satellite; the initial information of the preset satellite represents the initial position of the preset satellite in three-dimensional space collected by the UAV.
[0101] For example, after obtaining the ephemeris information of a preset satellite, its position in the geocentric-ground-fixed coordinate system can be calculated based on this information. This initial information represents the initial position of the preset satellite in three-dimensional space, as collected by the UAV; that is, the position of the preset satellite in three-dimensional space without error correction, as collected by the UAV. For instance, this can be based on the interface control document of the Global Navigation Satellite System, which details how to calculate the satellite's position in the geocentric-ground-fixed coordinate system using ephemeris parameters. Therefore, the position of the preset satellite in the geocentric-ground-fixed coordinate system can be calculated based on its ephemeris information.
[0102] S303. Determine the coordinate information of the preset satellite based on the initial and correction information of the preset satellite.
[0103] In an exemplary embodiment, the coordinate information of a preset satellite can be determined based on the initial information of the preset satellite and the correction value provided by the correction information. Specifically, in this embodiment, the correction information of the preset satellite includes first information, which represents the deviation data for correcting the position of the preset satellite in three-dimensional space collected by the UAV; the above S303 includes:
[0104] The coordinate information of the preset satellite is determined based on the first information in the initial information and the correction information of the preset satellite.
[0105] For example, the correction information of the preset satellite includes first information, which represents the deviation data for correcting the position of the preset satellite in three-dimensional space collected by the UAV. For example, the first information is the difference between the position of the preset satellite in three-dimensional space collected by the UAV and the standard position. The sum of the initial information of the preset satellite and the first information in the correction information of the preset satellite can be used as the coordinate information of the preset satellite.
[0106] The advantage of this approach is that the initial information of the preset satellite can be corrected by using the first piece of information in the correction information of the preset satellite, thereby obtaining a more accurate position of the preset satellite in three-dimensional space collected by the UAV, which ensures the accuracy of subsequent data processing.
[0107] S304. Determine the UAV's position information based on the coordinate information of each preset satellite, the first observation information, and the second observation information.
[0108] In this embodiment, the initial information of the preset satellite can be obtained through the ephemeris information of the preset satellite. The initial information of the preset satellite represents the initial position of the preset satellite in three-dimensional space collected by the UAV, which provides relatively coarse raw data for subsequent data processing. By correcting the initial information, a refined position of the preset satellite in three-dimensional space collected by the UAV can be obtained.
[0109] Figure 4 This is a schematic diagram of the structure of the drone-based positioning device provided in the embodiments of this application, as shown below. Figure 4 As shown, the drone-based positioning device 40 provided in this embodiment includes:
[0110] The acquisition module 401 is used to acquire ephemeris information, correction information, first observation information, and second observation information of preset satellites; the ephemeris information represents the ephemeris parameters broadcast by the preset satellites; the correction information represents the deviation data broadcast by the preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellites; the first observation information represents the carrier phase observation values of the preset satellites collected by the preset base station; the second observation information represents the carrier phase observation values of the preset satellites collected by the UAV; there are at least four preset satellites;
[0111] The first determining module 402 is used to determine the coordinate information of the preset satellite based on the ephemeris information and correction information of the preset satellite; the coordinate information represents the position of the preset satellite in three-dimensional space as collected by the UAV.
[0112] The second determining module 403 is used to determine the position information of the UAV based on the coordinate information of each preset satellite, the first observation information, and the second observation information.
[0113] In one possible implementation, the second determining module 403 is further configured to:
[0114] Select a reference satellite from all preset satellites, and group all preset satellites to obtain multiple satellite groups; each satellite group includes two preset satellites, one of which is the reference satellite.
[0115] For each preset satellite, the single difference information of the preset satellite is determined based on the first observation information and the second observation information of the preset satellite; the single difference information represents the deviation between the carrier phase observation value of the preset satellite collected by the preset base station and the carrier phase observation value of the preset satellite collected by the UAV.
[0116] For each satellite group, the double difference information of the satellite group is determined based on the single difference information of the two preset satellites in the satellite group; the double difference information of the satellite group characterizes the deviation between the single difference information of the reference satellite in the satellite group and the single difference information of the preset satellites other than the reference satellite.
[0117] The location information of the UAV is determined based on the coordinate information of each preset satellite and the double difference information of each satellite group.
[0118] In one possible implementation, the second determining module 403 is further configured to:
[0119] Based on the double difference information of each satellite group, the fuzzy information of each satellite group is determined; the fuzzy information of the satellite group represents the integer difference between the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the preset base station and the carrier period of the carrier phase observation value of each preset satellite in the satellite group collected by the UAV.
[0120] The location information of the UAV is determined based on the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite.
[0121] In one possible implementation, the second determining module 403 is further configured to:
[0122] Based on the double difference information of each satellite group, the fuzzy information of each satellite group, and the coordinate information of each preset satellite, the deviation information is determined; the deviation information represents the error between the UAV's position information and the position information of the preset base station.
[0123] The system acquires the location information of a preset base station and determines the location information of the drone based on the deviation information and the location information of the preset base station.
[0124] In one possible implementation, the first determining module 402 is further configured to:
[0125] Based on the ephemeris information of the preset satellite, the initial information of the preset satellite is determined; the initial information of the preset satellite represents the initial position of the preset satellite in three-dimensional space collected by the UAV.
[0126] Based on the initial and correction information of the preset satellite, determine the coordinate information of the preset satellite.
[0127] In one possible implementation, the correction information for the preset satellite includes first information, which characterizes deviation data for correcting the position of the preset satellite in three-dimensional space acquired by the UAV; the first determining module 402 is further configured to:
[0128] The coordinate information of the preset satellite is determined based on the first information in the initial information and the correction information of the preset satellite.
[0129] In one possible implementation, the drone communicates with a pre-set base station via satellite.
[0130] The drone-based positioning device provided in this embodiment can execute the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.
[0131] Figure 5 This is a schematic diagram of the structure of a drone-based positioning device provided in an embodiment of this application. Figure 5 As shown, the UAV-based positioning device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the UAV-based positioning device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus.
[0132] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.
[0133] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.
[0134] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.
[0135] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.
[0136] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.
[0137] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.
[0138] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.
[0139] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0140] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.
[0141] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.
[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0143] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0144] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part 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 of the various embodiments of this 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.
[0145] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
[0146] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.
Claims
1. A method for positioning based on a drone, characterized in that, The method comprises the following steps: acquiring ephemeris information, correction information, first observation information and second observation information of preset satellites; the ephemeris information represents ephemeris parameters broadcast by the preset satellites; the correction information represents deviation data broadcast by a preset satellite-based augmentation system to correct the ephemeris parameters of the preset satellites; the first observation information represents carrier phase observation values of the preset satellites collected by preset base stations; and the second observation information represents carrier phase observation values of the preset satellites collected by a UAV; the preset satellites are at least four in number; determining coordinate information of the preset satellites according to the ephemeris information and the correction information of the preset satellites; the coordinate information represents the positions of the preset satellites in three-dimensional space collected by the UAV; determining position information of the UAV according to the coordinate information, the first observation information and the second observation information of each of the preset satellites.
2. The method of claim 1, wherein, The method for determining position information of the UAV according to the coordinate information, the first observation information and the second observation information of each of the preset satellites comprises the following steps: selecting a reference satellite from all the preset satellites and grouping all the preset satellites to obtain a plurality of satellite groups; each satellite group comprises two preset satellites, one of which is the reference satellite; for each preset satellite, determining single-difference information of the preset satellite according to the first observation information and the second observation information of the preset satellite; the single-difference information represents the deviation between the carrier phase observation values of the preset satellite collected by the preset base stations and the carrier phase observation values of the preset satellite collected by the UAV; for each satellite group, determining double-difference information of the satellite group according to the single-difference information of the two preset satellites in the satellite group; the double-difference information of the satellite group represents the deviation between the single-difference information of the reference satellite and the single-difference information of the preset satellite other than the reference satellite in the satellite group; determining position information of the UAV according to the coordinate information of each of the preset satellites and the double-difference information of each satellite group.
3. The method of claim 2, wherein, The method for determining position information of the UAV according to the coordinate information of each of the preset satellites and the double-difference information of each satellite group comprises the following steps: determining ambiguity information of each satellite group according to the double-difference information of each satellite group; the ambiguity information of the satellite group represents the integer difference between the carrier cycle of the carrier phase observation values of each preset satellite in the satellite group collected by the preset base stations and the carrier cycle of the carrier phase observation values of each preset satellite in the satellite group collected by the UAV; determining position information of the UAV according to the double-difference information of each satellite group, the ambiguity information of each satellite group and the coordinate information of each of the preset satellites.
4. The method of claim 3, wherein, The method for determining position information of the UAV according to the double-difference information of each satellite group, the ambiguity information of each satellite group and the coordinate information of each of the preset satellites comprises the following steps: determining deviation information according to the double-difference information of each satellite group, the ambiguity information of each satellite group and the coordinate information of each of the preset satellites; the deviation information represents the error between the position information of the UAV and the position information of the preset base stations; Obtaining position information of the preset base station, and determining position information of the unmanned aerial vehicle according to the deviation information and the position information of the preset base station.
5. The method of claim 1, wherein, According to the ephemeris information and the correction information of the preset satellite, coordinate information of the preset satellite is determined, including: According to the ephemeris information of the preset satellite, initial information of the preset satellite is determined; the initial information of the preset satellite represents an initial position of the preset satellite in three-dimensional space collected by the unmanned aerial vehicle; According to the initial information and the correction information of the preset satellite, coordinate information of the preset satellite is determined.
6. The method of claim 5, wherein, The correction information of the preset satellite includes first information, and the first information represents deviation data for correcting the position of the preset satellite in three-dimensional space collected by the unmanned aerial vehicle; According to the initial information and the correction information of the preset satellite, coordinate information of the preset satellite is determined, including: According to the initial information of the preset satellite and the first information in the correction information of the preset satellite, coordinate information of the preset satellite is determined.
7. The method according to any one of claims 1 to 6, characterized in that, The unmanned aerial vehicle and the preset base station communicate through a satellite.
8. An unmanned aerial vehicle based positioning apparatus, comprising: Including: An acquisition module is configured to acquire ephemeris information, correction information, first observation information, and second observation information of a preset satellite; The ephemeris information represents ephemeris parameters broadcast by a preset satellite; The correction information represents deviation data broadcast by a preset satellite-based augmentation system for correcting ephemeris parameters of a preset satellite; The first observation information represents carrier phase observation values of a preset satellite collected by a preset base station; the second observation information represents carrier phase observation values of a preset satellite collected by an unmanned aerial vehicle; the preset satellite has at least four; A first determination module is configured to determine coordinate information of the preset satellite according to the ephemeris information and the correction information of the preset satellite; The coordinate information represents a position of a preset satellite in three-dimensional space collected by an unmanned aerial vehicle; A second determination module is configured to determine position information of the unmanned aerial vehicle according to the coordinate information, the first observation information, and the second observation information of each preset satellite.
9. An unmanned aerial vehicle based positioning device, comprising: Including: A memory and a processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-7.
11. A computer program product, characterised in that, The computer program is executed by the processor to implement the method of any one of claims 1-7.