Aircraft positioning method and system, electronic equipment and storage medium

Abstract

The invention provides an aircraft positioning method and system, electronic equipment and a storage medium, which can be applied to the technical field of unmanned aerial vehicles. The aircraft positioning method can be used for an aircraft, and the method comprises the following steps: receiving ionosphere error data sent by ground end equipment, the ionosphere error data being determined by the ground end equipment based on multi-frequency communication with a positioning satellite; and correcting the positioning position of the aircraft based on the ionosphere error data to obtain a corrected positioning position.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to an aircraft positioning method, system, electronic device, and storage medium. Background Technology

[0002] With the development of science and technology and the demands of industrialization, aircraft, represented by drones, are gradually being applied to various industries due to their advantages such as small size, high maneuverability, and ease of operation, and have improved the production efficiency of many industries. For example, drones are used for 3D mapping of construction sites and plant protection patrols in forests.

[0003] Outdoor control of aircraft typically requires obtaining their location and orientation through satellite navigation systems, which places high demands on the positioning accuracy of UAVs. Summary of the Invention

[0004] This disclosure provides an aircraft positioning method, system, electronic device, and storage medium.

[0005] One aspect of this disclosure provides an aircraft positioning method applicable to an aircraft. The method includes: receiving ionospheric error data transmitted by a ground-based device, the ionospheric error data being determined by the ground-based device based on multi-frequency communication with a positioning satellite; and correcting the positioning position of the aircraft based on the ionospheric error data to obtain a corrected positioning position.

[0006] Another aspect of this disclosure provides an aircraft positioning method that can be applied to ground-based equipment. The method includes: in response to an aircraft positioning request, sending ionospheric error data to the aircraft, so that the aircraft corrects its own positioning position based on the ionospheric error data to obtain a corrected positioning position, wherein the ionospheric error data is determined based on multi-frequency communication with a positioning satellite.

[0007] Another aspect of this disclosure provides an aircraft positioning system, comprising: a ground-based device configured to transmit ionospheric error data to the aircraft, the ionospheric error data being determined based on multi-frequency communication between the ground-based device and a positioning satellite; and the aircraft configured to correct its positioning position based on the ionospheric error data to obtain a corrected positioning position.

[0008] Another aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method as described above.

[0009] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described above.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0011] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0012] Figure 1 A flowchart illustrating an aircraft positioning method according to an embodiment of the present disclosure is shown schematically.

[0013] Figure 2 A schematic diagram of an aircraft positioning method according to an embodiment of the present disclosure is shown.

[0014] Figure 3 A flowchart illustrating an aircraft positioning method according to another embodiment of the present disclosure is shown.

[0015] Figure 4 A schematic diagram of an aircraft positioning method according to another embodiment of the present disclosure is shown.

[0016] Figure 5 A schematic diagram of an aircraft positioning system according to an embodiment of the present disclosure is shown.

[0017] Figure 6A A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0018] Figure 6B A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0019] Figure 6C A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0020] Figure 6D A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0021] Figure 6E A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0022] Figure 7 A block diagram of an aircraft positioning device according to an embodiment of the present disclosure is shown schematically.

[0023] Figure 8 A block diagram of an aircraft positioning device according to another embodiment of the present disclosure is shown schematically.

[0024] Figure 9 A block diagram of an electronic device suitable for implementing an aircraft positioning method according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0025] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0026] During the use of aircraft, remote control of the aircraft is generally required. When remotely controlling an aircraft, the accuracy of its positioning and altitude has a significant impact on flight safety. For example, although the aircraft's controller can obtain information about the surrounding environment through the aircraft's onboard camera, inaccuracies in positioning and altitude can still lead to collisions with surrounding buildings.

[0027] Aircraft typically use Global Navigation Satellite System (GNSS) for positioning. However, positioning errors often occur due to ionospheric delay, tropospheric delay, and other factors during the aircraft positioning process. Therefore, eliminating these errors during positioning can effectively improve the aircraft's positioning accuracy.

[0028] In related technologies, aircraft are generally used in conjunction with ground-based equipment. Aircraft can be positioned using a single-frequency satellite navigation scheme. However, under the single-frequency satellite navigation scheme, the ionospheric error is calculated by a mathematical model, such as the Klobuchar model. The calculation results of the model may deviate significantly from reality, resulting in a large positioning error for the aircraft.

[0029] In view of this, embodiments of the present disclosure provide an aircraft positioning method, system, electronic device, and storage medium. By modifying the ground-end device, when positioning the aircraft, the ground-end device can determine a relatively accurate ionospheric error, and the aircraft can correct its positioning based on this ionospheric error to obtain a more accurate positioning result. This aircraft positioning method can be applied to an aircraft, and the method includes: receiving ionospheric error data sent by the ground-end device, where the ionospheric error data is determined by the ground-end device based on multi-frequency communication with positioning satellites; correcting the positioning position of the aircraft based on the ionospheric error data to obtain the corrected positioning position.

[0030] Figure 1 Schematically shows a flowchart of an aircraft positioning method according to an embodiment of the present disclosure.

[0031] As Figure 1 shown, this method can be applied to an aircraft, and the method includes operations S110 to S120.

[0032] In operation S110, receive ionospheric error data sent by the ground-end device.

[0033] In operation S120, correct the positioning position of the aircraft based on the ionospheric error data to obtain the corrected positioning position.

[0034] The aircraft can be various styles of unmanned aircraft, such as jet unmanned aircraft, propeller unmanned aircraft, etc.

[0035] The ground-end device can be a device配套 with the aircraft. The operator can control the flight of the aircraft by controlling the ground-end device. The style of the ground-end device is not limited here. For example, it can be a flight remote control, a flight handle, etc. Or, the ground-end device can also be an electronic device installed with an aircraft control application program, such as a mobile phone installed with an aircraft control application program.

[0036] The ionospheric error data can be expressed as the time delay generated during the propagation of the communication signal in the ionosphere. The ionospheric error data received by the aircraft can be determined by the ground-end device based on multi-frequency communication with positioning satellites. This multi-frequency communication can be expressed as the ground-end device communicating with the positioning satellites through at least two frequency bands, and the communication frequencies represented by each of the at least two frequency bands are different. Based on the different frequencies of each of the at least two frequency bands, the refractive indices of the at least two frequency bands when passing through the ionosphere are also different, so that the ground-end device can calculate the ionospheric error data based on the echo signals of each of the at least two frequency bands.

[0037] Optionally, the ground-based equipment may be equipped with a multi-frequency communication antenna to communicate with positioning satellites. Alternatively, the processor of the ground-based equipment may combine communication signals from at least two frequency bands into a single communication signal using time-division multiplexing, wavelength-division multiplexing, or other methods, and communicate with positioning satellites via a single-frequency communication antenna; this is not limited to any particular method.

[0038] The flight control system of an aircraft can integrate at least the following sensors: controller, gyroscope, accelerometer, and barometer. These sensors, along with satellite navigation data, are used to determine the aircraft's location. The satellite navigation data can be obtained based on the communication time between the aircraft and at least four positioning satellites.

[0039] The positioning location determined solely by positioning satellites will differ from the actual location due to errors such as ionospheric delay. Therefore, error correction is necessary. Correcting the spacecraft's positioning location using ionospheric error data can be achieved by using the delay data to correct the communication time spent communicating with at least four positioning satellites individually, and then using these corrected communication times to calculate the corrected positioning location.

[0040] According to embodiments of this disclosure, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, when the aircraft needs to be positioned, the ground-based equipment can obtain ionospheric error data through multi-frequency communication with positioning satellites and send the ionospheric error data to the aircraft. The aircraft can then correct its positioning position based on this ionospheric error data to obtain a corrected positioning position, thereby improving the accuracy of aircraft positioning. This is beneficial for aircraft control and normal flight, and reduces the risk of crashes. Furthermore, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, no modifications to the aircraft are required, thus avoiding increased aircraft load and effectively ensuring the aircraft's flight performance.

[0041] The following is for reference. Figure 2 In conjunction with specific embodiments, Figure 1 The method shown will be further explained.

[0042] According to embodiments of this disclosure, correcting the positioning position of an aircraft based on ionospheric error data to obtain a corrected positioning position may include the following operations:

[0043] The system communicates with positioning satellites via a preset frequency band to obtain target communication results within that frequency band; and corrects the aircraft's positioning position based on the target communication results and ionospheric error data to obtain the corrected positioning position.

[0044] The preset frequency band can be represented as the communication frequency band of the satellite communication antenna mounted on the aircraft. The aircraft can emit communication signals in the preset frequency band to communicate with the positioning satellite. Correspondingly, the aircraft can receive the echo signal in the preset frequency band returned by the positioning satellite, and based on the reception time of the echo signal, the target communication result in the preset frequency band can be obtained.

[0045] According to embodiments of this disclosure, the target communication result may include the target communication time, T', which can be expressed as the difference between the reception time T1 of the echo signal and the transmission time T0 of the communication signal, i.e., T' = T1 - T0. Alternatively, the target communication result may also include a target pseudorange observation, which can be expressed as the estimated distance between the spacecraft and the positioning satellite. This target pseudorange observation d can be obtained based on the target communication time T', i.e., d = T' × c / 2, where c can represent the speed of light.

[0046] According to embodiments of this disclosure, correcting the aircraft's positioning position based on target communication results and ionospheric error data to obtain a corrected positioning position may include the following operations:

[0047] Based on the target communication results and ionospheric error data, the expected distance between the spacecraft and the positioning satellite is obtained; and based on the expected distance between the spacecraft and the positioning satellite, the positioning position of the spacecraft is corrected to obtain the corrected positioning position.

[0048] The aircraft can communicate with at least four positioning satellites via a preset frequency band to determine its location; that is, the target communication results can include the communication results with each of the at least four positioning satellites. Correspondingly, ground equipment can communicate with the same at least four positioning satellites to calculate ionospheric error data; that is, the ionospheric error data acquired by the aircraft can include the ionospheric delay for each of the at least four positioning satellites.

[0049] For each of the at least four positioning satellites, the expected distance between it and the spacecraft can be expressed as the difference between the pseudorange determined based on the target communication results and the distance error determined based on the ionospheric error data. After determining the expected distance of each of the at least four positioning satellites, the original method of determining the positioning position can be used to determine the positioning position again to obtain the corrected positioning position.

[0050] Figure 2 A schematic diagram of an aircraft positioning method according to an embodiment of the present disclosure is shown.

[0051] like Figure 2As shown, during the flight of the aircraft 210, communication can be established with positioning satellites 221, 222, 223, and 224 to obtain the positioning position (x, y, z). This positioning position (x, y, z) can be represented as the coordinate position of the aircraft 210 in a specific world coordinate system. The communication results between the aircraft 210 and positioning satellites 221, 222, 223, and 224 can include pseudorange observations d1 between the aircraft 210 and positioning satellite 221, d2 between the aircraft 210 and positioning satellite 222, d3 between the aircraft 210 and positioning satellite 223, and d4 between the aircraft 210 and positioning satellite 224. The positioning position (x, y, z) can then be obtained by solving formula (1).

[0052]

[0053] In formula (1), (x1,y1,z1) can represent the coordinate position of positioning satellite 221 in the specific world coordinate system, Vt1 can represent the clock error of positioning satellite 221, Vt0 can represent the clock error of the receiver of spacecraft 210, c can represent the speed of light, (x2,y2,z2) can represent the coordinate position of positioning satellite 222 in the specific world coordinate system, Vt2 can represent the clock error of positioning satellite 222, (x3,y3,z3) can represent the coordinate position of positioning satellite 223 in the specific world coordinate system, Vt3 can represent the clock error of positioning satellite 223, (x4,y4,z4) can represent the coordinate position of positioning satellite 224 in the specific world coordinate system, and Vt4 can represent the clock error of positioning satellite 224.

[0054] The positioning position (x, y, z) will differ from the actual position due to errors such as ionospheric delay, therefore, error correction is required. The ground terminal equipment 230 can determine the ionospheric delay t1 for positioning satellite 221, the ionospheric delay t2 for positioning satellite 222, the ionospheric delay t3 for positioning satellite 223, and the ionospheric delay t4 for positioning satellite 224 through multi-frequency communication with positioning satellites 221, 222, 223, and 224. The ground terminal equipment 230 can package the ionospheric delay t1, t2, t3, and t4 into ionospheric error data and send it to the aircraft 210. The aircraft 210 can correct the positioning position based on the ionospheric error data fed back by the ground terminal equipment 230 to obtain the corrected positioning position (x', y', z'), as shown in formula (2):

[0055]

[0056] The corrected positioning position (x', y', z') can be closer to the actual position of the aircraft 210, thereby effectively improving the positioning accuracy of the aircraft.

[0057] Figure 3 A flowchart illustrating an aircraft positioning method according to another embodiment of the present disclosure is shown.

[0058] like Figure 3 As shown, this method can be applied to aircraft, and the method includes operation S310.

[0059] In operation S310, in response to the aircraft positioning request, ionospheric error data is sent to the aircraft so that the aircraft can correct its own positioning position based on the ionospheric error data and obtain the corrected positioning position.

[0060] An aircraft positioning request can be represented as a request instructing ground-based equipment to send ionospheric error data to the aircraft. Upon receiving the aircraft positioning request, the ground-based equipment can respond to the request in real time and send the most recently determined ionospheric error data to the aircraft.

[0061] According to embodiments of this disclosure, ionospheric error data can be determined by ground-based equipment based on multi-frequency communication with positioning satellites. The ground-based equipment can be configured with a multi-frequency communication antenna to transmit multiple communication signals in different frequency bands to the positioning satellites.

[0062] According to embodiments of this disclosure, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, when the aircraft needs to be positioned, the ground-based equipment can obtain ionospheric error data through multi-frequency communication with positioning satellites and send the ionospheric error data to the aircraft. The aircraft can then correct its positioning position based on this ionospheric error data to obtain a corrected positioning position, thereby improving the accuracy of aircraft positioning. This is beneficial for aircraft control and normal flight, and reduces the risk of crashes. Furthermore, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, no modifications to the aircraft are required, thus avoiding increased aircraft load and effectively ensuring the aircraft's flight performance.

[0063] The following is for reference. Figure 4 In conjunction with specific embodiments, Figure 3 The method shown will be further explained.

[0064] Figure 4 A schematic diagram of an aircraft positioning method according to another embodiment of the present disclosure is shown.

[0065] like Figure 4As shown, ground-based equipment 401 can send ionospheric error data 404 to aircraft 403 in response to receiving aircraft positioning request 402.

[0066] The source of the aircraft positioning request 402 is not limited here. Optionally, the aircraft positioning request may be generated in response to an operator's control operation. For example, the ground terminal equipment may be configured with a functional module for determining the aircraft's position. When the operator performs flight control of the aircraft, or when the operator needs to determine the aircraft's position, this functional module may be triggered, and the triggering of this functional module may cause the ground terminal equipment to generate an aircraft positioning request.

[0067] Alternatively, aircraft positioning requests can also be generated periodically based on a set periodic task. For example, during the flight of an aircraft, ground-based equipment generates an aircraft positioning request in response to a periodic positioning task being triggered.

[0068] Optionally, the aircraft positioning request can also be actively generated by the aircraft. The aircraft can be configured with functions such as automatic cruise, and when these functions are enabled, it can actively generate an aircraft positioning request to determine the aircraft's real-time position. For example, during the aircraft's flight, ground equipment can obtain the communication data packets returned by the aircraft and parse the communication data packets to obtain the aircraft positioning request.

[0069] A communication link can be established between the ground terminal equipment 401 and the aircraft 403. This communication link can be a data transmission channel or an image transmission channel between the ground terminal equipment 401 and the aircraft 403, and is not limited thereto. The communication link can optionally be established through a two-way handshake or other means, and its validity can be maintained through a heartbeat mechanism or other means.

[0070] Ground-based equipment 401 can respond to the aircraft positioning request 402 and send ionospheric error data 404 to the aircraft 403 in real time to improve the efficiency of aircraft positioning.

[0071] For example, ground-based equipment can package ionospheric error data into data packets based on a preset communication protocol and send the data packets to the aircraft via a communication link to transmit ionospheric error data to the aircraft.

[0072] The preset communication protocol can be represented as the communication protocol used when establishing a communication link between the aircraft and the ground-based equipment. This preset communication protocol can be, for example, Wi-Fi, Bluetooth, ZigBee, etc., and is not limited here. Optionally, as the distance between the aircraft and the ground-based equipment increases, the preset communication protocol used can change accordingly. For example, Bluetooth can be used when the distance is short, and ZigBee can be used when the distance is long, etc., and is not limited here. The preset communication protocol can indicate the data encoding / decoding method and the format of the data packets suitable for transmission in the corresponding communication link. Based on the data encoding / decoding method and data packet format indicated in the preset communication protocol, the ground-based equipment can encode and package the ionospheric error data into data packets. After receiving the data packets, the aircraft can parse and decode the data packets to obtain the ionospheric error data.

[0073] Optionally, in order to save communication resources, after responding to the aircraft positioning request 402, the ground terminal equipment 401 may send the ionospheric error data 404 along with the next predetermined data packet.

[0074] For example, ground-based equipment can acquire the command data packet to be sent; embed ionospheric error data into the command data packet based on a preset communication protocol to obtain the target command data packet; and send the target command data packet to the aircraft through the communication link at the expected time of transmission of the command data packet, so as to send ionospheric error data to the aircraft.

[0075] The instruction data packet may contain control commands for the aircraft. The instruction data packet may be a data packet generated by the ground equipment based on the control command after receiving the control command, or it may be a data packet generated based on all control commands received within a certain period of time. There is no limitation on this.

[0076] Embedding ionospheric error data into the command data packet can be done by adding the ionospheric error data as a separate data field to the body of the command data packet, or by adding the ionospheric error data to the header of the command data packet. The method of embedding ionospheric error data into the command data packet is not limited here.

[0077] The ionospheric error data 404 sent by the ground terminal equipment 401 to the aircraft 403 can be generated in real time after receiving the aircraft positioning request 402, or it can be generated in advance when performing other tasks, which is not limited here.

[0078] Ionospheric error data 404 can be obtained by ground-based equipment 401 communicating with positioning satellites through at least two frequency bands. Taking at least two frequency bands, including a first frequency band and a second frequency band, as an example, the generation of ionospheric error data can include the following operations:

[0079] The system communicates with positioning satellites via a first frequency band and a second frequency band to obtain a first communication result in the first frequency band and a second communication result in the second frequency band; and determines ionospheric error data based on the first and second communication results.

[0080] Ground-based equipment can transmit communication signals to positioning satellites via a first frequency band and a second frequency band, respectively, and can receive echo signals from the positioning satellites in both the first and second frequency bands. Based on the reception time of the echo signal in the first frequency band and the transmission time of the communication signal in the first frequency band, a first communication result in the first frequency band and a second communication result in the second frequency band can be obtained.

[0081] According to embodiments of this disclosure, the first communication result may include the frequency of a first frequency band and a first communication time; the second communication result may include the frequency of a second frequency band and a second communication time. Alternatively, the first communication result may include the frequency of the first frequency band and a first pseudorange observation; the second communication result may include the frequency of the second frequency band and a second pseudorange observation, wherein the first pseudorange observation is obtained based on the first communication time, and the second pseudorange observation is obtained based on the second communication time.

[0082] Taking the first communication result as including the frequency of the first frequency band and the first pseudorange observation, and the second communication result as including the frequency of the second frequency band and the second pseudorange observation, the first pseudorange observation and the second pseudorange observation can be calculated by formula (3) and formula (4) respectively:

[0083]

[0084]

[0085] In formulas (3) to (4), r can represent the true distance between the satellite and the ground, Vti can represent the clock error of the positioning satellite, and Vt0' can represent the clock error of the receiver of the ground equipment. This can represent the ionospheric error in the first frequency band. This can represent the ionospheric error in the second frequency band, and T can represent the tropospheric delay. and Other errors in pseudorange observations can be represented. It can represent a cross-section of 1m along the signal propagation path. 2 The total number of electrons contained in the inclined cylinder, f1 can represent the frequency of the first frequency band, and f2 can represent the frequency of the second frequency band.

[0086] Based on formulas (3) and (4), the ionospheric error of the first frequency band and the ionospheric error of the second frequency band can be obtained, as shown in formulas (5) and (6) respectively:

[0087]

[0088]

[0089] Since the distance between the aircraft and the ground-based equipment is negligible compared to the distance between the aircraft and the positioning satellite, the ionospheric error for communication between the aircraft and the positioning satellite in the same frequency band can be considered essentially the same as the ionospheric error for communication between the ground-based equipment and the positioning satellite. Therefore, the aircraft 403 can perform pseudorange correction based on this ionospheric error data 404 to obtain the corrected pseudorange 405.

[0090] The ionospheric error data can be either the ionospheric error of the first frequency band or the ionospheric error of the second frequency band. Optionally, the ionospheric error of the first frequency band or the ionospheric error of the second frequency band can be selected as the ionospheric error data based on the frequency band used by the aircraft.

[0091] For example, if an aircraft can use a first frequency band as the frequency band for communication signals, then the ground-based equipment can determine ionospheric error data based on the first and second communication results, which may include the following operations:

[0092] Based on the first communication result and the second communication result, the ionospheric error of the first frequency band is determined; and the ionospheric error of the first frequency band is determined as ionospheric error data.

[0093] After receiving the ionospheric error in the first frequency band, the spacecraft can communicate with the positioning satellite via the first frequency band to determine the pseudorange observation between the spacecraft and the positioning satellite. The pseudorange of the spacecraft after ionospheric correction can be expressed as shown in formula (7):

[0094]

[0095] In formula (7), It can represent the pseudorange of an aircraft after ionospheric correction. This can represent the pseudorange observation determined by communication between the spacecraft and positioning satellites via the first frequency band. It can be determined by the method of formula (3).

[0096] For example, if the aircraft can also use a second frequency band as the communication signal band, then the ground-based equipment can determine the ionospheric error data based on the first and second communication results, which may include the following operations:

[0097] Based on the first and second communication results, the ionospheric error of the second frequency band is determined; and the ionospheric error of the second frequency band is defined as ionospheric error data.

[0098] After receiving the ionospheric error in the second frequency band, the spacecraft can communicate with the positioning satellite via the second frequency band to determine the pseudorange observation between the spacecraft and the positioning satellite. The pseudorange of the spacecraft after ionospheric correction can be expressed as shown in formula (8):

[0099]

[0100] In formula (8), This can represent the pseudorange observation determined by communication between the spacecraft and positioning satellites via the first frequency band. It can be determined by the method of formula (4).

[0101] Optionally, the frequency band used by the aircraft may be different from the first and second frequency bands, in which case the ionospheric error data can be determined based on the ionospheric error of the first frequency band and the ionospheric error of the second frequency band.

[0102] For example, ground-based equipment can determine the ionospheric error of the first frequency band and the ionospheric error of the second frequency band based on the first communication result and the second communication result, respectively; and obtain ionospheric error data based on the ionospheric error of the first frequency band and the ionospheric error of the second frequency band.

[0103] Optionally, the obtained ionospheric error data can be expressed as the average of the ionospheric error in the first frequency band and the ionospheric error in the second frequency band. Alternatively, the ionospheric error data can have a linear or nonlinear relationship with the frequency of the frequency band, and the ionospheric error data of the frequency band used by the aircraft can be obtained by fitting based on the linear or nonlinear relationship.

[0104] The aircraft 403 can use the corrected pseudorange 405 to correct its positioning position 406, thereby obtaining a corrected positioning position 407. The operation of correcting the positioning position of the aircraft can be found in the aforementioned section on aircraft positioning methods, and will not be repeated here.

[0105] According to embodiments of this disclosure, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, no modifications to the aircraft are required, thereby avoiding an increase in the aircraft's load and effectively ensuring the aircraft's flight performance.

[0106] Figure 5 A schematic diagram of an aircraft positioning system according to an embodiment of the present disclosure is shown.

[0107] like Figure 5 As shown, the aircraft positioning system may include ground terminal equipment 510 and aircraft 520.

[0108] According to embodiments of this disclosure, ground-based equipment 510 can be configured to transmit ionospheric error data to an aircraft, the ionospheric error data being determined based on multi-frequency communication between the ground-based equipment and a positioning satellite.

[0109] According to embodiments of this disclosure, the aircraft 520 can be configured to correct its positioning position based on ionospheric error data to obtain a corrected positioning position.

[0110] According to embodiments of this disclosure, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, when the aircraft needs to be positioned, the ground-based equipment can obtain ionospheric error data through multi-frequency communication with positioning satellites and send the ionospheric error data to the aircraft. The aircraft can then correct its positioning position based on this ionospheric error data to obtain a corrected positioning position, thereby improving the accuracy of aircraft positioning. This is beneficial for aircraft control and normal flight, and reduces the risk of crashes. Furthermore, by configuring a multi-frequency satellite navigation scheme on ground-based equipment, no modifications to the aircraft are required, thus avoiding increased aircraft load and effectively ensuring the aircraft's flight performance.

[0111] The following uses drones as an example, combined with... Figures 6A-6E and specific embodiments, for example Figure 5 The system shown will be further explained.

[0112] Ground-based equipment can be equipped with multi-frequency satellite navigation systems, including multi-frequency communication antennas and processors.

[0113] Optionally, the ground terminal equipment may include a first ground device, which may be configured to integrate a multi-frequency communication antenna and a processor.

[0114] According to embodiments of this disclosure, the first ground device can be configured to communicate with a positioning satellite via a multi-frequency communication antenna to obtain a first communication result in a first frequency band and a second communication result in a second frequency band. In a processor, based on the first and second communication results, ionospheric error data is determined, and then the ionospheric error data is sent to the spacecraft via a first communication link.

[0115] Figure 6A A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0116] like Figure 6AAs shown, the first ground device can be, for example, a flight remote controller 611, which may integrate a dual-band communication antenna capable of L1 and L5 band communication. The first communication link between the flight remote controller 611 and the UAV 620 can be an image transmission channel, and the ionospheric error data determined by the flight remote controller 611 can be the ionospheric delay in the L1 band. That is, the flight remote controller 611 can transmit the ionospheric delay in the L1 band to the UAV 620 through the image transmission channel so that the UAV 620 can correct its positioning.

[0117] Figure 6B A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0118] like Figure 6B As shown, the first ground device can be, for example, a flight handle 612, which may integrate a dual-band communication antenna capable of L1 and L5 band communication. The first communication link between the flight handle 612 and the UAV 620 can be an image transmission channel, and the ionospheric error data determined by the flight handle 612 can be the ionospheric delay of the L1 band. That is, the flight handle 612 can transmit the ionospheric delay of the L1 band to the UAV 620 through the image transmission channel so that the UAV 620 can correct its positioning.

[0119] Figure 6C A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0120] like Figure 6C As shown, the first ground device can be, for example, a flight goggles 613, which may integrate a dual-band communication antenna capable of L1 and L5 band communication. The first communication link between the flight goggles 613 and the UAV 620 can be an image transmission channel, and the ionospheric error data determined by the flight goggles 613 can be the ionospheric delay in the L1 band. That is, the flight goggles 613 can transmit the ionospheric delay in the L1 band to the UAV 620 through the image transmission channel so that the UAV 620 can correct its positioning.

[0121] Furthermore, when the first ground device is the flight goggles 613, the ground equipment may also include other ground devices 614 besides the flight goggles 613. These other ground devices 614 can be flight remote controllers, flight handles, etc., and are not limited here. The control operations of the operator of the drone 620 can be converted into control commands through these other ground devices 614 and transmitted to the drone 620 through the flight goggles 613. Optionally, these other ground devices 614 can interact with the flight goggles 613 via a data transmission channel.

[0122] Optionally, the ground-based equipment may include a first ground device and a second ground device. The first ground device may be configured to integrate a multi-frequency communication antenna and a processor, and there is no direct communication link between the first ground device and the UAV.

[0123] According to an embodiment of this disclosure, the first ground device can be configured to communicate with a positioning satellite via a multi-frequency communication antenna to obtain a first communication result in a first frequency band and a second communication result in a second frequency band. In a processor, based on the first and second communication results, ionospheric error data is determined, and then the ionospheric error data is sent to the second ground device via a second communication link.

[0124] According to embodiments of this disclosure, the second ground device can be configured to transmit ionospheric error data to the spacecraft via a third communication link.

[0125] Figure 6D A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0126] like Figure 6D As shown, the second ground device can be, for example, flight goggles 613, and the first ground device can be, for example, a flight remote controller 611. The flight remote controller 611 can integrate a dual-band communication antenna capable of L1 and L5 band communication. The third communication link between the flight remote controller 611 and the UAV 620 can be an image transmission channel, and the second communication link between the flight remote controller 611 and the flight goggles 613 can be a data transmission channel. The ionospheric error data determined by the flight remote controller 611 can be the ionospheric delay in the L1 band. That is, the flight remote controller 611 can transmit the ionospheric delay in the L1 band to the flight goggles 613 via the data transmission channel, and then the flight goggles 613 can transmit the ionospheric delay in the L1 band to the UAV 620 via the image transmission channel, so that the UAV 620 can perform positioning correction.

[0127] Figure 6E A schematic diagram of an aircraft positioning system according to another embodiment of the present disclosure is shown.

[0128] like Figure 6EAs shown, the second ground device can be, for example, flight goggles 613, and the first ground device can be, for example, a flight handle 612. The flight handle 612 can integrate a dual-band communication antenna capable of L1 and L5 band communication. The third communication link between the flight handle 612 and the UAV 620 can be an image transmission channel, and the second communication link between the flight handle 612 and the flight goggles 613 can be a data transmission channel. The ionospheric error data determined by the flight handle 612 can be the ionospheric delay in the L1 band. That is, the flight handle 612 can transmit the ionospheric delay in the L1 band to the flight goggles 613 via the data transmission channel, and then the flight goggles 613 can transmit the ionospheric delay in the L1 band to the UAV 620 via the image transmission channel, so that the UAV 620 can perform positioning correction.

[0129] According to embodiments of this disclosure, by using a dual-frequency satellite navigation scheme in ground-based equipment, the accuracy of ionospheric error measurement can be effectively improved. This improved positioning accuracy of the ground-based equipment correspondingly enhances the aircraft's return-to-home accuracy. Conversely, by using only a single-frequency satellite navigation scheme in the aircraft, and correcting its position using the ionospheric error calculated by the dual-frequency satellite navigation scheme in the ground-based equipment, the accuracy of aircraft positioning is improved. This benefits aircraft control and normal flight, reducing the risk of crashes.

[0130] Figure 7 A block diagram of an aircraft positioning device according to an embodiment of the present disclosure is shown schematically.

[0131] like Figure 7 As shown, the aircraft positioning device 700 can be installed on the aircraft, and the aircraft positioning device 700 may include a receiving module 710 and a correction module 720.

[0132] The receiving module 710 is used to receive ionospheric error data sent by the ground terminal equipment. The ionospheric error data is determined by the ground terminal equipment based on multi-frequency communication with the positioning satellite.

[0133] The correction module 720 is used to correct the positioning position of the aircraft based on ionospheric error data to obtain the corrected positioning position.

[0134] According to embodiments of this disclosure, the correction module 720 includes a first correction unit and a second correction unit.

[0135] The first correction unit is used to communicate with positioning satellites through a preset frequency band to obtain target communication results under the preset frequency band.

[0136] The second correction unit is used to correct the aircraft's positioning position based on the target communication results and ionospheric error data, so as to obtain the corrected positioning position.

[0137] According to embodiments of this disclosure, the target communication result includes the target communication time, or the target pseudorange observation, wherein the target pseudorange observation is obtained based on the target communication time.

[0138] According to embodiments of this disclosure, the second correction unit includes a first correction subunit and a second correction subunit.

[0139] The first correction subunit is used to obtain the expected distance between the spacecraft and the positioning satellite based on the target communication results and ionospheric error data.

[0140] The second correction subunit is used to correct the positioning position of the spacecraft based on the expected distance between the spacecraft and the positioning satellite, so as to obtain the corrected positioning position.

[0141] Figure 8 A block diagram of an aircraft positioning device according to another embodiment of the present disclosure is shown schematically.

[0142] like Figure 8 As shown, the aircraft positioning device 800 can be installed on ground-based equipment, and the aircraft positioning device 800 may include a transmitting module 810.

[0143] The transmitting module 810 is used to send ionospheric error data to the aircraft in response to the aircraft positioning request, so that the aircraft can correct its own positioning position based on the ionospheric error data to obtain the corrected positioning position. The ionospheric error data is determined based on multi-frequency communication with positioning satellites.

[0144] According to embodiments of this disclosure, the sending module 810 includes a first determining submodule and a second determining submodule.

[0145] The first determining submodule is used to communicate with positioning satellites via a first frequency band and a second frequency band respectively, and to obtain a first communication result in the first frequency band and a second communication result in the second frequency band.

[0146] The second determining submodule is used to determine ionospheric error data based on the first communication result and the second communication result.

[0147] According to embodiments of this disclosure, the first communication result includes the frequency of a first frequency band and a first communication time. The second communication result includes the frequency of a second frequency band and a second communication time; or, the first communication result includes the frequency of the first frequency band and a first pseudorange observation. The second communication result includes the frequency of the second frequency band and a second pseudorange observation, wherein the first pseudorange observation is obtained based on the first communication time, and the second pseudorange observation is obtained based on the second communication time.

[0148] According to embodiments of this disclosure, the second determining submodule includes a first determining unit and a second determining unit.

[0149] The first determining unit is used to determine the ionospheric error of the first frequency band based on the first communication result and the second communication result.

[0150] The second determining unit is used to determine the ionospheric error of the first frequency band as ionospheric error data.

[0151] According to embodiments of this disclosure, the second determining submodule includes a third determining unit and a fourth determining unit.

[0152] The third determining unit is used to determine the ionospheric error of the second frequency band based on the first communication result and the second communication result.

[0153] The fourth determining unit is used to determine the ionospheric error of the second frequency band as ionospheric error data.

[0154] According to embodiments of this disclosure, the second determining submodule includes a fifth determining unit and a sixth determining unit.

[0155] The fifth determining unit is used to determine the ionospheric error of the first frequency band and the ionospheric error of the second frequency band based on the first communication result and the second communication result, respectively.

[0156] The sixth determining unit is used to obtain ionospheric error data based on the ionospheric error of the first frequency band and the ionospheric error of the second frequency band.

[0157] According to embodiments of this disclosure, the transmitting module 810 includes a first transmitting unit and a second transmitting unit.

[0158] The first transmitting unit is used to package ionospheric error data into data packets based on a preset communication protocol.

[0159] The second transmitting unit is used to send data packets to the aircraft via a communication link in order to send ionospheric error data to the aircraft.

[0160] According to embodiments of this disclosure, the transmitting module 810 includes a third transmitting unit, a fourth transmitting unit, and a fifth transmitting unit.

[0161] The third sending unit is used to acquire the instruction data packet to be sent.

[0162] The fourth transmitting unit is used to embed ionospheric error data into a command data packet based on a preset communication protocol to obtain a target command data packet.

[0163] The fifth transmitting unit is used to send target command data packets to the aircraft via the communication link at the expected transmission time of the command data packets, so as to send ionospheric error data to the aircraft.

[0164] According to embodiments of this disclosure, the communication link is a data transmission channel or an image transmission channel.

[0165] According to embodiments of this disclosure, the aircraft positioning device 800 further includes a generation module.

[0166] The generation module is used to generate an aircraft positioning request in response to the periodic positioning task being triggered during the flight of the aircraft.

[0167] According to embodiments of this disclosure, the aircraft positioning device 800 further includes an acquisition module and a parsing module.

[0168] The acquisition module is used to acquire communication data packets returned by the aircraft during flight.

[0169] The parsing module is used to parse communication data packets to obtain the aircraft's positioning request.

[0170] Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure, or at least part of the functions of any one or more of them, can be implemented in one module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be implemented by dividing them into multiple modules. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as hardware circuitry, such as a Field-Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a System-on-Chip, a System-on-a-Substrate, a System-on-Package, an Application-Specific Integrated Circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0171] For example, any plurality of receiving modules 710 and correction modules 720, or transmitting modules 810, can be implemented in a single module / unit / subunit, or any single module / unit / subunit can be split into multiple modules / units / subunits. Alternatively, at least a portion of the functionality of one or more of these modules / units / subunits can be combined with at least a portion of the functionality of other modules / units / subunits and implemented in a single module / unit / subunit. According to embodiments of this disclosure, at least one of receiving modules 710 and correction modules 720, or transmitting modules 810, can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the receiving module 710 and the correction module 720, or the transmitting module 810, may be at least partially implemented as a computer program module that can perform corresponding functions when the computer program module is run.

[0172] It should be noted that the aircraft positioning device part in the embodiments of this disclosure corresponds to the aircraft positioning method part in the embodiments of this disclosure. For a detailed description of the aircraft positioning device part, please refer to the aircraft positioning method part, which will not be repeated here.

[0173] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0174] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method described above.

[0175] According to embodiments of the present disclosure, a non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions are used to cause a computer to perform the method described above.

[0176] Figure 9 A block diagram of an electronic device suitable for implementing the methods described above, according to embodiments of the present disclosure, is illustrated schematically. Figure 9 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0177] like Figure 9As shown, an electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage portion 908 into a random access memory (RAM) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0178] RAM 903 stores various programs and data required for the operation of electronic device 900. Processor 901, ROM 902, and RAM 903 are interconnected via bus 904. Processor 901 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 902 and / or RAM 903. It should be noted that the programs may also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0179] According to embodiments of this disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to a bus 904. The electronic device 900 may also include one or more of the following components connected to the input / output (I / O) interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output (I / O) interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 910 as needed so that computer programs read from it can be installed into the storage section 908 as needed.

[0180] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by processor 901, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0181] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0182] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0183] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 902 and / or RAM 903 described above and / or one or more memories other than ROM 902 and RAM 903.

[0184] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the aircraft positioning method provided in the embodiments of this disclosure.

[0185] When the computer program is executed by the processor 901, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0186] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via the communication section 909, and / or installed from a removable medium 911. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0187] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0188] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0189] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. An aircraft positioning method applied to an aircraft, characterized in that, The method comprises: receiving ionospheric error data sent by a ground terminal device, the ionospheric error data being determined by the ground terminal device based on multi-frequency communication with a positioning satellite; correcting a positioning position of the aircraft based on the ionospheric error data to obtain a corrected positioning position.

2. The method of claim 1, wherein, The correction of the positioning position of the aircraft based on the ionospheric error data to obtain the corrected positioning position comprises: obtaining target communication results in a preset frequency band by communicating with the positioning satellite in the preset frequency band; and correcting the positioning position of the aircraft based on the target communication results and the ionospheric error data to obtain the corrected positioning position.

3. The method of claim 2, wherein, The target communication results comprise target communication time or target pseudo-range observations, wherein the target pseudo-range observations are obtained based on the target communication time.

4. The method of claim 2, wherein, The correction of the positioning position of the aircraft based on the target communication results and the ionospheric error data to obtain the corrected positioning position comprises: obtaining an expected distance between the aircraft and the positioning satellite based on the target communication results and the ionospheric error data; and correcting the positioning position of the aircraft based on the expected distance between the aircraft and the positioning satellite to obtain the corrected positioning position.

5. A flight positioning method applied to a ground terminal device, characterized in that, The method comprises: in response to a positioning request of an aircraft, sending ionospheric error data to the aircraft, so that the aircraft corrects its own positioning position based on the ionospheric error data to obtain a corrected positioning position, the ionospheric error data being determined based on multi-frequency communication with a positioning satellite.

6. The method of claim 5, wherein, The determination of the ionospheric error data based on multi-frequency communication with a positioning satellite comprises: communicating with the positioning satellite in a first frequency band and a second frequency band respectively to obtain first communication results in the first frequency band and second communication results in the second frequency band; and determining the ionospheric error data based on the first communication results and the second communication results.

7. The method of claim 6, wherein, The first communication results comprise a frequency of the first frequency band and a first communication time; the second communication results comprise a frequency of the second frequency band and a second communication time; or The first communication results comprise a frequency of the first frequency band and a first pseudo-range observation; the second communication results comprise a frequency of the second frequency band and a second pseudo-range observation, wherein the first pseudo-range observation is obtained based on a first communication time, and the second pseudo-range observation is obtained based on a second communication time.

8. The method of claim 6, wherein, The determination of the ionospheric error data based on the first communication results and the second communication results comprises: determining ionospheric error of the first frequency band based on the first communication results and the second communication results; and determining the ionospheric error of the first frequency band as the ionospheric error data.

9. The method of claim 6, wherein, The determination of the ionospheric error data based on the first communication results and the second communication results comprises: determining ionospheric error of the second frequency band based on the first communication results and the second communication results; and The ionospheric error of the second frequency band is determined as the ionospheric error data.

10. The method of claim 6, wherein, The determining of the ionospheric error data based on the first communication result and the second communication result comprises: determining the ionospheric error of the first frequency band and the ionospheric error of the second frequency band based on the first communication result and the second communication result, respectively; and obtaining the ionospheric error data based on the ionospheric error of the first frequency band and the ionospheric error of the second frequency band.

11. The method of claim 5, wherein, The sending of the ionospheric error data to the aircraft comprises: packing the ionospheric error data into a data packet based on a preset communication protocol; and sending the data packet to the aircraft through a communication link to send the ionospheric error data to the aircraft.

12. The method of claim 5, wherein, The sending of the ionospheric error data to the aircraft comprises: obtaining an instruction data packet to be sent; embedding the ionospheric error data into the instruction data packet to obtain a target instruction data packet based on a preset communication protocol; and sending the target instruction data packet to the aircraft through a communication link at an expected sending time of the instruction data packet to send the ionospheric error data to the aircraft.

13. The method according to claim 11 or 12, characterized in that, The communication link is a data transmission channel or an image transmission channel.

14. The method of claim 5, wherein, Further comprising: generating the aircraft positioning request in response to a periodic positioning task being triggered during the flight of the aircraft.

15. The method of claim 5, wherein, Further comprising: obtaining a communication data packet returned by the aircraft during the flight of the aircraft; and analyzing the communication data packet to obtain the aircraft positioning request. The aircraft positioning system comprises:

16. An aircraft positioning system, characterized by a ground terminal device configured to send ionospheric error data to an aircraft, the ionospheric error data being determined based on multi-frequency communication between the ground terminal device and a positioning satellite; and the aircraft configured to correct a positioning position of the aircraft based on the ionospheric error data to obtain a corrected positioning position. The ground terminal device comprises a first ground device configured to integrate a multi-frequency communication antenna and a processor; 17. The aircraft positioning system of claim 16, wherein, wherein the first ground device is configured to communicate with the positioning satellite through the multi-frequency communication antenna to obtain a first communication result at a first frequency band and a second communication result at a second frequency band, and in the processor, determine ionospheric error data based on the first communication result and the second communication result, and then send the ionospheric error data to the aircraft through a first communication link. The first ground device comprises a flight remote controller, a flight handle or flight glasses.

18. The aircraft positioning system of claim 17, wherein, The ground terminal device comprises a first ground device and a second ground device, and the first ground device is configured to integrate a multi-frequency communication antenna and a processor; 19. The aircraft positioning system of Claim 16, wherein, ​ The first ground device is configured to communicate with the positioning satellite through the multi-frequency communication antenna to obtain a first communication result at a first frequency band and a second communication result at a second frequency band, and in the processor, ionospheric error data is determined based on the first communication result and the second communication result, and the ionospheric error data is sent to the second ground device through a second communication link. The second ground device is configured to send the ionospheric error data to the aircraft through a third communication link.

20. The aircraft positioning system of Claim 19, wherein, The first ground device comprises a flight remote controller or a flight handle, and the second ground device comprises flight glasses.

21. The aircraft positioning system of any one of claims 16-20, wherein, The aircraft comprises a drone.

22. An electronic device comprising: one or more processors; a memory for storing one or more computer programs, characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1-15.

23. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The computer program or instructions are executed by the processor to implement the steps of the method according to any one of claims 1-15.

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