Unmanned aerial vehicle landing positioning method, device, equipment and medium

Abstract

The application provides a UAV landing positioning method and device, equipment and medium, and relates to the technical field of UAVs. A first positioning antenna arranged at the end of a UAV and a second positioning antenna arranged at the end of a hangar equivalently constitute a virtual double-positioning antenna system, which comprises the following steps: acquiring current UAV position information and current hangar position information output by the first positioning antenna and the second positioning antenna in the virtual double-positioning antenna system; determining a target virtual heading angle from the first positioning antenna to the second positioning antenna based on the current UAV position information and the current hangar position information; performing heading verification on the target virtual heading angle; and controlling the UAV to land at the end of the hangar according to the target virtual heading angle in the case of passing the heading verification. The application realizes the heading calculation accuracy equivalent to that of a physical double-RTK antenna system without changing the single-positioning hardware configuration at the end of the UAV.

Description

Technical Field

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

[0002] With the rapid development of drone technology, drones are increasingly used in inspection, emergency response, and urban management, leading to a significant increase in flight mission volume. Currently, due to manufacturing costs and weight constraints, most consumer and industrial drones are equipped only with magnetic compasses as their primary heading measurement sensor. Magnetic compasses determine the aircraft's heading angle by detecting the Earth's magnetic field, but this method is susceptible to electromagnetic interference from ferromagnetic materials, high-voltage power lines, and other sources in the surrounding environment. Although current technologies typically perform magnetic compass calibration before takeoff, the dynamic nature of interference sources in the operating environment means that even after calibration, heading measurement deviations can still occur during actual flight. This heading deviation is particularly problematic when drones are performing automatic return-to-home and precision landing missions, as it can prevent the drone from accurately aligning with the hangar's centering mechanism. In the event of a landing failure, the system must activate emergency plans, requiring maintenance personnel to manually recover the drone, which not only increases labor costs but may also lead to mission interruption and reduced operational efficiency. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a method, apparatus, device and medium for UAV landing positioning, which achieves heading calculation accuracy comparable to that of a physical dual RTK (Real Time Kinematic) antenna system without changing the single positioning hardware configuration of the UAV.

[0004] In a first aspect, the present invention provides a method for UAV landing positioning, wherein a first positioning antenna deployed on the UAV and a second positioning antenna deployed on the hangar equivalently constitute a virtual dual positioning antenna system, the method comprising: Obtain the current UAV location information and current hangar location information output by the first and second positioning antennas in the virtual dual positioning antenna system, respectively; Based on the current UAV location information and the current hangar location information, determine the target virtual heading angle from the first positioning antenna to the second positioning antenna; Perform heading verification on the target's virtual heading angle; Once the heading verification is passed, the drone is controlled to land at the hangar according to the target virtual heading angle.

[0005] In one implementation, determining the target virtual heading angle from the first positioning antenna to the second positioning antenna based on the current UAV location information and the current hangar location information includes: Call the target heading solution model in the set of virtual dual-positioning heading solution models; wherein, the set of virtual dual-positioning heading solution models includes one or more of the following: differential heading solution model, range projection heading solution model, and spatial vector heading solution model; Based on the positional deviation between the current UAV position information and the current hangar position information, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined by the target heading calculation model. The initial virtual heading angle is compensated by a preset compensation angle to obtain the target virtual heading angle.

[0006] In one implementation, when the target heading calculation model is a differential heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model, including: Determine the longitude and latitude deviations between the current drone location information and the current hangar location information; The longitude deviation is compensated by using the average latitude between the current drone location information and the current hangar location information; Using the arctangent function, and based on the compensated longitude and latitude deviations, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined.

[0007] In one implementation, when the target heading calculation model is a range projection heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model. The method further includes: Determine the longitude and latitude deviation values ​​in radians between the current drone location information and the current hangar location information; Using the radius value of the Earth's geometric model as a scaling factor, the latitude deviation in radians is converted into the first actual distance along the first direction; Furthermore, by using the average latitude between the current UAV location information and the current hangar location information, the longitude deviation arc value is compensated, and the radius value of the Earth's geometric model is used as a scaling factor to convert the compensated longitude deviation arc value into a second actual distance along the second direction, with the first direction and the second direction being perpendicular to each other; Using the arctangent function, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the compensated first and second actual distances.

[0008] In one implementation, when the target heading calculation model is a spatial vector heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model. The method further includes: Transform the current drone position information and the current hangar position information to a specified coordinate system to obtain the initial coordinate deviation between the intermediate drone position information and the intermediate hangar position information in the specified coordinate system; The initial coordinate deviation is transformed to a local horizontal coordinate system centered on the UAV, resulting in the target coordinate deviation in the local horizontal coordinate system. The initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the target coordinate deviation using the arctangent function.

[0009] In one implementation, the virtual heading angle of the target is checked, including: Determine whether the target virtual heading angle satisfies the consistency constraint, fixed solution constraint, and baseline length constraint; If all judgment results are yes, the target virtual heading angle is confirmed to pass the heading verification. If any judgment result is negative, it is determined that the target virtual heading angle has failed the heading verification.

[0010] In one implementation, the consistency constraint is: the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV terminal is less than or equal to a first preset threshold. The fixed solution constraint is: the UAV is in a stationary state, and the positioning states of both the UAV and the hangar are fixed solution states; The baseline length constraint is: the error between the current baseline length between the first positioning antenna and the second positioning antenna and the pre-set known baseline length is less than or equal to the second preset threshold.

[0011] Secondly, the present invention also provides a drone landing positioning device, wherein a first positioning antenna deployed at the drone end and a second positioning antenna deployed at the hangar end effectively constitute a virtual dual positioning antenna system, and the device includes: The location acquisition module is used to acquire the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively. The heading determination module is used to determine the target virtual heading angle from the first positioning antenna to the second positioning antenna based on the current UAV position information and the current hangar position information; The heading verification module is used to verify the heading of the target virtual heading angle; The landing control module is used to control the UAV to land at the hangar according to the target virtual heading angle after the heading verification is passed.

[0012] Thirdly, the present invention also provides an electronic device including a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement any of the methods provided in the first aspect.

[0013] Fourthly, the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement any of the methods provided in the first aspect.

[0014] This invention provides a method, apparatus, device, and medium for UAV landing positioning. A first positioning antenna deployed on the UAV and a second positioning antenna deployed on the hangar equivalently constitute a virtual dual-positioning antenna system. First, the current UAV position information and the current hangar position information output by the first and second positioning antennas in the virtual dual-positioning antenna system are acquired. Then, based on the current UAV position information and the current hangar position information, the target virtual heading angle from the first positioning antenna to the second positioning antenna is determined. Next, the heading angle is verified. If the heading verification is successful, the UAV is controlled to land on the hangar according to the target virtual heading angle. This method maintains the hardware architecture of deploying only a single positioning antenna on the UAV, effectively forming a virtual dual-positioning antenna system with the positioning antenna deployed on the hangar. The target virtual heading angle is calculated based on this virtual dual-positioning antenna system. When the target virtual heading angle passes the heading verification, the UAV can be controlled to dock with the hangar, achieving UAV landing control. Based on the equivalent virtual dual-positioning antenna system, this invention can achieve heading calculation accuracy comparable to a physical dual RTK antenna system.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a drone landing and positioning method provided in an embodiment of the present invention. Figure 2 A flowchart illustrating another UAV landing and positioning method provided in an embodiment of the present invention; Figure 3 A CAD structural diagram of a hangar provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a UAV landing positioning device based on virtual dual-positioning heading calculation, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of a drone landing positioning device for an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Currently, due to the susceptibility of magnetic compasses to interference from local magnetic field environments, their output heading angle often has a large deviation in practical applications, causing UAVs to fail to dock accurately during landing. Dual RTK heading requires the UAV to have both a main antenna and a secondary antenna. Based on this, this invention provides a UAV landing positioning method, device, equipment, and medium that achieves heading calculation accuracy comparable to a physical dual RTK antenna system without changing the single positioning hardware configuration of the UAV.

[0021] To facilitate understanding of this embodiment, a detailed description of the UAV landing positioning method disclosed in this embodiment of the invention will be provided first. The first positioning antenna deployed on the UAV and the second positioning antenna deployed on the hangar equivalently constitute a virtual dual positioning antenna system. Both the first and second positioning antennas are RTK antennas, and the virtual dual positioning antenna system is also known as a virtual dual RTK antenna system. See [link to documentation]. Figure 1The diagram shows a flowchart of a UAV landing and positioning method, which mainly includes the following steps S102 to S108: Step S102: Obtain the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively.

[0022] In one example, the first positioning antenna outputs the RTK coordinates of the drone as the current drone location information, and the second positioning antenna outputs the RTK coordinates of the hangar as the current hangar location information.

[0023] Step S104: Based on the current UAV location information and the current hangar location information, determine the target virtual heading angle from the first positioning antenna to the second positioning antenna.

[0024] In one example, this embodiment of the invention pre-configures a set of virtual dual-positioning heading calculation models, which includes heading calculation models with different positioning accuracies, such as differential heading calculation models, distance projection heading calculation models, and spatial vector heading calculation models. The differential heading calculation model directly calculates the virtual heading angle based on the RTK coordinates (i.e., WGS84 geographic coordinates) of the UAV and hangar. Its calculation process is simple, requiring no coordinate system transformation or Earth curvature correction, and features low computational load and fast response speed, making it suitable for low-latitude regions, short-distance docking (<10 m), and scenarios with high real-time requirements. The distance projection heading calculation model considers the influence of Earth curvature, converting the latitude and longitude difference of the RTK coordinates into actual distance components within a local horizontal plane, and then calculating the virtual heading angle. Compared to the differential heading calculation model, the distance projection heading calculation model has higher accuracy and is suitable for most medium- and short-range general docking tasks. The spatial vector heading calculation model transforms the current UAV position information and the current hangar position information into a specified coordinate system, calculates the spatial vector difference, and then projects it onto a local horizontal coordinate system centered on the UAV to calculate the virtual heading angle. Because it fully considers the Earth's oblateness and three-dimensional geometric relationship, the direction calculation error is less than 0.01, making it suitable for mission scenarios in high-latitude regions, long-distance guidance, or docking with extremely high accuracy requirements.

[0025] Furthermore, the compensation angle corresponding to the hangar model can be used to compensate for the virtual heading angle obtained from the model solution, thus obtaining the target virtual heading angle.

[0026] Step S106: Perform a heading verification on the target virtual heading angle.

[0027] In one example, this embodiment of the invention introduces triple verification, including consistency constraints, fixed solution constraints, and baseline length constraints. The consistency constraint is: the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV is less than or equal to a first preset threshold. The fixed solution constraint is: the UAV is stationary, and the positioning states of both the UAV and the hangar are in a fixed solution state, where the integer ambiguity of the carrier phase observation is successfully resolved to an exact integer and remains stable throughout the observation process. The baseline length constraint is: the error between the current baseline length between the first and second positioning antennas and a pre-set known baseline length is less than or equal to a second preset threshold.

[0028] If the consistency constraint, fixed solution constraint, and baseline length constraint are satisfied, the target virtual heading angle can be determined to have passed the heading verification. If any of the consistency constraint, fixed solution constraint, and baseline length constraint is not satisfied, the target virtual heading angle will be confirmed to have failed the heading verification, and a point-marking failure (i.e., route calculation failure) will be displayed on the designated associated terminal's interface.

[0029] Step S108: After passing the heading verification, control the UAV to land at the hangar according to the target virtual heading angle.

[0030] The UAV landing positioning device provided in this embodiment of the invention maintains the hardware architecture of deploying only a single positioning antenna on the UAV, and constructs a virtual dual positioning antenna system equivalent to the positioning antenna deployed at the hangar. Based on this virtual dual positioning antenna system, the target virtual heading angle is calculated. When the target virtual heading angle passes the heading verification, the UAV terminal can be controlled to dock with the hangar terminal to realize UAV landing control. The virtual dual positioning antenna system constructed by this invention can achieve heading calculation accuracy comparable to that of a physical dual RTK antenna system.

[0031] For ease of understanding, this invention provides a specific implementation of a UAV landing and positioning method, see [link to relevant documentation]. Figure 2 The flowchart of another method for UAV landing site is shown, including steps S202 to S210: Step S202: Obtain the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively.

[0032] For example, if the first RTK antenna deployed on the drone is used as the master station, its output of the current RTK coordinates of the drone is: The second RTK antenna deployed at the hangar is used as a slave station, and its output current hangar RTK coordinates are: The units for the above UAV RTK coordinates and hangar RTK coordinates are all in radians.

[0033] Step S204: Call the target heading solution model to determine the initial virtual heading angle.

[0034] In one example, the target heading solution model from the virtual dual-positioning heading solution model set is first invoked. This set includes one or more of the following: differential heading solution model, range projection heading solution model, and spatial vector heading solution model. Then, using the target heading solution model, based on the positional deviation between the current UAV position information and the current hangar position information, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined. In practical applications, the target heading solution model to be invoked for this task can be pre-selected. For example, the range projection heading solution model can be used as the default solution model. Considering the characteristics of the differential heading solution model—fast computation and low computational load—it can be invoked when low-precision positioning requirements exist, such as the UAV being at a low latitude or the distance between the UAV and the hangar being short. Considering the higher computational accuracy of the spatial vector heading solution model, it can be invoked when higher-precision positioning requirements are needed.

[0035] The embodiments of the present invention provide specific processes for calculating the initial virtual heading angle from the first positioning antenna to the second positioning antenna using differential heading calculation model, range projection heading calculation model and spatial vector heading calculation model respectively.

[0036] Method 1, the differential heading calculation model, which is based on the WGS84 dimension difference, directly calculates the initial heading angle using RTK coordinate differences. It is suitable for short-range, high-speed calculation scenarios. Specifically: (1.1) Determine the longitude and latitude deviations between the current UAV location information and the current hangar location information, that is: , ;in, Due to latitude deviation, This is due to longitude deviation.

[0037] (1.2) The longitude deviation is compensated using the mean latitude between the current UAV location information and the current hangar location information. In one implementation, the product of the cosine of the mean latitude and the longitude deviation can be used as the compensated longitude deviation. The formula for calculating the mean latitude is: .

[0038] (1.3) Using the arctangent function, based on the compensated longitude and latitude deviations, determine the initial virtual heading angle from the first positioning antenna to the second positioning antenna. Specifically, the heading angle from the first positioning antenna to the second positioning antenna... The calculation formula is as follows: ; heading angle Convert the result to degrees and normalize it modulo 360° so that its value falls within the range of [0°, 360°). The result of the normalization is the initial heading angle, and the formula for calculating the initial heading angle is shown below: ;in, The initial heading angle is determined using the differential heading solution model.

[0039] Method 2, the distance projection heading calculation model, also known as heading calculation based on geographic distance projection, considers the influence of the Earth's curvature, converts latitude and longitude differences into east and north components, and determines the initial heading angle using the arctangent function. This model is applicable to most general scenarios. Specifically: (2.1) Determine the longitude and latitude deviation in radians between the current UAV location information and the current hangar location information. For example, , ;in, This represents the latitude deviation in radians. This represents the longitude deviation in radians.

[0040] (2.2) Using the radius value of the Earth's geometric model as a scaling factor, the latitude deviation in radians is converted into the first actual distance along the first direction, where the first direction can be north, i.e.: , This is the first actual distance along the northward direction. This represents the radius value of the Earth's geometric model.

[0041] (2.3) Furthermore, the latitude mean between the current UAV location information and the current hangar location information is used to compensate for the longitude deviation in radians. The radius of the Earth's geometric model is used as a scaling factor to convert the compensated longitude deviation in radians into a second actual distance along a second direction, where the first and second directions are perpendicular. The formula for calculating the latitude mean is: Specifically, the cosine of the latitude mean can be used to compensate for the longitude deviation in radians. The second direction can be eastward, and the second actual distance along the eastward direction can be determined using the following formula: .

[0042] (2.4) Using the arctangent function, based on the compensated first and second actual distances, determine the initial virtual heading angle from the first positioning antenna to the second positioning antenna. Specifically, it can be determined according to the following formula: ; ; in, The heading angle from the first positioning antenna to the second positioning antenna is determined using the range projection heading solution model. The initial heading angle is determined using the range projection heading solution model. Specifically, the heading angle is... Convert the result to degrees and normalize it modulo 360° so that its value range falls within the interval [0°, 360°). The result of the normalization process is the initial heading angle.

[0043] Method 3, the spatial vector heading calculation model, is a high-precision heading calculation based on the ECEF-ENU coordinate transformation. ECEF is the Earth-centered Earth-fixed coordinate system, and ENU is the North-South Sky-North coordinate system, which is also the local horizontal coordinate system centered on the UAV in this embodiment of the invention. This method further introduces the ECEF coordinate system calculation method to eliminate the influence of Earth's curvature and high-latitude errors, and is suitable for high-precision mission scenarios. Specifically: (3.1) Transform the current UAV position information and the current hangar position information to the specified coordinate system to obtain the initial coordinate deviation between the intermediate UAV position information and the intermediate hangar position information in the specified coordinate system. The specified coordinate system is the geocentric coordinate system.

[0044] In one example, the current drone location information and the current hangar location information are retrieved from the following formula: Coordinate system transformation to Earth-centered Earth-fixed coordinate system: ; in, Let be the radius of curvature of the circle. Latitude Longitude The major semi-axis has a value of 6378137.0. Antenna elevation, The value is the square of the eccentricity, which is 6.69437999014 × 10⁻⁶. 3 .

[0045] Using the above formula, the location information of the intermediate UAV will be obtained respectively. ) and intermediate hangar location information ( The initial coordinate deviation between the intermediate UAV location information and the intermediate hangar location information is: , - , - .

[0046] (3.2) Transform the initial coordinate deviation to a local horizontal coordinate system centered on the UAV terminal to obtain the target coordinate deviation in the local horizontal coordinate system.

[0047] In one implementation, the current UAV location information and the current hangar location information are transformed from the Earth-centered Earth-fixed coordinate system to the Northeast-Sky coordinate system according to the following formula: ; in,( , The deviation of the target coordinates in the northeast-central coordinate system is denoted as . Latitude The longitude is used. The current UAV RTK coordinates are then calculated using this formula. Current hangar RTK coordinates Transform from the Earth-centered Earth-fixed coordinate system to the Northeast-sky coordinate system.

[0048] (3.3) The initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the target coordinate deviation using the arctangent function. Specifically, the initial virtual heading angle is determined according to the following formula: ; ; in, The heading angle from the first positioning antenna to the second positioning antenna is determined using the space vector heading solution model. The initial virtual heading angle is determined using the spatial vector heading solution model. Specifically, the heading angle is... Convert the result to degrees and normalize it modulo 360° so that its value range falls within the interval [0°, 360°). The result of the normalization process is the initial heading angle.

[0049] Step S206: Compensate the initial virtual heading angle using a preset compensation angle to obtain the target virtual heading angle. The preset compensation angle is the compensation angle corresponding to the hangar model. In one embodiment, the difference between the initial virtual heading angle and the compensation angle corresponding to the hangar model is used as the target virtual heading angle.

[0050] Step S208 involves performing heading verification and anomaly removal on the target virtual heading angle, including: determining whether the target virtual heading angle satisfies the consistency constraint, fixed solution constraint, and baseline length constraint; if all the judgment results are yes, the target virtual heading angle is determined to have passed the heading verification; if any judgment result is no, the target virtual heading angle is determined to have failed the heading verification.

[0051] In one example, the consistency constraint is: the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV is less than or equal to a first preset threshold. Here, the magnetic compass heading angle is the actual heading measured by the UAV's magnetic compass. Specifically, if the deviation between the target virtual heading angle and the actual heading measured by the UAV's magnetic compass is greater than the first preset threshold (e.g., 45°), the target virtual heading angle is determined to be abnormal, rejected, and refused as a basis for navigation control. The mathematical description is as follows: ; in, The target virtual heading angle includes the virtual heading calculated by the aforementioned differential heading solution model, range projection heading solution model, or spatial vector heading solution model, including... , , , This step involves obtaining the actual heading from the UAV's magnetic compass. This step aims to prevent significant deviations in the calculation of the target virtual heading angle. Since the target virtual heading angle relies on acquiring the single RTK position from both the hangar and the aircraft, an anomaly in the data from either position could cause the calculated target virtual heading angle to differ from the true value by tens of degrees. In contrast, while the magnetic compass has limited accuracy (typically ±10°), it provides a reasonable reference range for the heading, which can be used for coarse verification of the target virtual heading angle, thereby improving the overall reliability and fault tolerance of the system.

[0052] In one example, the fixed solution constraint is: the UAV is stationary, and the positioning states of both the UAV and the hangar are fixed solution states. Optionally, since the hangar heading angle calibration needs to be completed in a stationary state, the UAV can be considered stationary when it is in an unlocked state. If the UAV is unlocked, it must be in motion, which would not meet the motion requirement. Furthermore, the calculation of the target's virtual heading angle depends on the positional deviation between the two locations; therefore, the accuracy of the position data is crucial. RTK fixed solutions can provide centimeter-level positional accuracy, ensuring the accuracy of the calculation results.

[0053] In one example, the baseline length constraint is: the error between the current baseline length between the first and second positioning antennas and a pre-set known baseline length is less than or equal to a second preset threshold. Specifically, the spatial straight-line distance (i.e., the current baseline length) between the phase center of the single RTK antenna on the UAV side and the phase center of the single RTK antenna on the hangar side is calculated, while the known baseline length is obtained from the CAD structural drawing, such as... Figure 3The diagram shown is a CAD structural diagram of a hangar, illustrating the positions of the RTK antennas at both the hangar and UAV ends, thus allowing the determination of the known baseline length. If the error between the current baseline length and the known baseline length exceeds 10%, the RTK positioning accuracy is considered insufficient and cannot be used for virtual dual-RTK heading calculations; the system will then return a failure.

[0054] Step S210: Output and report the target virtual heading angle so that the UAV lands at the hangar according to the target virtual heading angle.

[0055] Furthermore, this embodiment of the invention verifies the above-mentioned UAV landing positioning method. Assuming the single RTK coordinates at the hangar end are: altitude 3.6192, latitude 39.0771595545, longitude 117.71281351649999; and the single RTK coordinates at the UAV end are: altitude -2.30, latitude 39.0771619, longitude 117.71281152, the virtual heading of the target determined by the aforementioned UAV landing positioning method is 117.75. This embodiment of the invention uses dual RTK drones to verify heading. One dual RTK drone has an altitude of -2.21, latitude of 39.0771618, and longitude of 117.71281499999999, and its heading, determined using a physical dual RTK antenna, is 121.1. The other dual RTK drone has an altitude of -2.18, latitude of 39.0771618, and longitude of 117.7128151, and its heading, determined using a physical dual RTK antenna, is 119.29. The headings of the two dual RTK drones are used as a reference (it should be noted that the inconsistency in the headings of the two dual RTK drones is due to placement errors). It can be seen that the heading determined by the method provided in this embodiment of the invention is basically consistent with the reference, that is, the method provided in this embodiment of the invention can achieve heading calculation accuracy comparable to that of a physical dual RTK antenna system.

[0056] In summary, the embodiments of the present invention have at least the following characteristics: (1) Without changing the single positioning hardware configuration of the UAV, the heading calculation accuracy is significantly improved, effectively avoiding yaw and hangar docking failure, and basically eliminating the yaw problem during landing.

[0057] (2) No additional hardware is required. Virtual dual RTK heading is achieved through software calculation, which is low-cost and has a short deployment cycle.

[0058] (3) Through modular design, it is compatible with various types of UAVs and hangar systems, which improves the flexibility and applicability of the system.

[0059] (4) The triple verification mechanism significantly improves the robustness of the system, effectively avoids misjudgment caused by abnormal calculation, and ensures the stability and reliability of the system.

[0060] Based on the foregoing embodiments, this invention provides a drone landing positioning device. A first positioning antenna deployed on the drone and a second positioning antenna deployed in the hangar effectively constitute a virtual dual-positioning antenna system. (See [link to documentation]). Figure 4 The diagram shows a UAV landing positioning device based on virtual dual-positioning heading calculation. The device mainly includes the following parts: The location acquisition module 402 is used to acquire the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively. The heading determination module 404 is used to determine the target virtual heading angle from the first positioning antenna to the second positioning antenna based on the current UAV position information and the current hangar position information; The heading verification module 406 is used to verify the heading of the target virtual heading angle. The landing control module 408 is used to control the UAV to land at the hangar according to the target virtual heading angle after the heading verification is passed.

[0061] The UAV landing positioning device provided in this embodiment of the invention maintains the hardware architecture of deploying only a single positioning antenna on the UAV, and constructs a virtual dual positioning antenna system equivalent to the positioning antenna deployed at the hangar. Based on this virtual dual positioning antenna system, the target virtual heading angle is calculated. When the target virtual heading angle passes the heading verification, the UAV terminal can be controlled to dock with the hangar terminal to realize UAV landing control. The virtual dual positioning antenna system constructed by this invention can achieve heading calculation accuracy comparable to that of a physical dual RTK antenna system.

[0062] In one implementation, the heading determination module 404 is specifically used for: Call the target heading solution model in the set of virtual dual-positioning heading solution models; wherein, the set of virtual dual-positioning heading solution models includes one or more of the following: differential heading solution model, range projection heading solution model, and spatial vector heading solution model; Based on the positional deviation between the current UAV position information and the current hangar position information, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined by the target heading calculation model. The initial virtual heading angle is compensated by a preset compensation angle to obtain the target virtual heading angle.

[0063] In one implementation, when the target heading calculation model is a differential heading calculation model, the heading determination module 404 is specifically used for: Determine the longitude and latitude deviations between the current drone location information and the current hangar location information; The longitude deviation is compensated by using the average latitude between the current drone location information and the current hangar location information; Using the arctangent function, and based on the compensated longitude and latitude deviations, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined.

[0064] In one implementation, when the target heading calculation model is a range projection heading calculation model, the heading determination module 404 is specifically used for: Determine the longitude and latitude deviation values ​​in radians between the current drone location information and the current hangar location information; Using the radius value of the Earth's geometric model as a scaling factor, the latitude deviation in radians is converted into the first actual distance along the first direction; Furthermore, by using the average latitude between the current UAV location information and the current hangar location information, the longitude deviation arc value is compensated, and the radius value of the Earth's geometric model is used as a scaling factor to convert the compensated longitude deviation arc value into a second actual distance along the second direction, with the first direction and the second direction being perpendicular to each other; Using the arctangent function, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the compensated first and second actual distances.

[0065] In one implementation, when the target heading calculation model is a spatial vector heading calculation model, the heading determination module 404 is specifically used for: Transform the current drone position information and the current hangar position information to a specified coordinate system to obtain the initial coordinate deviation between the intermediate drone position information and the intermediate hangar position information in the specified coordinate system; The initial coordinate deviation is transformed to a local horizontal coordinate system centered on the UAV, resulting in the target coordinate deviation in the local horizontal coordinate system. The initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the target coordinate deviation using the arctangent function.

[0066] In one implementation, the heading verification module 406 is specifically used for: Determine whether the target virtual heading angle satisfies the consistency constraint, fixed solution constraint, and baseline length constraint; If all judgment results are yes, the target virtual heading angle is confirmed to pass the heading verification. If any judgment result is negative, it is determined that the target virtual heading angle has failed the heading verification.

[0067] In one implementation, the consistency constraint is: the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV terminal is less than or equal to a first preset threshold. The fixed solution constraint is: the UAV is in a stationary state, and the positioning states of both the UAV and the hangar are fixed solution states; The baseline length constraint is: the error between the current baseline length between the first positioning antenna and the second positioning antenna and the pre-set known baseline length is less than or equal to the second preset threshold.

[0068] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0069] This invention provides an electronic device, specifically, the electronic device includes a processor and a memory; the memory stores a computer program, which, when run by the processor, executes the method described in any of the above embodiments.

[0070] Figure 5 The present invention provides a schematic diagram of the structure of an electronic device 100, which includes a processor 50, a memory 51, a bus 52 and a communication interface 53. The processor 50, the communication interface 53 and the memory 51 are connected through the bus 52. The processor 50 is used to execute executable modules, such as computer programs, stored in the memory 51.

[0071] The memory 51 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 53 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0072] Bus 52 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0073] The memory 51 is used to store programs. After receiving an execution instruction, the processor 50 executes the programs. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0074] Processor 50 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 50 or by instructions in software form. Processor 50 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 51. The processor 50 reads the information in memory 51 and, in conjunction with its hardware, completes the steps of the above method.

[0075] The computer program product of the readable storage medium provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the foregoing method embodiments. For specific implementation, please refer to the foregoing method embodiments, which will not be repeated here.

[0076] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0077] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for unmanned aerial vehicle (UAV) landing and positioning, characterized in that, The first positioning antenna deployed on the UAV and the second positioning antenna deployed on the hangar effectively constitute a virtual dual positioning antenna system. Both the first and second positioning antennas are RTK antennas. The method includes: Obtain the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively; Based on the current UAV location information and the current hangar location information, determine the target virtual heading angle from the first positioning antenna to the second positioning antenna; The target virtual heading angle is verified, including consistency constraints, fixed solution constraints, and baseline length constraints. The consistency constraint is that the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV is less than or equal to a first preset threshold. The fixed solution constraint is that the UAV is stationary, and both the UAV and the hangar are in a fixed solution state. The baseline length constraint is that the error between the current baseline length between the first and second positioning antennas and the pre-set known baseline length is less than or equal to a second preset threshold. If the heading verification is passed, control the UAV to land at the hangar according to the target virtual heading angle; The heading verification of the target virtual heading angle includes: determining whether the target virtual heading angle satisfies the consistency constraint, the fixed solution constraint, and the baseline length constraint; if the determination result is yes for all of them, the target virtual heading angle is determined to have passed the heading verification.

2. The UAV landing positioning method according to claim 1, characterized in that, Based on the current UAV location information and the current hangar location information, the target virtual heading angle from the first positioning antenna to the second positioning antenna is determined, including: The target heading solution model is invoked from the set of virtual dual-positioning heading solution models; wherein, the set of virtual dual-positioning heading solution models includes one or more of the following: differential heading solution model, range projection heading solution model, and spatial vector heading solution model; Based on the positional deviation between the current UAV position information and the current hangar position information, the target heading calculation model determines the initial virtual heading angle from the first positioning antenna to the second positioning antenna. The initial virtual heading angle is compensated using a preset compensation angle to obtain the target virtual heading angle.

3. The UAV landing positioning method according to claim 2, characterized in that, When the target heading calculation model is the differential heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model, including: Determine the longitude and latitude deviations between the current UAV location information and the current hangar location information; The longitude deviation is compensated by using the average latitude between the current UAV location information and the current hangar location information; Based on the compensated longitude and latitude deviations, an initial virtual heading angle is determined from the first positioning antenna to the second positioning antenna.

4. The UAV landing positioning method according to claim 2, characterized in that, When the target heading calculation model is the distance projection heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model, and further includes: Determine the longitude deviation in radians and the latitude deviation in radians between the current UAV location information and the current hangar location information; Using the radius value of the Earth's geometric model as a scaling factor, the latitude deviation in radians is converted into a first actual distance along a first direction; The latitude mean between the current UAV location information and the current hangar location information is used to compensate for the longitude deviation arc value. The radius value of the Earth's geometric model is used as a scaling factor to convert the compensated longitude deviation arc value into a second actual distance along a second direction, wherein the first direction and the second direction are perpendicular to each other. Based on the compensated first actual distance and second actual distance, an initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined.

5. The UAV landing positioning method according to claim 2, characterized in that, When the target heading calculation model is the spatial vector heading calculation model, the initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the position deviation between the current UAV position information and the current hangar position information using the target heading calculation model, and further includes: The current UAV location information and the current hangar location information are transformed to a specified coordinate system to obtain the initial coordinate deviation between the intermediate UAV location information and the intermediate hangar location information in the specified coordinate system; The initial coordinate deviation is transformed to a local horizontal coordinate system centered on the UAV terminal to obtain the target coordinate deviation in the local horizontal coordinate system. The initial virtual heading angle from the first positioning antenna to the second positioning antenna is determined based on the target coordinate deviation.

6. The UAV landing positioning method according to claim 1, characterized in that, The course verification of the target virtual course angle also includes: If any judgment result is negative, it is determined that the target virtual heading angle has failed the heading verification.

7. A drone landing positioning device, characterized in that, The first positioning antenna deployed on the UAV and the second positioning antenna deployed on the hangar effectively constitute a virtual dual-positioning antenna system. Both the first and second positioning antennas are RTK antennas. The device includes: The location acquisition module is used to acquire the current UAV location information and the current hangar location information output by the first positioning antenna and the second positioning antenna in the virtual dual positioning antenna system, respectively. The heading determination module is used to determine the target virtual heading angle from the first positioning antenna to the second positioning antenna based on the current UAV position information and the current hangar position information; The heading verification module is used to verify the heading of the target virtual heading angle, including consistency constraints, fixed solution constraints, and baseline length constraints. The consistency constraint is that the difference between the target virtual heading angle and the magnetic compass heading angle output by the UAV is less than or equal to a first preset threshold. The fixed solution constraint is that the UAV is stationary, and the positioning states of both the UAV and the hangar are fixed solution states. The baseline length constraint is that the error between the current baseline length between the first positioning antenna and the second positioning antenna and the preset known baseline length is less than or equal to a second preset threshold. The landing control module is used to control the UAV to land at the hangar according to the target virtual heading angle after the heading verification is passed; The heading verification of the target virtual heading angle includes: determining whether the target virtual heading angle satisfies the consistency constraint, the fixed solution constraint, and the baseline length constraint; if the determination result is yes for all of them, the target virtual heading angle is determined to have passed the heading verification.

8. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 6.

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

Images