Collaborative positioning method, apparatus, device, and storage medium

Abstract

The application discloses a cooperative positioning method and device, equipment and a storage medium, and relates to the technical field of unmanned equipment. The technical scheme provided by the application comprises the following steps: a first device is positioned by a precise point positioning mode, and first position information of the position of the first device is calculated and transmitted to a second device, and the first device does not move during the calculation process; before receiving the first position information, the second device is positioned by a self-difference positioning mode, and a target task is executed according to second position information calculated by the self-difference positioning mode, and after receiving the first position information, the target task is executed based on the first position information. Through the technical means, the cooperative positioning of the first device to the second device is realized, the problem that the unmanned device or the surveying device for executing a task fails in precise point positioning calculation in the prior art is solved, and the execution accuracy of the target task is ensured.

Description

Technical Field

[0001] This application relates to the field of unmanned equipment technology, and in particular to a cooperative positioning method, apparatus, device and storage medium. Background Technology

[0002] With the development of unmanned equipment technology, more and more unmanned equipment is being used for high-altitude operations on various plots of land, such as spraying or spreading seeding in farmland. Before carrying out plant protection operations, the plot is mapped using unmanned equipment or surveying devices to obtain its location. Whether for plant protection or mapping, the unmanned equipment or surveying device needs to confirm its own location information through a positioning system in order to fly or determine the location of the plot based on its own location information. Currently, the three mainstream positioning technologies in the field of unmanned equipment are RTK (Real-Time Kinematic) positioning, PPP (Precise Point Positioning) positioning, and VRTK (Virtual RTK) positioning. RTK positioning can only be used in a network environment, while PPP and VRTK positioning can be used in environments without a network or with a weak network. PPP positioning has a longer initial positioning convergence calculation time, but once convergence is successful, the positioning accuracy is high. VRTK positioning has a fast initial positioning convergence speed, but the error will gradually increase over time due to changes in satellite motion and atmospheric factors. Therefore, VRTK positioning can only maintain relatively high accuracy for a short period of time.

[0003] In related technologies, when there is no network connection, the positioning system can simultaneously perform PPP positioning and VRTK positioning calculations after power-on. Before successful PPP calculation, VRTK positioning is used to determine the location information of the unmanned equipment or surveying device; after successful PPP calculation, PPP positioning is used to determine the location information of the unmanned equipment or surveying device. However, during the PPP positioning calculation process, the unmanned equipment or surveying device may fail to complete the calculation due to excessively fast movement speed. This can result in VRTK positioning divergence before PPP positioning is successfully calculated, affecting the positioning accuracy of the positioning system and consequently the operational accuracy. Summary of the Invention

[0004] This application provides a collaborative positioning method, apparatus, device, and storage medium, which enables precise single-point positioning by a first device that does not undergo displacement during the calculation process, and a second device to perform a target task based on the high-precision coordinates calculated by the first device. This achieves collaborative positioning of the first device with respect to the second device, solving the problem of failure in precise single-point positioning calculation of unmanned equipment or surveyors performing tasks in the prior art, and ensuring the execution accuracy of the target task.

[0005] Firstly, this application provides a collaborative positioning method, including:

[0006] The first device performs positioning using a precise single-point positioning method, and after calculating the first position information of its location, it sends the first position information to the second device. The first device does not undergo displacement during the calculation process.

[0007] Before receiving the first location information, the second device performs positioning using a differential positioning method and executes the target task based on the second location information calculated by the differential positioning method. After receiving the first location information, it executes the target task based on the first location information.

[0008] Secondly, this application provides a cooperative positioning device, comprising:

[0009] The auxiliary positioning module is configured so that the first device performs positioning through a precise single-point positioning method, and after calculating the first position information of the location, sends the first position information to the second device. The first device does not move during the calculation process.

[0010] The task execution module is configured to perform positioning by differential positioning before the second device receives the first location information, and to execute the target task based on the second location information calculated by differential positioning. After receiving the first location information, it executes the target task based on the first location information.

[0011] Thirdly, this application provides a cooperative positioning device, comprising:

[0012] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the cooperative positioning method as described in the first aspect.

[0013] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the cooperative positioning method as described in the first aspect.

[0014] In this application, a first device uses precise single-point positioning to calculate the first position information of its location and sends this information to a second device. The first device does not move during the calculation process. Before receiving the first position information, the second device uses differential positioning to calculate the second position information and executes the target task based on this second position information. After receiving the first position information, it executes the target task based on this first position information. Because the first device does not move during the calculation of the first position information using precise single-point positioning, it avoids calculation failures due to excessive movement speed, effectively improving the efficiency of calculating the first position information. With this improved efficiency, the first device can send the first position information to the second device before the second position information calculated by the differential positioning method diverges. The second device then continues to execute the target task based on the first position information. Since both the first and second position information used by the second device to execute the target task are high-precision coordinates, the execution accuracy of the target task is guaranteed. Attached Figure Description

[0015] Figure 1 This is a flowchart of a collaborative positioning method provided in an embodiment of this application;

[0016] Figure 2 This is one of the schematic diagrams illustrating the process of the second device provided in this application surveying the work site;

[0017] Figure 3 This is a second schematic diagram illustrating the process of the second device provided in this application surveying the work site;

[0018] Figure 4 This is one of the schematic diagrams of the work site provided in the embodiments of this application;

[0019] Figure 5 This is a second schematic diagram of the work site provided in the embodiments of this application;

[0020] Figure 6 This is the third schematic diagram of the work site provided in the embodiments of this application;

[0021] Figure 7 This is a schematic diagram of the structure of a cooperative positioning device provided in an embodiment of this application;

[0022] Figure 8 This is a schematic diagram of the structure of a cooperative positioning device provided in an embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] In related implementations, when there is no network connection, the positioning system can simultaneously perform PPP and VRTK positioning calculations after power-on. Before successful PPP calculation, VRTK positioning is used to determine the location information of the unmanned equipment or surveying device; after successful PPP calculation, PPP positioning is used to determine the location information of the unmanned equipment or surveying device. However, during the PPP calculation process, problems may arise due to the excessively fast movement speed of the unmanned equipment or surveying device. Furthermore, if the unmanned equipment or surveying device enters an area with obstructions in the sky, it will not receive satellite signals. In this case, the PPP positioning calculation may fail to converge or even begin to diverge, leading to PPP positioning failure. After a PPP positioning failure, the positioning system needs to perform PPP positioning again, resulting in a long calculation time. Before the PPP positioning calculation is completed, the positioning system can only use VRTK positioning. VRTK positioning accuracy is inherently lower than PPP positioning accuracy, and VRTK positioning can also diverge. If the positioning system's VRTK positioning diverges before the PPP positioning calculation is successful, it will severely affect the operational accuracy.

[0026] To address the problems of the aforementioned implementation methods, this embodiment provides a collaborative positioning method. This method involves a first device that does not undergo displacement during the calculation process performing precise single-point positioning, and a second device executing the target task based on the high-precision coordinates calculated by the first device. This achieves collaborative positioning of the first device with respect to the second device, ensuring the execution accuracy of the target task.

[0027] The collaborative positioning method provided in this embodiment can be executed by a collaborative positioning device, which can be implemented through software and / or hardware. The collaborative positioning device can consist of two or more physical entities, or it can consist of a single physical entity. For example, the collaborative positioning device includes a first device and a second device. The second device is a device for operating on the work site, and the first device is a device that assists the second device in positioning. The first device and the second device cooperate to implement the collaborative positioning method provided in this embodiment. The first device and the second device can be mobile devices, including unmanned devices or handheld surveying devices.

[0028] The cooperative positioning device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the cooperative positioning device has at least one application capable of executing the cooperative positioning method.

[0029] For ease of understanding, this embodiment describes a cooperative positioning method performed by the first device and the second device in cooperation.

[0030] Figure 1 A flowchart of a collaborative positioning method provided in an embodiment of this application is given. (Reference) Figure 1 The collaborative positioning method specifically includes:

[0031] S110. The first device performs positioning using a precise single-point positioning method, and after calculating the first position information of its location, it sends the first position information to the second device. The first device does not undergo displacement during the calculation process.

[0032] For example, the first device may be an unmanned device or a first surveyor, wherein the first surveyor is a handheld surveyor.

[0033] When the first device is unmanned, the remote control device sends a positioning command to it. This command controls the first device to fly to an auxiliary position for hovering or landing. The auxiliary position can be considered the location where the first device assists the second device in positioning. The auxiliary position is typically set in an open area near the work site, allowing the first device to maintain communication with the second device and receive satellite data smoothly. Once the first device arrives at the auxiliary position, it can activate its positioning system and use precise point positioning to calculate its initial position information. This initial position information consists of the high-precision coordinates obtained by the first device using precise point positioning. Alternatively, after arriving at the auxiliary position, the first device notifies the remote control device. Upon confirming the second device's readiness to perform the target task, the remote control device sends a cooperative positioning command to the first device. Based on this command, the first device activates its positioning system and uses precise point positioning to calculate its initial position information.

[0034] Optionally, the remote control device displays a map of the work site and surrounding area on the interface. The user can select an auxiliary location in an open area near the work site using the remote control device, which will then generate a positioning command based on the selected auxiliary location. Alternatively, the remote control device can automatically identify open areas on the map of the work site and surrounding area, select a location close to the work site within that open area as an auxiliary location, and generate a positioning command based on that auxiliary location. The remote control device then sends the positioning command to the first device, causing the first device to fly to the auxiliary location and hover or land based on the command.

[0035] It should be noted that when there is no open area near the work site, to avoid the primary device being unable to receive satellite signals due to obstructions, the remote control device can send a hovering command to the primary device. This hovering command controls the primary device to fly to an auxiliary position and hover at a certain height. When the primary device hovers at a certain height above the auxiliary position, there are no obstructions above it, allowing it to successfully receive satellite signals. This avoids the convergence problem that occurs when the primary device uses precise single-point positioning, thus improving the success rate and efficiency of the solution.

[0036] When the first device is a surveyor, the user can install it in an open area around the work site using a tripod or other fixed fixture. After powering on, the first device activates its positioning system and uses precise single-point positioning to calculate its initial location information. Alternatively, after the remote control confirms that the second device is ready to execute the target task, it sends a cooperative positioning command to the first device. The first device then activates its positioning system based on the command and uses precise single-point positioning to calculate its initial location information. Compared to using an unmanned device as the first device, the surveyor has lower cost and energy consumption, lower implementation cost, simpler and more convenient installation, and is easier to promote and use.

[0037] It should be noted that regardless of whether the first device is an unmanned device or a first surveyor, it does not undergo displacement during the calculation process. That is, the first device will not fail to solve the problem due to excessive movement speed. Moreover, the calculation speed will also increase when the first device is fixed, and the first device can quickly calculate the high-precision coordinates of its location.

[0038] It is understandable that the first device does not move during the calculation process. This includes the first device not changing its position during the calculation process, and also includes the first device not changing its position significantly during the calculation process, basically remaining in the same position. For example, if the position of the first device changes, but is always within a preset range of a specific position, or the distance to that specific position is always less than a distance threshold, then it can be determined that the first device does not move during the calculation process.

[0039] After the first device calculates the first location information, it can send the first location information to the second device through its built-in first communication module. Optionally, the first communication module can be a local area network (LAN) module, meaning the first device sends the first location information to the second device via a LAN (Wi-Fi).

[0040] In one embodiment, the first device is configured with two operating modes: a base station mode and a non-base station mode.

[0041] In base station mode, the first device can be used as an RTK reference station. That is, the first location information calculated by the first device can be used as reference coordinates, and the second device can use these reference coordinates to perform RTK positioning calculations to obtain high-precision coordinates of its location. Specifically, in base station mode, the first device sends the first location information and first satellite data to the second device, enabling the second device to perform RTK positioning based on these data. The first satellite data refers to the satellite data received by the first device. Since the second device uses the reference coordinates of the RTK base station and the satellite data received in real-time by the RTK base station to calculate the positioning error of the RTK base station when calculating its high-precision coordinates using RTK positioning, the first device in base station mode can send the first location information and first satellite data to the second device so that the second device can successfully calculate the high-precision coordinates using RTK positioning.

[0042] Optionally, the first device transmits the first location information and the first satellite data to the second device in RTCM format. RTCM format data has high transmission efficiency and compatibility, and can meet the first device's requirements for high-precision, real-time data transmission.

[0043] It should be noted that, unlike traditional RTK positioning, which operates in a networked environment where the first device acts as a base station and obtains its absolute coordinates based on the mobile network, providing RTK positioning services to the mobile station, this application addresses a positioning solution for a network-free environment. In this case, the first device, acting as a base station, cannot obtain its absolute coordinates based on the mobile network. Instead, it calculates its absolute coordinates using PPP positioning and uses these calculated coordinates as reference coordinates to provide RTK positioning services to the mobile station.

[0044] In non-base station mode, the first device is not used as an RTK reference station. In this case, the first device only sends the first location information to the second device without sending the first satellite data to the second device. The second device uses the first location information to calculate the deviation between PPP positioning and VRTK positioning, thereby correcting the location points that have been marked on the work site.

[0045] The operating mode of the first device can be set by the user via a remote control device (or other terminal). For example, when the user sends a base station operating command to the first device using the remote control device, the first device enters base station mode based on the command, and after calculating the first location information, sends the first location information and first satellite data to the second device. When the user sends a non-base station operating command to the second device using the remote control device, the first device enters non-base station mode based on the command, and after calculating the first location information, sends the first location information to the second device.

[0046] In addition, the operating mode of the first device can be determined based on the task type and / or duration of the target task performed by the second device. The target task is the task performed by the second device when operating on the work site. Target task types include surveying and plant protection, etc. When the task type is plant protection, the first device determines its operating mode to be base station mode, thereby providing the second device with first location information and first satellite data during the plant protection process. This allows the second device to perform RTK positioning calculations based on the first location information and first satellite data to determine its high-precision coordinates, thus enabling plant protection at various locations within the work site and ensuring the accuracy of the plant protection operation.

[0047] When the task type is surveying, if the surveying duration is longer than the high-precision positioning duration of VRTK positioning, it indicates that the second device cannot complete the surveying of the work area before the VRTK positioning diverges. In order to ensure accurate surveying of the work area in the latter half, the second device needs to mark the work area with high-precision coordinates of its location. For this purpose, the first device determines the working mode to be base station mode, so as to provide the second device with the first location information and the first satellite data during the second device's surveying of the work area. This allows the second device to calculate the high-precision coordinates of its location based on the first location information and the first satellite data, thereby accurately marking the work area and ensuring the accuracy of the surveying operation. When the task type is surveying, if the surveying time is less than the high-precision positioning time of VRTK positioning, it indicates that the second device can complete the surveying of the work area before VRTK positioning diverges. In this case, after the second device completes the surveying of the work area, it obtains the VRTK positioning coordinates of the work area. The second device can then correct the VRTK positioning coordinates of the work area based on the deviation between VRTK positioning and PPP positioning to obtain the high-precision coordinates of the work area, without needing to perform further point marking. Therefore, the first device determines its working mode to be non-base station mode, and sends the first location information to the second device so that the second device can correct the VRTK positioning coordinates of the work area based on the first location information, thus ensuring the accuracy of the surveying operation. Alternatively, in another embodiment, when the task type is surveying, if the surveying time is less than the high-precision positioning time of VRTK positioning, the first device can also determine its working mode to be base station mode. Correction of the VRTK positioning coordinates of the work area can also be achieved in base station mode.

[0048] S120. Before receiving the first location information, the second device performs positioning using a differential positioning method and executes the target task based on the second location information calculated by the differential positioning method. After receiving the first location information, it executes the target task based on the first location information.

[0049] For example, the second device can be an unmanned device or a second surveyor, wherein the second surveyor is a handheld surveyor. When the second device is an unmanned device, the target tasks that the second device can perform include surveying and plant protection, etc. When the second device is a second surveyor, the target task that the second device can perform is surveying.

[0050] Before receiving the first location information, the second device can use differential positioning to calculate the second location information and then execute the target task based on it. The second location information is the coordinates of the second device's current location obtained using differential positioning. Differential positioning, also known as VRTK positioning or single-point smooth positioning, calculates the location using a reference point. The position calculated by VRTK positioning is a relative coordinate, not a true coordinate. It determines the predicted distance between the device and the satellite based on the current location coordinates and the satellite's coordinates at the current moment. A differential correction value is then determined based on the predicted distance and pseudorange measurements. This differential correction value is used to determine the device's location coordinates at at least one future moment after the current moment.

[0051] For example, when the second device performs plant protection operations on a work site, it can plan a corresponding work route based on the location information of the work site, fly along the work route, and spray pesticides or spread materials on the plants in the work site below. Before receiving the first location information, the second device calculates the second location information based on the self-differential positioning method and flies along the work route. However, because the accuracy of the second location information is not very high, the second device cannot fly accurately along the work route, so the plant protection accuracy is low at the beginning of the operation.

[0052] When the second device surveys the work area, it flies to various boundary points of the work area under the user's control to mark points, or the user can manually move it to the various boundary points of the work area to mark points. During marking, the second device determines the coordinates of its current location as the coordinates of the corresponding target location. Before receiving the first location information, the second device marks points on the work area based on the second location information, obtaining the first marked point location information of the work area. The first marked point location information is the marked point coordinates of the corresponding boundary points collected by the second device at the boundary points based on the second location information. This embodiment describes the situation using the first device as the first surveyor and the second device as an unmanned device. Figure 2 This is one of the schematic diagrams illustrating the process of the second device provided in this application surveying the work site. For example... Figure 2 As shown, when the second device 12 surveys the work area 11, it will fly to points A, B, C, and D sequentially to mark points. If the second device 12 has not received the first position information sent by the first device 13 when it flies above point A, it will calculate the second position information of its location using a differential positioning method, and use the calculated second position information at point A as the marking coordinates of point A. After that, the second device flies to point B to mark the point.

[0053] After receiving the first location information, the second device executes the target task based on the first location information. For example, when the target task is plant protection, the second device can determine its high-precision coordinates based on the first location information, and then spray pesticides or spread materials on the plants in the work area based on these high-precision coordinates. When the target task is surveying, the second device can determine its high-precision coordinates based on the first location information, and then mark points on the work area and correct the positions of already marked points.

[0054] Optionally, the second device performs real-time dynamic differential positioning based on the first location information, and executes the target task based on the third location information calculated using the real-time dynamic differential positioning method. The third location information is the high-precision coordinates obtained by the second device through RTK positioning calculation based on the first location information. For example, in base station mode, the first device sends the first location information and first satellite data to the second device. The second device performs RTK positioning calculation based on the first location information and the first satellite data to obtain the high-precision coordinates of its location, and then performs plant protection or surveying operations based on these high-precision coordinates.

[0055] In this embodiment, when the second device performs real-time dynamic differential positioning, the second device determines the positioning error based on the first location information and the first satellite data; and determines the third location information based on the positioning error and the second satellite data it receives. For example, the second device can determine the satellite positioning coordinates of the first device based on the first location information, using the deviation between the satellite positioning coordinates and the first location information as the positioning error between the satellite positioning and the actual coordinates. The second device determines its own satellite positioning information based on the second satellite data, and adds the positioning error to its own satellite positioning information to obtain the third location information.

[0056] For example, when the second device performs plant protection operations on the work area, after receiving the first location information and the first satellite data, it performs RTK positioning based on the first location information and the first satellite data to calculate the third location information. The second device then flies along the work route based on the third location information. At this point, the accuracy of the third location information is relatively high, allowing the second device to fly precisely along the work route, thus improving the accuracy of subsequent plant protection operations. It should be noted that because the first device can quickly calculate the first location information, the second device can receive the first location information transmitted by the first device shortly after the start of operations. Therefore, only a small portion of the work area has low plant protection accuracy, while the majority of the area maintains a high level of plant protection accuracy.

[0057] When the second device surveys the work site, after receiving the first location information and the first satellite data, it performs RTK positioning based on the first location information and the first satellite data to calculate the third location information. The second device then marks points on the work site based on the third location information to obtain the second marked point location information. The second marked point location information consists of the coordinates of the corresponding boundary points collected by the second device at the boundary points based on the third location information. This embodiment uses the first device as the first surveyor and the second device as an unmanned device for description. Figure 3 This is a second schematic diagram illustrating the process of the second device provided in this application surveying the work site. For example... Figure 3 As shown, during its flight from point A to point B, the second device 12 receives the first location information and first satellite data transmitted by the first device 13. Based on the first location information and the first satellite data, the second device 12 performs RTK positioning to calculate the third location information. When the second device flies above point B, it uses the calculated third location information at point B as the coordinates for marking point B. Subsequently, the second device flies sequentially to points C and D, using the calculated third location information at the corresponding locations as the coordinates for marking points C and D respectively, thus completing the marking of the work area.

[0058] It should be noted that the references for self-differential positioning and real-time dynamic differential positioning are different. After the second device switches from self-differential positioning to real-time dynamic differential positioning, the coordinates of the points collected during subsequent surveying are not on the same reference as the coordinates of the points collected at the beginning of the surveying. Therefore, the coordinates of the work site cannot be accurately generated based on the coordinates of the points obtained from the previous and subsequent surveys. Figure 4 This is one of the schematic diagrams of the work site provided in the embodiments of this application. For example... Figure 4 As shown, the second device will sequentially fly to points A, B, C, and D of the work area to mark points. At point A, the second device marks points based on the second location information. Since the second location information is calculated using a self-differential positioning method, it is not the actual coordinates of point A. Therefore, the coordinates collected by the second device at this point may be the actual coordinates of point A'. Next, the second device marks points B, C, and D based on the third location information. The third location information is calculated using a real-time dynamic differential positioning method and can be used as the actual coordinates of points B, C, and D. The actual coordinates of points A', B, C, and D cannot accurately generate the coordinates of the work area. Therefore, when surveying the work area, the second device must not only mark points based on the third location information but also correct the already collected point coordinates based on the first location information to ensure that the coordinates collected before and after are under the same positioning reference.

[0059] For example, the second device determines the marking point position deviation based on the first position information, and corrects the first marking point position information according to the marking point position deviation to obtain the target marking point position information of the work area. Here, the marking point position deviation can be understood as the deviation between the marking point coordinates collected by the second device using a self-differential positioning method and the actual coordinates. Since the real-time dynamic differential positioning method can collect the actual coordinates of the corresponding position point, the marking point position deviation can also be regarded as the positioning deviation between the self-differential positioning method and the real-time dynamic differential positioning method at the same position. The target marking point position information can be regarded as the final marking point coordinates used to generate the work area. (Reference) Figure 4 When point A is marked using a self-differential positioning method, the actual coordinates of point A' are obtained. If point A is marked using a real-time dynamic differential positioning method, the actual coordinates of point A can be obtained. The coordinate deviation between the actual coordinates of point A' and point A is the marking position deviation. Adding the marking position deviation to the actual coordinates of point A' yields the actual coordinates of point A. After correcting the initial marking position information of point A to obtain its actual coordinates, the actual coordinates of point A are used as the target marking position information for the work area.

[0060] In this embodiment, the second device determines the dot position deviation based on the deviation between the third position information and the second position information at the same location. The third position information is obtained through real-time dynamic differential positioning based on the first position information. For example, Figure 5 This is the second schematic diagram of the work site provided in the embodiments of this application. For example... Figure 5 As shown, the second device receives first location information and first satellite data from the first device while traveling to point B. Upon arrival at point B, the second device calculates its third location information based on the first location information and the first satellite data. This third location information serves as the actual coordinates of point B. The device then marks a point at point B to obtain its second marked location information. Simultaneously, it calculates its second location information using differential positioning, which can be considered the actual coordinates of point B'. The second device subtracts the second location information from the calculated third location information at point B to obtain the marked location deviation. Subsequently, the second device corrects the previously generated first marked location information of point A based on this deviation, i.e., it corrects the actual coordinates of point A' to obtain the actual coordinates of point A.

[0061] Alternatively, the second device acquires the second location information of the location of the first device, and determines the marking position deviation based on the deviation between the second location information and the first location information. For example, Figure 6 This is the third schematic diagram of the work site provided in the embodiments of this application. For example... Figure 6As shown, before starting the survey, the second device flies above the first device 13 and uses differential positioning to mark points, obtaining the second position information of the first device's location, i.e., the actual coordinates of point O'. Then, the second device flies to point A and uses differential positioning to mark points, obtaining the actual coordinates of A'. After receiving the first position information sent by the first device (the actual coordinates of point O), the second device subtracts the second position information of the first device's location from the first position information to obtain the marking position deviation. Then, the second device corrects the first marking position information of point A generated earlier based on this deviation, i.e., corrects the actual coordinates of point A' to obtain the actual coordinates of point A.

[0062] When correcting the first marking point location information, the second device determines the target marking point location information for the work area by summing the first marking point location information and the marking point location deviation. (Reference) Figure 5 or Figure 6 The second device calculates the position deviation of the marking point based on the second and third position information at point B. This deviation is approximately equal to the position deviation between the actual coordinates of point A and the actual coordinates of point A'. Therefore, the actual coordinates of point A can be obtained by adding the position deviation to the actual coordinates of point A, which is also the first marking point position information of point A'.

[0063] In one embodiment, when the second device's marking speed is fast or the work area is small, the second device may have already marked the work area before receiving the first location information. In this case, the second device does not need to mark the work area based on the third location information, but instead corrects the collected first marking location information based on the marking position deviation. Therefore, upon receiving the first location information, the second device can determine whether the marking of the work area is complete, thereby determining whether to continue marking the work area. Specifically, if the second device has not completed marking the work area when receiving the first location information, it performs real-time dynamic differential positioning based on the first location information to calculate the third location information; the second device uses the third location information to mark the work area to obtain the second marking location information of the work area; and the second device determines the second marking location information as the target marking location information of the work area.

[0064] For example, refer to Figure 3During its flight to point B, the second device 12 receives the first location information. At this point, it confirms that three vertices of the work area 11 remain to be marked. Upon arrival at point B, it performs real-time dynamic differential positioning based on the first location information and the second satellite data received at point B to obtain the third location information, which is then designated as the second marking location for point B. Next, it flies to point C, and upon arrival at point C, performs real-time dynamic differential positioning based on the first location information and the second satellite data received at point C to obtain the third location information, which is then designated as the second marking location for point C. Finally, it flies to point D, and upon arrival at point D, performs real-time dynamic differential positioning based on the first location information and the second satellite data received at point D to obtain the third location information, which is then designated as the second marking location for point D. By determining the second marking locations of points B, C, and D as the target marking locations for work area 11, and combining this with the target marking location information obtained by correcting the first marking location information at point A, the actual coordinates of the work area can be obtained, thus completing the mapping of the work area.

[0065] In summary, the cooperative positioning method provided in this application involves a first device using precise single-point positioning to calculate first location information and then sending this first location information to a second device. The first device does not undergo displacement during the calculation process. Before receiving the first location information, the second device uses differential positioning to calculate second location information and executes the target task based on this second location information. After receiving the first location information, it executes the target task based on this first location information. Because the first device does not undergo displacement during the calculation of the first location information using precise single-point positioning, it avoids calculation failures due to excessive movement speed, effectively improving the efficiency of first location information calculation. With the improved efficiency of the first device in calculating the first location information, it can send the first location information to the second device before the second location information calculated by the differential positioning method diverges. The second device then continues to execute the target task based on the first location information. Since both the first and second location information used by the second device to execute the target task are high-precision coordinates, the execution accuracy of the target task is guaranteed.

[0066] Based on the above embodiments, Figure 7 This is a schematic diagram of a cooperative positioning device provided in an embodiment of this application. (Reference) Figure 7 The cooperative positioning device provided in this embodiment specifically includes: an auxiliary positioning module 21 and a task execution module 22.

[0067] Among them, the auxiliary positioning module 21 is configured to enable the first device to perform positioning through a precise single-point positioning method, and after calculating the first position information of the location, send the first position information to the second device. The first device does not undergo displacement during the calculation process.

[0068] The task execution module 22 is configured to perform positioning by differential positioning before the second device receives the first location information, and to execute the target task based on the second location information calculated by differential positioning. After receiving the first location information, it executes the target task based on the first location information.

[0069] Based on the above embodiments, the auxiliary positioning module 21 includes: a first data transmission submodule, configured to send first location information and first satellite data from the first device to the second device, wherein the first satellite data is satellite data received by the first device.

[0070] Based on the above embodiments, the first data transmission submodule includes: a data transmission unit configured to send first location information and first satellite data from the first device to the second device in RTCM format.

[0071] Based on the above embodiments, the task execution module 22 includes: a first task execution submodule, configured to perform real-time dynamic differential positioning of the second device based on the first location information, and execute the target task according to the third location information calculated by the real-time dynamic differential positioning method.

[0072] Based on the above embodiments, the first task execution submodule includes: a positioning error determination unit, configured to allow the second device to determine the positioning error based on the first location information and the first satellite data; and a first positioning unit, configured to allow the second device to determine the third location information of its current location based on the positioning error and the second satellite data it receives.

[0073] Based on the above embodiments, the task execution module 22 includes: a second task execution submodule, configured to have the second device mark the work site according to the second location information to obtain the first mark location information of the work site.

[0074] Based on the above embodiments, the task execution module 22 includes: a third task execution submodule, configured to have the second device determine the marking position deviation based on the first position information, correct the first marking position information according to the marking position deviation, and obtain the target marking position information of the work area.

[0075] Based on the above embodiments, the third task execution submodule includes: a first dot deviation determination unit, configured to determine the dot position deviation of the second device based on the deviation between the third position information and the second position information at the same position, wherein the third position information is obtained by real-time dynamic differential positioning based on the first position information.

[0076] Based on the above embodiments, the third task execution submodule includes: a second dot deviation determination unit, configured to acquire second location information of the location of the first device, and determine the dot position deviation based on the deviation between the second location information and the first location information of the location of the first device.

[0077] Based on the above embodiments, the third task execution submodule includes: a position correction unit, configured to determine the target position information of the work site by the second device by the cumulative value of the first marking position information and the marking position deviation.

[0078] Based on the above embodiments, the task execution module 22 includes: a second positioning unit, configured to perform real-time dynamic differential positioning based on the first location information and calculate the third location information of the location if the second device has not completed marking the work plot when it receives the first location information; a marking unit, configured to allow the second device to mark the work plot using the third location information to obtain the second marking location information of the work plot; and a target location determination unit, configured to allow the second device to determine the second marking location information as the target marking location information of the work plot.

[0079] Based on the above embodiments, the auxiliary positioning module 21 includes: a second data transmission submodule, configured so that the first device sends the first location information to the second device via a local area network (Wi-Fi).

[0080] Based on the above embodiments, the first device is a first surveyor, and the second device is a second surveyor or an unmanned device.

[0081] The cooperative positioning device provided in this application embodiment, as described above, uses a first device to perform positioning using a precise single-point positioning method to calculate the first position information of its location, and then sends the first position information to a second device. The first device does not undergo displacement during the calculation process. Before receiving the first position information, the second device uses a differential positioning method to calculate the second position information of its location and executes the target task based on the second position information. After receiving the first position information, it executes the target task based on the first position information. Because the first device does not undergo displacement during the calculation of the first position information using the precise single-point positioning method, it will not experience calculation failure due to excessive movement speed, effectively improving the calculation efficiency of the first position information. With the improved efficiency of the first device in calculating the first position information, it can send the first position information to the second device before the second position information calculated by the differential positioning method used by the second device diverges. The second device continues to execute the target task based on the first position information. Since both the second and first position information used by the second device to execute the target task are high-precision coordinates, the execution accuracy of the target task is guaranteed.

[0082] The cooperative positioning device provided in this application embodiment can be used to execute the cooperative positioning method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0083] Figure 8 This is a schematic diagram of the structure of a cooperative positioning device provided in an embodiment of this application, with reference to... Figure 8 The unmanned device includes a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 and the number of memories 32 in the cooperative positioning device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of the cooperative positioning device can be connected via a bus or other means.

[0084] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the cooperative positioning method in any embodiment of this application (e.g., the auxiliary positioning module 21 and task execution module 22 in the cooperative positioning device). The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0085] The communication device 33 is used for data transmission.

[0086] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 32, thereby realizing the above-mentioned cooperative positioning method.

[0087] Input device 34 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 35 may include display devices such as a display screen.

[0088] The unmanned equipment provided above can be used to execute the cooperative positioning method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0089] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a cooperative positioning method. The cooperative positioning method includes: a first device performing positioning using a precise single-point positioning method, and after calculating first position information of its location, sending the first position information to a second device, wherein the first device does not undergo displacement during the calculation process; the second device performing positioning using a differential positioning method before receiving the first position information, and performing a target task based on the second position information calculated by the differential positioning method, and performing the target task based on the first position information after receiving the first position information.

[0090] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0091] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the cooperative positioning method described above, but can also perform related operations in the cooperative positioning method provided in any embodiment of this application.

[0092] The cooperative positioning device, storage medium, and cooperative positioning equipment provided in the above embodiments can execute the cooperative positioning method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the cooperative positioning method provided in any embodiment of this application.

[0093] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A cooperative positioning method, characterized in that, include: The first device performs positioning using a precise single-point positioning method, and after calculating the first position information of its location, it sends the first position information to the second device. The first device does not undergo displacement during the calculation process. Before receiving the first location information, the second device performs positioning using a differential positioning method and executes the target task based on the second location information calculated by the differential positioning method. After receiving the first location information, it executes the target task based on the first location information.

2. The cooperative positioning method according to claim 1, characterized in that, The first device sends the first location information to the second device, including: The first device sends the first location information and the first satellite data to the second device, wherein the first satellite data is the satellite data received by the first device.

3. The cooperative positioning method according to claim 2, characterized in that, The first device sends the first location information and the first satellite data to the second device, including: The first device sends the first location information and the first satellite data to the second device in RTCM format.

4. The cooperative positioning method according to claim 2, characterized in that, The execution of the target task based on the first location information includes: The second device performs real-time dynamic differential positioning based on the first location information, and executes the target task based on the third location information calculated by the real-time dynamic differential positioning method.

5. The cooperative positioning method according to claim 4, characterized in that, The second device performs real-time dynamic differential positioning based on the first location information, including: The second device determines the positioning error based on the first location information and the first satellite data; The second device determines its third location information based on the positioning error and the second satellite data it receives.

6. The cooperative positioning method according to claim 1, characterized in that, The step of executing the target task based on the second location information calculated using the self-differential positioning method includes: The second device marks the work site according to the second location information to obtain the first mark location information of the work site.

7. The cooperative positioning method according to claim 6, characterized in that, The execution of the target task based on the first location information includes: The second device determines the marking position deviation based on the first position information, corrects the first marking position information according to the marking position deviation, and obtains the target marking position information of the work area.

8. The cooperative positioning method according to claim 7, characterized in that, The second device determines the dot position deviation based on the first position information, including: The second device determines the dot position deviation based on the deviation between the third position information and the second position information at the same location. The third position information is obtained by real-time dynamic differential positioning based on the first position information.

9. The cooperative positioning method according to claim 7, characterized in that, The second device determines the dot position deviation based on the first position information, including: The second device acquires the second location information of the location of the first device, and determines the marking position deviation based on the deviation between the second location information and the first location information of the location of the first device.

10. The cooperative positioning method according to claim 7, characterized in that, The second device corrects the first marking point position information based on the marking point position deviation to obtain the target marking point position information of the work area, including: The second device determines the target marking location information of the work site by accumulating the difference between the first marking location information and the marking location.

11. The cooperative positioning method according to claim 1, characterized in that, The execution of the target task based on the first location information includes: If the second device has not completed marking the work site when it receives the first location information, it performs real-time dynamic differential positioning based on the first location information to calculate the third location information of the location. The second device uses the third location information to mark the work site to obtain the second mark location information of the work site; The second device determines the second marking location information as the target marking location information of the work site.

12. The cooperative positioning method according to claim 1, characterized in that, Sending the first location information to the second device includes: The first device sends the first location information to the second device via a local area network (LAN) Wi-Fi.

13. The cooperative positioning method according to claim 1, characterized in that, The first device is a first surveyor, and the second device is a second surveyor or an unmanned device.

14. A cooperative positioning device, characterized in that, include: The auxiliary positioning module is configured so that the first device performs positioning through a precise single-point positioning method, and after calculating the first position information of the location, sends the first position information to the second device. The first device does not move during the calculation process. The task execution module is configured to perform positioning by differential positioning before the second device receives the first location information, and to execute the target task based on the second location information calculated by differential positioning. After receiving the first location information, it executes the target task based on the first location information.

15. A cooperative positioning device, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the cooperative positioning method as described in any one of claims 1-13.

16. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the cooperative positioning method as described in any one of claims 1-13.

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