Base station for unmanned aerial vehicle positioning and positioning system

Abstract

The utility model relates to the technical field of unmanned aerial vehicle positioning, and discloses a base station for unmanned aerial vehicle positioning and a positioning system, and the base station comprises an antenna receiving module, a signal distribution module, a 4G network module, a first high-precision positioning board card module, a second high-precision positioning board card module, a control module and a sending module. The signal distribution module is used for dividing satellite signals received by the antenna receiving module into two paths of positioning signals, and the first high-precision positioning board card module and the second high-precision positioning board card module are respectively connected with the signal distribution module and respectively generate two differential correction data according to the two paths of positioning signals. And the control module is used for selecting target differential correction data from the two differential correction data, and selecting the differential correction data sent to the 4G network module by the cloud server as the target differential correction data when the two differential correction data are abnormal. The sending module is used for sending the target differential correction data to the unmanned aerial vehicle. The reliability of unmanned aerial vehicle positioning can be improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) positioning technology, and in particular to a base station and positioning system for UAV positioning. Background Technology

[0002] During drone swarm flight, real-time location tracking of all drones is crucial for ensuring flight safety and reliability. In related technologies, satellite signals are transmitted separately to the drones and a base station. The base station generates differential correction data based on the satellite signals, and the drones use this data to correct their positioning, achieving high-precision positioning. However, in scenarios with significant signal interference, such as densely built-up cities or specific areas with numerous wireless devices and communication systems, drones may fail to receive differential correction data, thus affecting their positioning. Therefore, improving the reliability of drone positioning has become a pressing issue. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a reference station and positioning system for UAV positioning, which can improve the reliability of UAV positioning.

[0004] To achieve the above objectives, a first aspect of this application provides a base station for UAV positioning, comprising:

[0005] Antenna receiving module, used to receive satellite positioning signals sent by positioning satellites;

[0006] The 4G network module is connected to the antenna receiving module and is used to receive candidate differential correction data sent by the cloud server.

[0007] A signal distribution module, which is connected to the antenna receiving module, is used to divide the satellite positioning signal into a first positioning signal and a second positioning signal;

[0008] A first high-precision positioning board module, which is connected to the signal distribution module, is used to generate first differential correction data based on the first positioning signal.

[0009] The second high-precision positioning board module is connected to the signal distribution module and is used to generate second differential correction data based on the second positioning signal.

[0010] The control module is connected to the first high-precision positioning board module and the second high-precision positioning board module respectively, and is used to filter out target differential correction data from the first differential correction data and the second differential correction data; the control module is also connected to the 4G network module, and is used to use the candidate differential correction data as the target differential correction data when both the first differential correction data and the second differential correction data are abnormal;

[0011] A sending module, connected to the control module, is used to send the target differential correction data to the UAV so that the UAV can locate itself based on the target differential correction data.

[0012] The reference station for UAV positioning proposed in the embodiments of this application has at least the following beneficial effects: First, by setting an antenna receiving module to receive satellite positioning signals and a 4G network module to receive candidate differential correction data sent by a cloud server, the data acquisition channels are broadened. Even in scenarios with significant signal interference, such as densely built-up cities or areas with a large number of wireless devices and communication systems, when the UAV cannot receive differential correction data, it can still rely on the candidate differential correction data provided by the cloud server for positioning, greatly improving the reliability and stability of positioning. Second, the signal distribution module divides the satellite positioning signal into a first positioning signal and a second positioning signal, and the first high-precision positioning board module and the second high-precision positioning board module generate corresponding differential correction data, respectively. Then, the control module filters the target differential correction data from the first differential correction data and the second differential correction data. When both the first differential correction data and the second differential correction data are abnormal, the candidate differential correction data is selected as the target differential correction data. This multi-source, multi-path data processing method increases data redundancy and reliability, and reduces the risk of positioning failure due to a single data anomaly or loss. Finally, the transmitting module sends target differential correction data to the UAV, enabling the UAV to locate itself based on more accurate and reliable correction data. This ensures the safety and reliability of UAV formation flight, successfully overcoming the problem in the background technology that UAVs cannot receive differential correction data in complex interference environments, thus affecting their positioning. This improves the overall performance and adaptability of the UAV positioning system.

[0013] In some embodiments, the base station further includes a selection module, and the transmitting module further includes at least two wireless communication units, the wireless communication units having different communication frequencies;

[0014] The selection module is connected to the control module, and the selection module is used to send control signals to the control module; the control module is used to select the wireless communication unit according to the control signals to obtain the target communication unit; the target communication unit is used to send the target differential correction data to the UAV.

[0015] In some embodiments, the wireless communication unit further includes a communication subunit and a power amplifier subunit, and the transmitting module further includes a switching unit connected to the control module. The control module is configured to generate a switching signal according to the control signal, and the switching unit is configured to select the communication subunit and the power amplifier subunit according to the switching signal to obtain the target communication unit.

[0016] In some embodiments, the switching unit includes an input control terminal, a first moving terminal, a second moving terminal, a first stationary terminal, a second stationary terminal, a third stationary terminal, and a fourth stationary terminal; the control module includes a switching control terminal, a first data receiving terminal, and a first data transmitting terminal; the communication subunit includes a second data receiving terminal and a second data transmitting terminal; the power amplification subunit includes a third data receiving terminal and a third data transmitting terminal; the input control terminal is connected to the switching control terminal and is used to receive the switching signal sent by the switching control terminal; the first moving terminal is connected to the first data transmitting terminal, the second moving terminal is connected to the first data receiving terminal, the first stationary terminal is connected to the second data transmitting terminal, the second stationary terminal is connected to the third data transmitting terminal, the third stationary terminal is connected to the second data receiving terminal, and the fourth stationary terminal is connected to the third data receiving terminal;

[0017] The switching signal includes a first switching sub-signal or a second switching sub-signal. The switching unit is configured to connect the first moving end and the first stationary end according to the first switching sub-signal, and to connect the second moving end and the third stationary end according to the first switching sub-signal, so as to use the communication sub-unit as the target communication unit. The switching unit is also configured to connect the first moving end and the second stationary end according to the second switching sub-signal, and to connect the second moving end and the fourth stationary end according to the second switching sub-signal, so as to use the power amplifier sub-unit as the target communication unit.

[0018] In some embodiments, the base station further includes a voice broadcast module connected to the control module, which is used to broadcast the target data transmitted by the control module.

[0019] In some embodiments, the voice broadcasting module includes an audio generation unit, an audio amplifier unit, and a speaker; the control module includes a broadcasting data transmission terminal; a first terminal of the audio generation unit is connected to the broadcasting data transmission terminal; a second terminal of the audio generation unit is connected to the first terminal of the audio amplifier unit; and a second terminal of the audio amplifier unit is connected to the speaker. The audio generation unit is used to generate audio data based on the target data; the audio amplifier unit is used to amplify the audio data according to an amplification working mode; and the speaker is used to broadcast the audio data.

[0020] In some embodiments, the audio power amplifier unit includes a power amplifier enable terminal, which is connected to a control module, and the audio power amplifier unit determines the amplification operating mode based on the voltage of the power amplifier enable terminal.

[0021] In some embodiments, the base station further includes a power module, which includes a battery unit, a charging management unit, and an interface unit. The interface unit is connected to the charging management unit, the charging management unit is connected to the battery unit, and the battery unit is connected to the control module. The interface unit is used to connect to an external power source, and the charging management unit is used to determine the charging method of the external power source and charge the battery unit according to the charging method. The battery unit is used to provide operating voltage to the base station.

[0022] In some embodiments, the reference station further includes an angle detection module connected to the control module, the angle detection module being used to detect the horizontal placement angle of the reference station; the control module being used to issue an early warning based on the horizontal placement angle.

[0023] A second aspect of this application provides a positioning system comprising a base station as described in any of the technical solutions of the first aspect, a cloud server, at least one drone, a control terminal, and at least four positioning satellites; wherein at least four of the positioning satellites are communicatively connected to the drone, and at least four of the positioning satellites are also communicatively connected to the base station; the base station is communicatively connected to the cloud server, at least one of the drones, and the control terminal; and the control terminal is also communicatively connected to at least one of the drones.

[0024] The positioning system proposed according to the embodiments of this application has at least the following beneficial effects: By adopting the above-mentioned base station, this positioning system realizes a multi-source, multi-path data processing method, which increases the redundancy and reliability of data, reduces the risk of positioning failure due to single data anomaly or loss, and thus improves the reliability of UAV positioning.

[0025] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0027] Figure 1 An optional module structure diagram of a base station for UAV positioning provided in an embodiment of this application;

[0028] Figure 2 Another structural schematic diagram of a base station for UAV positioning provided in an embodiment of this utility model;

[0029] Figure 3 Another structural schematic diagram of a base station for UAV positioning provided in an embodiment of this utility model;

[0030] Figure 4 A feasible circuit connection diagram is provided for an embodiment of this application;

[0031] Figure 5 A schematic diagram of another base station and positioning system for UAV positioning provided in an embodiment of this application;

[0032] Figure 6 A feasible circuit connection diagram is provided for an embodiment of this application;

[0033] Figure 7 This is a schematic diagram of a positioning system provided in an embodiment of this application.

[0034] Reference numerals: Antenna receiving module 100; Signal distribution module 200; First high-precision positioning board module 300; Second high-precision positioning board module 400; Control module 500; Transmitting module 600; First wireless communication unit 610; Second wireless communication unit 620; First communication subunit 621; First power amplifier subunit 622; Third wireless communication unit 630; Second communication subunit 631; Second power amplifier subunit 632; Switching unit 640; Selection module 700; Voice broadcasting module 800; Audio generation unit 810; Audio power amplifier unit 820; Speaker 830; Power supply module 900; Battery unit 910; Charging management unit 920; Interface unit 930; Angle detection module 1000; 4G network module 1100. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0036] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0039] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0040] During drone swarm flight, real-time location tracking of all drones is crucial for ensuring flight safety and reliability. Current technologies transmit satellite signals separately to both the drones and a base station. The base station generates differential correction data based on the satellite signals, and the drones use this data to correct their positioning, achieving high-precision positioning. However, in scenarios with significant signal interference, such as densely built-up cities, areas with numerous wireless devices and communication systems, or when the hardware module used for positioning at the base station malfunctions, the drones may fail to receive the differential correction data, thus affecting their positioning. Therefore, improving the reliability of drone positioning has become a pressing issue.

[0041] Based on this, this application provides a base station and positioning system for UAV positioning. Please refer to... Figure 1 , Figure 1 This is an optional module structure diagram of a base station for UAV positioning provided in an embodiment of this application. The base station for UAV positioning provided in this embodiment includes: an antenna receiving module 100, a signal distribution module 200, a first high-precision positioning board module 300, a second high-precision positioning board module 400, a control module 500, a transmitting module 600, and a 4G network module 1100.

[0042] Specifically, the antenna receiving module 100 is used to receive satellite positioning signals transmitted by positioning satellites. In some embodiments, the antenna receiving module 100 may integrate at least two mushroom-shaped antennas, including a mushroom-shaped antenna for receiving satellite positioning signals and a mushroom-shaped antenna for receiving signals transmitted by the cloud server. In this embodiment, the cloud server transmits differential correction data via a 4G wireless network, and the global navigation satellite system to which the positioning satellite transmitting the satellite positioning signal belongs may be: Global Positioning System (GPS), GLONASS (an abbreviation for "Global Navigation Satellite System" in Russian), Galileo, and BeiDou, etc. In some embodiments, the 4G network module 1100 is connected to the antenna receiving module 100. The 4G network module 1100 may include a 4G chip and a SIM card. The mushroom-shaped antenna in the 4G network module 1100 and the antenna receiving module 100, used for receiving 4G signals, work together to enable the base station to access the cloud server via the 4G wireless network and obtain the differential correction data corresponding to the port. The cloud server sends the data to the control module 500 via a serial port. This differential correction data may be RTCM data transmitted using the communication protocol provided by the Radio Technical Commission for Maritime (RTCM). The RTCM data is the aforementioned differential correction data. It can be understood that the candidate differential correction data is the RTCM data obtained by the 4G network module 1100 and the antenna receiving module 100 through the 4G wireless network access to the cloud server. It should be noted that the antenna receiving module 100 can simultaneously receive satellite positioning signals and candidate differential correction data.

[0043] The signal distribution module 200 is connected to the antenna receiving module 100 and is used to divide the satellite positioning signal into a first positioning signal and a second positioning signal. In some embodiments, the signal distribution module 200 may be a power divider chip, which divides the GNSS signal received by the antenna receiving module 100 into two signals according to the signal strength, and inputs them to the first high-precision positioning board module 300 and the second high-precision positioning board module 400 respectively. It should be noted that after the signal is divided, the sub-signal transmitted to the first high-precision positioning board module 300 is the first positioning signal, and the sub-signal transmitted to the second high-precision positioning board module 400 is the second positioning signal.

[0044] The first high-precision positioning board module 300 is connected to the signal distribution module 200, and is used to generate first differential correction data based on the first positioning signal. The second high-precision positioning board module 400 is connected to the signal distribution module 200, and is used to generate second differential correction data based on the second positioning signal. In this embodiment, the first high-precision positioning board module 300 and the second high-precision positioning board module 400 are real-time kinematic (RTK) boards, which can be chips of the UM4B0 and UM980 series. In this embodiment, the candidate differential correction data, the first differential correction data, and the second differential correction data are also data transmitted via the RTCM protocol, and can include at least one of the following data types: RTCM1005, RTCM1074, RTCM1084, RTCM1094, RTCM1124, and RTCM1230. Specifically, the RTCM1005 data includes the geocentric coordinate information of the reference point of the base station antenna. RTCM1074 data includes the full pseudorange, carrier phase range, and signal strength of the GPS system. RTCM1084 data includes the full pseudorange, carrier phase range, and signal strength of the GLONASS system. RTCM1094 data includes the full pseudorange, carrier phase range, and signal strength of the Galileo positioning system. RTCM1124 data includes the full pseudorange, carrier phase range, and signal strength of the BeiDou system. RTCM1230 data includes GLONASS code phase offset information.

[0045] In some embodiments, the first high-precision positioning board module 300 and the second high-precision positioning board module 400 are connected through a hub chip to enable data communication between the first high-precision positioning board module 300 and the second high-precision positioning board module 400.

[0046] The control module 500, in conjunction with the first high-precision positioning board module 300 and the second high-precision positioning board module 400, is used to filter target differential correction data from the first and second differential correction data. In other words, it selects the complete and highest-quality data from the first and second differential correction data as the target differential correction data. Specifically, the control module 500 receives data sequentially byte by byte, while searching for a specific bootstrap byte to determine the start position of the relevant RTCM data frame. If the bootstrap byte is not found, it returns and continues receiving the data stream. Once the bootstrap byte is successfully found, the control module 500 extracts the length information of the RTCM data frame and continues to receive 3 bytes of data according to the length, then performs cyclic redundancy check on the received RTCM data. If the check fails, it returns and re-receives a new data frame. If the check succeeds, the control module 500 further parses the content of the RTCM data packet. During the parsing process, the control module 500 extracts relevant satellite correction data for commonly used RTCM message types, performs statistics on all parsed constellation correction data, and adds 1 to the end of each satellite constellation correction data. Simultaneously, the control module 500 detects every second whether any satellite constellation correction data is missing. If no satellite constellation correction data is missing, the current RTCM data can be determined to be complete. If the current RTCM data is complete, the signal-to-noise ratio (SNR) information of all signals corresponding to the RTCM data is obtained, and the signal with the highest SNR is identified. The RTCM data corresponding to this signal is then used as the target differential correction data. In other embodiments, the SNR information can be compared with a SNR threshold to identify signals with an SNR greater than the threshold. The RTCM data corresponding to this signal is then used as the target differential correction data. The SNR threshold can be 35 dB. The control module 500 is also connected to the 4G network module 1100 to use candidate differential correction data as the target differential correction data when both the first and second differential correction data are abnormal. That is, during the aforementioned cyclic redundancy check process, if neither the first nor the second differential correction data is complete, the control module 500 selects the differential correction data downloaded from the cloud server, i.e., the aforementioned candidate differential correction data, as the target differential correction data.

[0047] The transmitting module 600 is connected to the control module 500 and is used to transmit target differential correction data to the UAV so that the UAV can locate itself based on the target differential correction data. In this embodiment, the transmitting module 600 broadcasts the target correction data to the UAV via a radio.

[0048] The reference station for UAV positioning provided in this application embodiment receives satellite positioning signals through an antenna receiving module and simultaneously uses a 4G network module to receive candidate differential correction data sent by a cloud server, thus broadening the data acquisition channels. Even in scenarios with significant signal interference, such as densely built-up cities or areas with numerous wireless devices and communication systems, when the UAV cannot receive differential correction data, it can still rely on the candidate differential correction data provided by the cloud server for positioning, greatly improving the reliability and stability of positioning. Secondly, the signal allocation module divides the satellite positioning signal into a first positioning signal and a second positioning signal. Corresponding differential correction data are generated by the first and second high-precision positioning board modules, respectively. The control module then filters the target differential correction data from the first and second differential correction data. When both the first and second differential correction data are abnormal, candidate differential correction data is selected as the target differential correction data. This multi-source, multi-path data processing method increases data redundancy and reliability, reducing the risk of positioning failure due to a single data anomaly or loss. Finally, the transmitting module sends target differential correction data to the UAV, enabling the UAV to locate itself based on more accurate and reliable correction data. This ensures the safety and reliability of UAV formation flight, successfully overcoming the problem in the background technology that UAVs cannot receive differential correction data in complex interference environments, thus affecting their positioning. This improves the overall performance and adaptability of the UAV positioning system.

[0049] Please refer to Figure 2 , Figure 2 This is another structural schematic diagram of a base station for UAV positioning provided in an embodiment of the present invention. In some embodiments, the base station further includes a selection module 700, and the transmitting module 600 further includes at least two wireless communication units, which have different communication frequencies. In this embodiment, there are three wireless communication units: the first wireless communication unit 610 has a communication frequency of 900MHz, the second wireless communication unit 620 has a communication frequency of 868MHz, and the third wireless communication unit 630 has a communication frequency of 2.4GHz. Each wireless communication unit corresponds to an external radio antenna. The control module 500 uses an ADC to detect changes in the antenna's voltage or current to determine whether the antenna is correctly installed and whether its performance is abnormal.

[0050] By designing multiple radio communication channels, the base station can transmit data in different regions according to the standard radio communication frequencies used locally, further improving the reliability of UAV positioning.

[0051] The selection module 700 is connected to the control module 500 and is used to send control signals to the control module 500. The control module 500 selects a wireless communication unit based on the control signal to obtain a target communication unit, which is used to send target differential correction data to the UAV. In some embodiments, the selection module 700 may include multiple buttons or switches. For example, three buttons are provided, with the first end of each button grounded and the second end connected to a pin of the control module 500. The control module 500 predefines pins for connecting the buttons and determines whether the corresponding button is pressed by detecting the high or low level signals of these pins, thereby determining the communication frequency of the sending module 600. In other embodiments, it may also be an input device that supports human-computer interaction, such as a user inputting or clicking to select the communication frequency on an interactive interface, thereby generating the control signal described above. After receiving the control signal sent by the selection module 700, the control module 500 can determine the communication frequency and, based on the communication frequency, determine the target communication unit from the first wireless communication unit 610, the second wireless communication unit 620, and the third wireless communication unit 630.

[0052] In some embodiments, Figure 2 Based on the structure shown, the wireless communication unit can further include a communication subunit and a power amplifier subunit. It is understood that the communication subunit and power amplifier subunit within the same wireless communication unit share the same communication frequency. The communication subunit can be an Xbee wireless communication hardware module, and the power amplifier subunit can be a hardware module that includes both wireless communication and amplification functions. Please refer to [reference needed]. Figure 3 , Figure 3This is another structural schematic diagram of the base station for UAV positioning provided in this embodiment of the present invention. The transmitting module 600 also includes a switching unit 640, which is connected to the control module 500. The control module 500 generates a switching signal based on a control signal, and the switching unit 640 selects a communication subunit and a power amplification subunit based on the switching signal to obtain a target communication unit. In some UAV formation scenarios, the UAVs travel a long distance, and the base station needs to increase the communication distance with the UAVs. In this case, a power amplification subunit can be selected as the target communication unit for data transmission. In this embodiment, the transmitting module 600 includes two switching units 640. The second wireless communication unit 620 includes a first communication subunit 621 and a first power amplification subunit 622. The third wireless communication unit 630 includes a second communication subunit 631 and a second power amplification subunit 632. Specifically, the first ends of the two switching units 640 are respectively connected to the control module 500. The second ends of the first switching unit 640 are respectively connected to the first communication subunit 621 and the first power amplification subunit 622. The second end of the second switching unit 640 is connected to the second communication subunit 631 and the second power amplifier subunit 632, respectively. When the operator selects the 868MHz channel through the selection module 700 and needs to transmit RTCM data over a long distance, the control module 500 receives the corresponding control signal and controls the serial port channel corresponding to the 868MHz channel to operate, i.e., the control module 500 branches to the first switching unit 640 and then to the second wireless communication unit 620. At the same time, the control module 500 generates a switching signal and sends it to the first switching unit 640. The first switching unit 640 selects to turn on the first power amplifier subunit 622, and the first communication subunit 621 is not working at this time, thereby realizing the target differential correction data transmission in the operating mode expected by the operator.

[0053] In some embodiments, the switching unit 640 may include an input control terminal, a first moving terminal, a second moving terminal, a first stationary terminal, a second stationary terminal, a third stationary terminal, and a fourth stationary terminal. Please refer to... Figure 4 , Figure 4 This is a schematic diagram illustrating a feasible circuit connection for an embodiment of this application. It should be noted that, in this embodiment… Figure 4 The structure shown implements the switching function of the two switching units 640 through a single switching chip. The following embodiment uses the branch channel with a communication frequency of 868MHz in the transmitting module 600 as an example for explanation only, and should not be construed as a strict limitation of this utility model.

[0054] In this embodiment, data is communicated via a Universal Asynchronous Receiver / Transmitter (UART) serial port. The control module 500 defines a pair of pins for transmitting and receiving data for each selectable communication frequency. The control module 500 includes a switching control terminal SEL, a first data receiver Xbee3_UART4_RX, and a first data transmitter Xbee3_UART4_TX. The communication subunit includes a second data receiver Xbee868M_UART4_RX and a second data transmitter Xbee868M_UART4_TX. The power amplifier subunit includes a third data receiver 868M_Amplifier_RX and a third data transmitter 868M_Amplifier_TX. The input control terminal IN is connected to the switching control terminal SEL and is used to receive the switching signal sent by the switching control terminal SEL. The first moving terminal 3A is connected to the first data transmitter Xbee3_UART4_TX, the second moving terminal 4A is connected to the first data receiver Xbee3_UART4_RX, the first stationary terminal 3B1 is connected to the second data transmitter Xbee868M_UART4_TX, the second stationary terminal 3B2 is connected to the third data transmitter 868M_Amplifier_TX, the third stationary terminal 4B1 is connected to the second data receiver Xbee868M_UART4_RX, and the fourth stationary terminal 4B2 is connected to the third data receiver 868M_Amplifier_RX.

[0055] The switching signal includes a first switching sub-signal or a second switching sub-signal. The switching unit 640 is used to connect the first moving terminal 3A and the first stationary terminal 3B1 according to the first switching sub-signal, and simultaneously connect the second moving terminal 4A and the third stationary terminal 4B1 according to the first switching sub-signal, so as to designate the communication sub-unit as the target communication unit. The switching unit 640 is also used to connect the first moving terminal 3A and the second stationary terminal 3B2 according to the second switching sub-signal, and connect the second moving terminal 4A and the fourth stationary terminal 4B2 according to the second switching sub-signal, so as to designate the power amplifier sub-unit as the target communication unit. Specifically, the first switching sub-signal is a low-level signal at the input control terminal IN, and simultaneously at the enable terminal... The level signal is low. The second switching sub-signal is that the level signal of the input control terminal IN is high, and the enable terminal... The signal level is low. When the enable pin... When the signal level is high, the switching unit 640 disconnects any connection between the moving and stationary ends.

[0056] Taking the 2.4GHz branch channel in the transmitting module 600 as an example, the control module 500 includes a switching control terminal SEL, a first data receiver Xbee2_UART3_RX, and a first data transmitter Xbee2_UART3_TX. The communication subunit includes a second data receiver Xbee2_4G_UART3_RX and a second data transmitter Xbee2_4G_UART3_TX. The power amplification subunit includes a third data receiver 2_4G_Amplifier_RX and a third data transmitter 2_4G_Amplifier_TX. The input control terminal IN is connected to the switching control terminal SEL and is used to receive the switching signal sent by the switching control terminal SEL. The first moving terminal 1A is connected to the first data transmitter Xbee2_UART3_TX, the second moving terminal 2A is connected to the first data receiver Xbee2_UART3_RX, the first stationary terminal 1B1 is connected to the second data transmitter Xbee2_4G_UART3_TX, the second stationary terminal 1B2 is connected to the third data transmitter 2_4G_Amplifier_TX, the third stationary terminal 2B1 is connected to the second data receiver Xbee2_4G_UART3_RX, and the fourth stationary terminal 2B2 is connected to the third data receiver 2_4G_Amplifier_RX. The switching signal operation process is similar to that in the above embodiment and will not be described in detail here. Figure 4 The chip structure shown also includes an enable pin. Ground terminal GND and power supply terminal VCC, where the enable terminal The grounding terminal GND is grounded, and the power supply terminal VCC is connected to a power supply with a voltage of 3.3V.

[0057] In some embodiments, please refer to Figure 5 , Figure 5 This is a schematic diagram of another base station and positioning system for UAV positioning provided in an embodiment of this application. The base station also includes a voice broadcast module 800, which is connected to the control module 500 and is used to broadcast target data transmitted by the control module 500. In some embodiments, the voice broadcast module 800 includes an audio generation unit 810, an audio amplifier unit 820, and a speaker 830. The control module 500 includes a broadcast data transmission terminal. A first terminal of the audio generation unit 810 is connected to the broadcast data transmission terminal, a second terminal of the audio generation unit 810 is connected to a first terminal of the audio amplifier unit 820, and a second terminal of the audio amplifier unit 820 is connected to the speaker 830. The audio generation unit 810 is used to generate audio data based on the target data. It is understood that the target data is the data and information that needs to be broadcast, which may include lithium battery power, angle data, firmware version data, etc., and is not limited to these.

[0058] The audio amplifier unit 820 is used to amplify audio data according to the amplification operating mode, and the speaker 830 is used to broadcast the audio data. In some embodiments, the audio amplifier unit 820 includes an amplifier enable terminal, which is connected to the control module 500, and the audio amplifier unit 820 determines the amplification operating mode according to the voltage of the amplifier enable terminal.

[0059] For details, please refer to Figure 6 , Figure 6 This is a schematic diagram illustrating a feasible circuit connection for an embodiment of this application. The control module 500 transmits target data to the audio generation unit 810 via a broadcast data transmission terminal, and the audio generation unit 810 generates audio data based on the target data. It should be noted that the audio generation unit 810 can determine the language of the final generated audio based on the current communication frequency of the base station. For example, when the current communication frequency of the base station is 868MHz, the language of the audio data is determined to be English. When the current communication frequency of the base station is 2.4GHz, the language of the audio data is determined to be Chinese.

[0060] The audio amplifier unit 820 includes an amplifier control chip, resistors R107 and R109. The audio generation unit 810 connects to resistors R118 and R120 via two pins. Resistor R118 is connected to the non-inverting input (IN+) of the amplifier control chip, and resistor R120 is connected to the inverting input (IN-) of the amplifier control chip. Changing the resistance values ​​of resistors R118 and R120 alters the amplitude of the signal input to the amplifier control chip, thereby adjusting the volume of the audio data.

[0061] The enable terminal EN of the power amplifier control chip is connected to resistors R107 and R109, and the playback control terminal VOICE_EN of the control module 500. The control module 500 controls the operation of the power amplifier control chip by adjusting the level of the playback control terminal VOICE_EN. The resistance values ​​of resistors R107 and R109 control the voltage at the enable terminal EN, thereby controlling the amplification mode of the amplifier inside the power amplifier control chip. The amplification mode can be either Class D or Class AB. For example, when the voltage at the enable terminal EN is between 0.9V and 1.3V, the amplification mode is Class AB. When the voltage at the enable terminal EN is between 2V and 5V, the amplification mode is Class D. The negative output terminal OUTN and the positive output terminal OUTP of the power amplifier control chip are connected to the speaker 830. The power amplifier control chip also includes a power supply terminal VDD, two ground terminals GND, and an internal common-mode reference voltage terminal BYPASS. The power supply terminal VDD is connected to a 5V power supply, the two ground terminals GND are grounded, and the internal common-mode reference voltage terminal BYPASS is grounded through a capacitor.

[0062] In some embodiments, the base station further includes a power module 900, which includes a battery unit 910, a charging management unit 920, and an interface unit 930. The interface unit 930 is connected to the charging management unit 920, the charging management unit 920 is connected to the battery unit 910, and the battery unit 910 is connected to the control module 500.

[0063] Interface unit 930 is used to connect to an external power source. Interface unit 930 can be a USB interface or a Type-C interface, but is not limited to these. Charging management unit 920 is used to determine the charging method of the external power source and charge battery unit 910 according to the charging method. The charging method can be normal charging or fast charging. Charging management unit 920 has a built-in fast charging protocol (PD) chip. When the external power source also has a fast charging protocol (PD) chip, it can enable the external power source to fast charge battery unit 910, and it can also enable the external power source to charge battery unit 910 while simultaneously supplying power to the base station. Battery unit 910 is used to provide operating voltage to the base station. Battery unit 910 can be a lithium battery.

[0064] In some embodiments, the base station further includes an angle detection module 1000, which is connected to the control module 500. The angle detection module 1000 is used to detect the horizontal placement angle of the base station. The angle detection module 1000 can be a gyroscope, accelerometer, magnetic encoder, or potentiometer, and is not limited thereto. The control module 500 is used to issue a warning based on the horizontal placement angle. For example, when the horizontal placement angle of the base station is detected to be greater than 30°, a specific indicator light can be controlled to illuminate, or a warning can be issued through the voice broadcast module 800 in the above embodiments, thereby achieving a warning to prevent the horizontal placement angle of the base station from being too large and affecting its use.

[0065] In some embodiments, the base station is also equipped with multiple LEDs to indicate the relevant status of the base station, such as whether the battery is charging, whether it is receiving GNSS signals, whether it is connected to the network, whether the radio module is turned on, and indicating the communication frequency of the radio.

[0066] In some embodiments, the base station also includes a flash storage module, which can be used to store raw GNSS data, RTCM data, lithium battery power, gyroscope data, firmware version data, etc., and is not limited thereto.

[0067] This application also provides a positioning system in its embodiments. Please refer to [link / reference]. Figure 7 , Figure 7This is a schematic diagram of a positioning system provided in an embodiment of this application. The positioning system includes a base station as described in any of the above embodiments, a cloud server, at least one drone, a control terminal, and at least four positioning satellites. At least four positioning satellites are communicatively connected to the drone, and at least four positioning satellites are also communicatively connected to the base station. The base station is communicatively connected to the cloud server, at least one drone, and the control terminal. The control terminal is also communicatively connected to at least one drone.

[0068] The following will be combined with the following embodiments and Figure 7 The positioning process of the positioning system in this embodiment will be described in detail. Within a relative baseline range between the RTK receiver on the UAV and the base station, the first high-precision positioning board module 300 and the second high-precision positioning board module 400 in both the UAV and the base station simultaneously track satellite signals and the corresponding signal-to-noise ratio (SNR) information. The UAV selects the four satellite signals with the highest SNR values ​​from those with SNR values ​​greater than 35dB, and designates the satellites corresponding to these four signals as the common-view satellites for this positioning task. After analyzing these four common-view satellites and entering single-point positioning, the base station simultaneously receives the satellite signals from the four common-view satellites. Once the base station's adaptive positioning is normal, it outputs RTCM differential data. Simultaneously, the base station accesses the cloud server port via a wireless network to obtain RTCM data and broadcasts it externally through three radios (900MHz, 2.4GHz, and 868MHz). After receiving RTCM data in real time via radio, the RTK receiver on the drone transitions from Float mode to FIX mode, outputting latitude, longitude, and altitude data with an accuracy of approximately 3 cm to the drone's main controller for real-time positioning. Ground users connect to a router via a control terminal, and the router communicates bidirectionally with the drone's WiFi network. The control terminal can display information about the base station and the location of each drone.

[0069] The positioning system proposed according to the embodiments of this application has at least the following beneficial effects: By adopting the above-mentioned base station, this positioning system realizes a multi-source, multi-path data processing method, which increases the redundancy and reliability of data, reduces the risk of positioning failure due to single data anomaly or loss, and thus improves the reliability of UAV positioning.

[0070] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The above examples are only for the purpose of helping to understand the core idea of ​​this utility model. The above description is only a preferred embodiment of this utility model. It should be noted that due to the limitations of textual expression, and the existence of an infinite number of specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this utility model. They can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the concept and technical solution of this utility model to other situations without modification, should all be considered within the protection scope of this utility model.

Claims

1. A reference station for positioning of unmanned aerial vehicles, characterized by, The base station comprises: an antenna receiving module configured to receive satellite positioning signals transmitted by positioning satellites; a 4G network module connected to the antenna receiving module and configured to receive candidate differential correction data transmitted by a cloud server; a signal distribution module connected to the antenna receiving module and configured to split the satellite positioning signals into first positioning signals and second positioning signals; a first high-precision positioning board card module connected to the signal distribution module and configured to generate first differential correction data based on the first positioning signals; a second high-precision positioning board card module connected to the signal distribution module and configured to generate second differential correction data based on the second positioning signals; a control module connected to the first high-precision positioning board card module and the second high-precision positioning board card module, and configured to screen target differential correction data from the first differential correction data and the second differential correction data; the control module is also connected to the 4G network module, and is configured to use the candidate differential correction data as the target differential correction data when the first differential correction data and the second differential correction data are both abnormal; a sending module connected to the control module and configured to send the target differential correction data to a UAV so that the UAV performs positioning based on the target differential correction data.

2. The reference station for drone positioning of claim 1, wherein, The base station further comprises a selection module, and the sending module further comprises at least two wireless communication units having different communication frequencies. The selection module is connected to the control module and is configured to send a control signal to the control module; the control module is configured to select a target communication unit based on the control signal; and the target communication unit is configured to send the target differential correction data to the UAV.

3. The reference station for drone positioning of claim 2, wherein, The wireless communication unit further comprises a communication subunit and a power amplification subunit, and the sending module further comprises a switching unit connected to the control module; the control module is configured to generate a switching signal based on the control signal; and the switching unit is configured to select the target communication unit based on the switching signal.

4. The reference station for drone positioning of claim 3, wherein, The switching unit comprises an input control end, a first dynamic end, a second dynamic end, a first static end, a second static end, a third static end and a fourth static end; the control module comprises a switching control end, a first data receiving end and a first data sending end; the communication subunit comprises a second data receiving end and a second data sending end; the power amplification subunit comprises a third data receiving end and a third data sending end; the input control end is connected with the switching control end, and the input control end is used for receiving the switching signal sent by the switching control end; the first dynamic end is connected with the first data sending end, the second dynamic end is connected with the first data receiving end, the first static end is connected with the second data sending end, the second static end is connected with the third data sending end, the third static end is connected with the second data receiving end, and the fourth static end is connected with the third data receiving end; The switching signal comprises a first switching sub-signal or a second switching sub-signal; the switching unit is used for connecting the first dynamic end and the first static end according to the first switching sub-signal, connecting the second dynamic end and the third static end according to the first switching sub-signal, so as to take the communication subunit as the target communication unit; and the switching unit is also used for connecting the first dynamic end and the second static end according to the second switching sub-signal, connecting the second dynamic end and the fourth static end according to the second switching sub-signal, so as to take the power amplification subunit as the target communication unit.

5. The reference station for drone positioning of claim 1, wherein, The reference station further comprises a voice broadcast module, the voice broadcast module is connected with the control module, and the voice broadcast module is used for broadcasting target data transmitted by the control module.

6. The reference station for drone positioning of claim 5, wherein, The voice broadcast module comprises an audio generation unit, an audio power amplifier unit and a loudspeaker, the control module comprises a broadcast data transmission end, a first end of the audio generation unit is connected with the broadcast data transmission end, a second end of the audio generation unit is connected with a first end of the audio power amplifier unit, and a second end of the audio power amplifier unit is connected with the loudspeaker; The audio generation unit is used for generating audio data according to the target data, the audio power amplifier unit is used for power amplifying the audio data according to an amplification working mode, and the loudspeaker is used for broadcasting the audio data.

7. The reference station for drone positioning of claim 6, wherein, The audio power amplifier unit comprises a power amplifier enable end, the power amplifier enable end is connected with the control module, and the audio power amplifier unit determines the amplification working mode according to a voltage of the power amplifier enable end.

8. The reference station for drone positioning of claim 1, wherein, The reference station further comprises a power module, the power module comprises a battery unit, a charging management unit and an interface unit, the interface unit is connected with the charging management unit, the charging management unit is connected with the battery unit, the battery unit is connected with the control module, the interface unit is used for accessing an external power supply, the charging management unit is used for determining a charging mode of the external power supply and charging the battery unit according to the charging mode, and the battery unit is used for providing a working voltage for the reference station.

9. Reference station for the positioning of drones according to any of claims 1 to 8, characterized in that, The reference station further comprises an angle detection module connected with the control module, the angle detection module being configured to detect a horizontal placement angle of the reference station; and the control module being configured to give a warning according to the horizontal placement angle.

10. A positioning system, characterized by The positioning system comprises the reference station according to any one of claims 1 to 9, a cloud server, at least one unmanned aerial vehicle, a control terminal and at least four positioning satellites; wherein the at least four positioning satellites are in communication connection with the unmanned aerial vehicle, and the at least four positioning satellites are further in communication connection with the reference station; the reference station is in communication connection with the cloud server, the at least one unmanned aerial vehicle and the control terminal respectively; and the control terminal is further in communication connection with the at least one unmanned aerial vehicle.

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