Method and System for Positioning and Cruising Unmanned Aerial Vehicle Based on Satellite-Based Augmentation

Abstract

The invention belongs to the technical field of satellite positioning, and discloses a method and a system for positioning and cruising an unmanned aerial vehicle based on satellite-based augmentation, which includes the following steps: setting the cruising area range ofthe unmanned aerial vehicle, a high coverage cruising route and flight time. Check the software and hardware equipment of the UAV and take off from a safe area to start automatic cruise. Obtaining observation data, broadcast ephemeris and BeiDou 82b and Galileo HAS products through UAV receiver; Decoding 82b and HAS messages and matching correction numbers; according to the correction numbers provided by BZb and HAS, the satellite orbit and clock error as well as code and phase deviation are corrected; Carrying out gross error elimination, clock slip repair and cycle slip detection on the data; Kalman filtering is used to estimate parameters and obtain highprecision position coordinates. In case of emergency, the operator can send a return instruction to the UAV through BeiDou short message. After the cruise mission is over or the return command is received, the UAV will land safely at the planned return point.