109 results about "Differential correction" patented technology

The invention discloses an unmanned aerial vehicle centimeter-level hovering control system based on single Beidou differential positioning, and particularly relates to the technical field of unmanned aerial vehicle high-precision positioning and control. The system comprises a Beidou RTK positioning module, a multi-sensor fusion module, a flight control module, a motor driving module, an exception handling module and a ground base station module. Centimeter-level positioning data are obtained through Beidou RTK, and a high-precision pose is output through tight coupling filtering by combining an IMU and a barometer; the flight control module adopts a model prediction algorithm to generate an instruction; the motor driving module realizes quick response; the exception handling module guarantees the reliability of the system; the ground base station provides differential correction. The single Beidou differential positioning and multi-sensor fusion technology is innovatively adopted, centimeter-level precision autonomous hovering control of the unmanned aerial vehicle is achieved, and the unmanned aerial vehicle hovering control system has the advantages of being high in precision, high in interference resistance and rapid in response and is suitable for industrial unmanned aerial vehicle application scenes such as precision agriculture and electric power inspection.

To eliminate the influence of station position fluctuations in a satellite navigation system. [Solution] In satellite navigation systems, including the US GPS and Japan's Quasi-Zenith Satellite System, when multiple reference stations are installed to form a wide-area differential correction system (WADGPS), previously, position errors caused by fluctuations in station position would remain in the position information calculated by the user receiver.However, by adding a correction amount to the correction information provided by WADGPS in advance to cancel this, the position errors caused by fluctuations in station position at the user station can be reduced without changing the calculation processing content at the WADGPS user station, thereby improving the accuracy of the position information calculated by the user station.

The invention relates to an unmanned aerial vehicle high-precision positioning method based on a satellite-based enhancement system and adaptive Kalman filtering. The method comprises the following steps: acquiring multimode satellite data; analyzing the satellite-based enhanced telegraph text data, and performing error correction on the original observation data; based on the corrected observation data, dynamically adjusting a process noise covariance matrix by using the motion state of the unmanned aerial vehicle, and constructing an adaptive Kalman filtering model; and based on an adaptive Kalman filtering model, fusing the corrected observation data and inertial measurement unit data to obtain unmanned aerial vehicle positioning. The method aims to solve the problems that unmanned aerial vehicle positioning in complex environments (such as urban canyons, electromagnetic interference areas and mountainous areas without ground base stations) is remarkable in multipath effect and has dynamic noise interference, and traditional differential positioning depends on ground base stations. The centimeter-level continuous positioning of the unmanned aerial vehicle in a complex scene is realized through triple technical breakthroughs of satellite-based differential correction, dynamic optimization of environmental perception filtering parameters and multi-source data tight coupling solution.

The invention relates to the technical field of image data processing, in particular to an automatic driving model based on a mixed low-rank expert and a multi-domain adaptive fine tuning method, and the model comprises a general model base in a frozen state and a multi-domain adaptive component in a trainable state; the universal model base comprises an image encoder, a measurement information encoder and a trajectory planner; the multi-domain adaptation component comprises a mixed low-rank expert group and a domain sensing router; the mixed low-rank expert group is used for calculating a difference correction signal according to the input characteristics; and the domain sensing router is used for receiving the shared image features extracted by the image encoder, outputting probability vectors and dynamically activating corresponding experts in the mixed low-rank expert group according to feature distribution of input data. According to the method, plug-and-play type efficient adaptation of a single universal model to multiple downstream domains is achieved with extremely low calculation and storage cost, and the pain point of a traditional multi-domain adaptation method is perfectly solved.

The invention relates to an intelligent ship water diversion method and system based on RTK and inertial navigation fusion, and the method comprises the steps: firstly, deploying and calibrating an RTK base station at a wharf commanding height, generating a differential correction in real time, and broadcasting the differential correction to a shipborne end; utilizing RTK surveying and mapping equipment to collect shoreline feature points, adopting a cubic spline interpolation algorithm to construct a continuous and smooth three-dimensional shoreline curve model, and fusing wharf geographic information to generate a shoreline visual map with geographic coordinates; establishing a ship coordinate system, converting inertial navigation attitude data into the coordinate system through a rotation matrix and a translation vector, fusing the inertial navigation attitude data with RTK position data, and outputting a high-precision ship pose; fusion data are transmitted through a 5G network, a shore end converts the fusion data into a local plane coordinate system and generates a real-time dynamic visual interface, the real-time dynamic visual interface is pushed to a tug terminal through an RTSP protocol, water diversion operation is assisted, high-precision perception, visual guidance and shore ship cooperation of the ship berthing process are achieved, and the water diversion safety and the intelligent level are improved.

The invention relates to a high and steep slope real-time monitoring method and system based on multi-source data fusion and cooperative enhancement. The method comprises the following steps: scanning a slope provided with a corner reflector array by using a synthetic aperture radar (SAR); performing real-time differential correction on data acquired by the radar by taking the corner reflector in the stable region as a reference so as to eliminate common noise; meanwhile, a three-dimensional laser scanner is used for obtaining point cloud data of the slope; coordinate registration and fusion of radar data and point cloud data are realized through the corner reflector array, so that a three-dimensional deformation field of the slope is generated. The method provided by the invention has the advantages of high monitoring precision, high signal-to-noise ratio and good data reliability.

The invention provides an earth and rockfill dam construction period real settlement monitoring method and monitoring equipment, and the method employs an all-terrain walking robot to carry out the high-precision GNSS receiver, achieves the autonomous plane positioning and static measurement when walking on an earth and rockfill dam filling bin surface, carries out the difference calculation with the difference correction data obtained by a reference station, and achieves the real settlement of an earth and rockfill dam. Accurate three-dimensional positioning information and displacement change data are obtained; respectively measuring after each filling layer of the filling bin surface of the earth and rockfill dam is rolled and before the next filling layer is filled, and acquiring real settlement data of the earth and rockfill dam in the construction period; and the displacement change data and the real settlement data are fed back to the all-terrain walking robot through the server for adjusting a measurement plan of the all-terrain walking robot. Compared with traditional manual measurement or fixed monitoring equipment, the system has autonomous movement and high-precision positioning capabilities.

The invention belongs to the technical field of personnel positioning, and particularly discloses a tunnel construction personnel continuous positioning system based on multi-source data fusion, and the system comprises a positioning tag which comprises a GNSS positioning module, a UWB module, an IMU module, and a main control module; the GNSS base station is used for generating differential correction data; the anchor nodes are used for receiving the UWB signals and recording signal arrival timestamps; the main control module is configured to monitor a GNSS signal in real time, judge that a person is in a ground GNSS available area when the GNSS signal meets a certain condition, and switch to an RTK / PDR fusion positioning mode; and when the GNSS signal is completely lost or the quality is extremely poor, judging that a person enters underground or a GNSS shielding area, smoothly switching to a UWB / PDR fusion positioning mode, and performing positioning by using UWB distance measurement and IMU / PDR. According to the invention, the position tracking continuity of miners moving in different areas of a mining area can be guaranteed, and the coverage capability and adaptability in the whole range of the mining area are ensured.

The invention discloses a high-precision receiver analog signal comprehensive detection method based on a Beidou satellite, and particularly relates to the technical field of signal detection. The method comprises the following steps: acquiring satellite navigation signal data received by a receiver under a preset simulation motion track condition, respectively constructing a navigation calculation reference track evolution model and a high-dynamic track evolution model, analyzing an evolution change trend of a differential correction number, and extracting a dynamic response parameter of differential data; carrying out joint modeling on the dynamic response parameters and the motion state calculation model data, and outputting synchronous offset degree data; based on the synchronization offset degree data and the time sequence trajectory prediction data, analyzing a residual error between an actual resolving position and an expected trajectory of the receiver at each sampling time point; and whether a false detection risk caused by error response lag exists in the satellite navigation signal data or not is judged by combining a high-dynamic trajectory evolution model and residual error distribution, so that the test accuracy and evaluation reliability of the differential positioning performance of the receiver are effectively improved.

The invention provides a reference station network differential correction precision evaluation method, device and equipment and a medium, and the method comprises the steps: taking the coverage of each reference station in a reference station network as a purpose, constructing a virtual monitoring station for the reference station, and enabling every three virtual monitoring stations to form a triangular monitoring unit; performing exception elimination on the to-be-selected satellites which can be observed by the reference station differential correction based on the monitoring unit to obtain a target satellite after exception elimination; and based on the observation data of the target satellite and all the monitoring units, evaluating the positioning precision of the base station network. According to the embodiment of the invention, a mode of constructing the virtual monitoring station for each reference station is adopted, all-weather evaluation of the precision of the reference stations is realized, and the accuracy of the used data is ensured.

The invention relates to the technical field of electricity approaching early warning, in particular to a transformer substation operation vehicle electricity approaching early warning method and system based on space logic calculation. The method comprises the following steps: constructing a static safety electronic fence of the electrified equipment of the transformer substation, continuously generating differential correction data, simultaneously carrying out carrier phase differential calculation, and outputting real-time three-dimensional coordinate data of an operation vehicle and a moving part; the space coordinates of the static safety electronic fence and the real-time three-dimensional coordinate data of the operation vehicle and the moving part are input into a space logic calculation unit for real-time space distance comparison and logic operation, and the grade of an early warning area where the operation vehicle is located is judged; a forced stop signal is sent according to the judged early warning area grade; and after receiving the forced stop signal, the active stop device is driven by the controller to realize forced stop of the vehicle, and continuously feeds back a braking state to the spatial logic calculation unit to form a safe closed loop. According to the invention, the operation safety of the substation operation vehicle can be obviously improved.

The invention relates to the technical field of land surveying and mapping, in particular to a land surveying and mapping field acquisition system based on a mobile terminal, which comprises a hardware resource scheduling layer, a high-precision positioning processing engine, a field operation interaction engine, a real-time data quality verification module, an off-line and on-line asynchronous collaborative system and a multi-source heterogeneous data encapsulation center. According to the system, differential correction data and inertial navigation data are fused by using a positioning engine to realize centimeter-level positioning; executing geometric topology check and spatial precision evaluation through a verification module; and realizing incremental synchronization of end cloud data by adopting an asynchronous collaborative system. The invention aims to solve the problems that surveying and mapping depend on special hardware and the working continuity is poor in a weak network environment. By adopting the technical scheme, high-precision and high-reliability field acquisition is realized, the deployment cost is remarkably reduced, and the operation efficiency and the data quality are improved.

The invention provides a positioning time service base station, a positioning time service method, a storage medium and a program product, relates to the field of communication, and can solve the problems that an existing positioning time service scheme is high in construction, operation and maintenance cost and has a service blind area. The base station comprises a GNSS receiver chip, a crystal oscillator, a data acquisition and processing unit and a radio frequency unit, the GNSS receiver chip is used for receiving more than two frequency point signals at the same time; wherein the frequency point signal comes from a satellite navigation system; the crystal oscillator is used for providing time reference; the data acquisition and processing unit is used for receiving observation data of the satellite navigation system; performing differential calculation at least based on the observation data to obtain differential correction data; wherein the differential correction data is used for the terminal equipment to carry out positioning correction or time service correction; a radio frequency unit; and the radio frequency unit is used for sending the differential correction data to terminal equipment located in a service area of the positioning time service base station.

The application discloses a CORS network-based RTK server integrity monitoring method, and relates to the field of satellite navigation, which comprises the following steps: acquiring observation data obtained by a plurality of reference stations in a same region in a CORS network in each epoch in an observation time period; performing fault monitoring on receiver faults, signal quality abnormalities and star clock abnormalities in the observation data of each reference station based on a distributed monitoring scheme and a hierarchical monitoring idea, determining a fault discrimination matrix, comprehensively performing joint discrimination on the fault discrimination matrixes of each reference station, monitoring ephemeris faults, reference station position faults, regional ionospheric abnormalities and regional tropospheric abnormalities by using multi-station observation data, obtaining a first-level monitoring result, selecting a reference station and adjacent reference stations according to a user's approximate position to determine initial differential correction values, monitoring comprehensive faults contained in the observation data of each reference station, and determining differential correction values and integrity parameters to be broadcast to users finally, so that the RTK server integrity can be effectively improved.

The invention discloses a feeding and discharging device of automatic connecting rod machining equipment. The feeding and discharging device comprises a rack, and a chain type conveying module and a grabbing and positioning module are arranged on the rack; the chain type conveying module comprises a conveying chain, a differential correction structure for adjusting the pitch of the conveying chain, guide blades arranged on chain links of the conveying chain, and a profiling guide rail which is arranged on the rack and is matched with the guide blades for angle adjustment; the grabbing positioning module adopts a vertical nesting layout, and comprises a parallel clamping mechanism, a composite buffer system and a reference positioning system which are arranged right above the output end of the conveying chain; the chain type conveying module outputs connecting rods with uniform postures, and the grabbing and positioning module completes grabbing, transferring and accurate positioning and placing. Through the synergistic effect of an angle self-adaptive guide system composed of a variable pitch mechanism, a differential correction structure, a guide blade and a profiling guide rail in the chain type conveying module, the new energy automobile engine / driving motor connecting rod can be accurately conveyed, and it is ensured that the connecting rods flowing into a grabbing station have highly-unified preset postures.

The present application relates to the field of aerospace technology, specifically to a kind of multi-pulse parallel construction method of gravitational wave detection formation considering timing optimization, each spacecraft of formation simultaneously departs from virtual center, each spacecraft is moved to the preset specified position by applying multiple pulses, so as to form a kind of spacecraft formation that can be used for space gravitational wave detection, by giving the steps of calculating the initial position and velocity of each spacecraft and applying initial control to reach the initial position and velocity, the state quantity of each spacecraft at each time in the formation construction process is calculated, so as to provide reference for the design of satellite formation task in actual engineering application, and the accuracy of the linearized relative motion dynamics model established by the multi-pulse parallel space gravitational wave detection formation is improved by differential correction, the error in the relative motion dynamics model is reduced, the initial state set in advance can be effectively reached, and the working efficiency of formation component is improved.

The invention belongs to the technical field of AGV navigation, and particularly discloses a navigation system based on a multispectral technology and an AGV self-guided vehicle, the navigation system comprises a magnetic navigation module, a multispectral vision module and a control unit; the magnetic navigation module is used for guiding the AGV body to run along a preset magnetic stripe path, acquiring magnetic field deviation data through a magnetic sensor array, and controlling the AGV body to perform differential deviation correction according to the magnetic field deviation data; the multispectral vision module is used for collecting multispectral data of the environment, identifying object characteristic information according to the multispectral data, and generating multispectral environment data according to the object characteristic information; and the control unit is in communication connection with the magnetic navigation module and the multispectral vision module, and is used for fusing the magnetic navigation path information and the multispectral environment data, generating a navigation instruction and controlling the movement of the AGV body. According to the navigation system disclosed by the invention, high-reliability and high-precision environment perception navigation at low cost is realized through fusion of magnetic navigation and multispectral vision.

The invention relates to the technical field of railway signal enhancement, and discloses a railway signal enhancer ad-hoc network management method and system based on Beidou fusion positioning, and the method comprises the steps: a signal enhancer receives a Beidou satellite signal, calculates the initial coordinate of the signal enhancer, monitors a communication signal from a ground control base station, and transmits the communication signal to the ground control base station; when the communication signal level is lower than a first preset threshold value or the data packet loss rate is higher than a second preset threshold value, a differential relay mode is triggered, one signal enhancer is selected from a plurality of signal enhancers to serve as a temporary main reference, and the differential quality factor of each device serves as an input weight through a weighted least square algorithm; and the signal intensifier which is not elected as the temporary main reference receives the differential correction data sent by the temporary main reference and corrects the initial coordinate of the signal intensifier by using the data, so that the intelligence, the reliability and the stability of system operation and maintenance in a complex railway environment are realized.

The present invention discloses a POS high-accuracy positioning method under occlusion, comprising: integrating single-point positioning data and differential correction data for solution to acquire high-accuracy position information; implementing a buffer through an RAM of an FPGA to cache the collected position information and a sampling time; when a satellite signal loss is detected by a system, fetching five pieces of position information from the RAM at a time before the signal is lost and five pieces of position information at a time after the signal is reappeared, and filtering the information to obtain filtered data; constructing an equation by using the filtered data, and estimating a signal lost position. By triggering an occlusion algorithm through the FPGA, the present invention improves an ability of a POS system to work in areas with weak satellite signals and meanwhile reduces an operation time, thereby meeting practical needs.

This application relates to the field of image data processing technology, and particularly to an autonomous driving model based on hybrid low-rank experts and a multi-domain adaptation fine-tuning method. The model includes: a general model base in a frozen state and a multi-domain adaptation component in a trainable state. The general model base includes: an image encoder, a measurement information encoder, and a trajectory planner. The multi-domain adaptation component includes: a hybrid low-rank expert group and a domain-aware router. The hybrid low-rank expert group is used to calculate differential correction signals based on input features. The domain-aware router is used to receive shared image features extracted by the image encoder, output probability vectors, and dynamically activate the corresponding experts in the hybrid low-rank expert group according to the feature distribution of the input data. This application achieves highly efficient "plug-and-play" adaptation of a single general model to multiple downstream domains with extremely low computational and storage costs, perfectly solving the pain points of traditional multi-domain adaptation methods.

This invention discloses a method and apparatus for estimating the height of monocular remote sensing images based on semantic distribution and region modulation, belonging to the field of computer vision and remote sensing image processing technology. The method first obtains a multi-scale feature map through bidirectional multi-scale feature extraction; then, it uses a height interval semantic modeling module to introduce global height semantic information to modulate the height interval representation, obtaining a preliminary height prediction; finally, it employs a region-aware pixel-level height modulation module to explicitly model the height region to which a pixel belongs and generate modulation parameters, performing differential correction on the preliminary prediction. This invention can significantly improve the accuracy, spatial consistency, and robustness of building height estimation, and is suitable for applications such as urban modeling and remote sensing mapping.

The invention discloses a differential broadcast telegraph text integration method for a Roland time service system. The method comprises the following steps: extracting differential correction parameters of differential stations in a broadcast station coverage area within a preset time period; obtaining a plurality of differential correction values of each differential station in a preset time period; grouping all the differential stations according to the differential correction deviation of the differential stations; determining the newest statistical average value of each differential station in an updating period of a differential correction parameter; for each group, determining all statistical average values of each group based on the latest difference correction difference value of each difference station; obtaining a differential correction parameter of each group according to all statistical average values of each group; and loading the differential correction parameter of each group, the latest statistical average value of each differential station in the group and the data age of the differential correction parameter of the group into a broadcast message for broadcast. According to the invention, the space occupied by the differential telegraph text is saved, the time consumed for broadcasting the differential telegraph text is reduced, and the actual service life of the differential correction parameter is prolonged.

The application discloses a response method and device for differential enhanced service request, equipment and storage medium, the method comprises the following steps: obtaining the differential enhanced service request sent by a service requester; determining the grid range type corresponding to the differential enhanced service request according to the grid coding in the differential enhanced service request; determining the differential correction data in the corresponding grid range and the broadcast frequency of the differential correction data according to the grid range type; sending the generated differential correction data to the service requester according to the determined broadcast frequency; by implementing the application, the differentiated needs of different service requesters for correction data can be met.

The application provides a real settlement monitoring method and monitoring equipment for earth and rockfill dam construction period, adopts a full-terrain walking robot to carry a high-precision GNSS receiver, realizes autonomous plane positioning and static measurement when walking on the earth and rockfill dam filling yard, carries out differential calculation with the differential correction data obtained by the reference station, obtains accurate three-dimensional positioning information and displacement change data, measures after each filling layer of the earth and rockfill dam filling yard is rolled and before the next filling layer is filled, respectively, and obtains the real settlement data of the earth and rockfill dam construction period, and feeds back the displacement change data and the real settlement data to the full-terrain walking robot through a server, which is used for adjusting the measurement plan of the full-terrain walking robot. Compared with the traditional manual measurement or fixed monitoring equipment, the application has autonomous movement and high-precision positioning capability.

The invention provides a near-infrared displacement monitoring method and system based on multi-reference point correction, and the method comprises the steps: obtaining a near-infrared target image sequence, and extracting a candidate reference point set and a measuring point set; performing multi-dimensional feature extraction on the two to obtain a feature vector set; inputting the feature vectors into a preset multi-dimensional similarity model for similarity evaluation, and generating a comprehensive similarity matrix; self-adaptive matching is carried out based on the matrix and a similarity threshold value, and a reference point-measuring point matching relation table is established; and finally, performing differential correction on the measuring point set according to the matching relation to obtain a measuring point displacement value set. According to the near-infrared displacement monitoring method and system based on multi-reference point correction provided by the invention, the reference stability is improved through multi-reference point screening and multi-dimensional feature extraction, and adaptive matching is performed through the preset multi-dimensional similarity model to ensure the matching accuracy, so that the displacement data accurately reflects the real deformation of the structure, and the accuracy of the real deformation of the structure is improved. And the accuracy and robustness of a monitoring result are improved.

This invention provides an intelligent centralized monitoring method for full-color LED displays, comprising: analyzing inter-node dependencies and communication delays based on a neighboring node association model to identify target areas with network segmentation risks; detecting backup communication paths for risky nodes and selecting paths with communication delays below a preset threshold as priority switching paths; deploying a distributed consistency protocol to compare data differences and generating a synchronization order list based on data update frequency and business priority; using a fragmented transmission mechanism to divide the data to be synchronized into multiple data segments and transmitting them to the target nodes in parallel via multiple paths; initiating an automatic repair mechanism for inconsistent nodes, obtaining backup data from neighboring nodes to perform differential correction; and dynamically optimizing communication path weights and synchronization cycle parameters based on the correction results to complete iterative updates of the system status.

The invention discloses a multi-mode fusion yak positioning and environment sensing system, and belongs to the technical field of livestock breeding information, the system comprises a collar type intelligent sensing terminal, a fixed environment sensing base station, an edge computing gateway and a cloud platform, the terminal collects GPS, inertia, vision and microenvironment data; the base station provides differential correction and environment data; the gateway executes differential positioning, dead reckoning and environment correlation analysis; and the cloud performs deep behavior recognition and abnormal situation reasoning through multi-modal fusion and a graph neural network model. The invention aims to solve the problem of information fragmentation caused by poor positioning robustness and multi-source data isolation in a complex terrain, high-precision all-weather positioning is realized, and early warning accuracy and decision support effectiveness are improved through comprehensive cognition of'individual-cattle-environment '.

This application provides a satellite terminal satellite acquisition method, electronic device, storage medium, and program product, relating to the field of satellite communication technology. This method, by introducing position confidence assessment, enables the satellite terminal to adaptively select the satellite acquisition path based on its own positioning quality. When positioning is reliable, it directly utilizes local ephemeris to quickly acquire low-Earth orbit (LEO) satellites. When positioning is unreliable or ephemeris is outdated, it switches to using high-Earth orbit (HEO) satellites to obtain differential correction and auxiliary position information. This effectively compensates for ephemeris and position errors without relying on real-time precise positioning, reduces the searching pointing deviation of LEO satellites, and narrows the search range. It avoids long waiting times and wasted power due to blind scanning, while improving the acquisition success rate. This allows the terminal to quickly join the network even under harsh network conditions, ensuring the timeliness of user service establishment and the terminal's survivability in extreme environments.

The application provides a network RTK differential correction number generation method based on Beidou and low-orbit constellation fusion, which comprises data acquisition, receiving pseudorange observation values and carrier phase observation values of Beidou satellite navigation system satellites and low-orbit constellation satellites through a ground reference station receiver simultaneously; constructing a joint observation model of Beidou satellite navigation system and low-orbit constellation, and using an extended Kalman filtering algorithm to estimate receiver clock difference and system bias between the two systems in real time; adaptive weighted differential correction number calculation, calculating pseudorange differential correction numbers of Beidou satellites and low-orbit satellites respectively based on the estimated system bias; correction number broadcasting, dynamically determining the effective duration of the differential correction number of the low-orbit satellite according to the orbit height of the low-orbit satellite, and encoding the correction numbers of the Beidou satellites and the low-orbit satellites into RTCM text format to broadcast to the user end; the user end receives the correction numbers, corrects the local Beidou satellite and low-orbit satellite observation values, performs joint RTK solving, and verifies and confirms ambiguity fixing.

The invention discloses an unmanned aerial vehicle intelligent distribution control method and system based on GNSS differential calculation, relates to the technical field of unmanned aerial vehicle intelligent distribution control, and aims to solve the problems that the unmanned aerial vehicle intelligent distribution control technology in the prior art is insufficient in positioning precision, lags in cold chain control response and excessively depends on a communication link. The system comprises a differential GNSS positioning module, a dynamic cold chain control module, an autonomous decision and emergency control module and a cooperative control module. The differential GNSS positioning module comprises a GNSS signal receiving unit arranged at an unmanned aerial vehicle end and a differential signal transmitting unit arranged at a ground reference station, the GNSS signal receiving unit is used for receiving satellite positioning signals, and the differential signal transmitting unit is used for transmitting differential correction data; and the differential GNSS positioning module carries out fusion processing on the satellite positioning signal and the differential correction data through a filtering algorithm. The method has the advantage that the precision, stability and autonomy in the intelligent distribution control process of the unmanned aerial vehicle are improved.