WO2022000245A1 - Aircraft positioning method, and control method and apparatus for assisted positioning system - Google Patents

Abstract

An aircraft positioning method, and a control method and apparatus for an assisted positioning system. The aircraft positioning method comprises: controlling a wireless positioning mobile station of an aircraft to be in wireless signal communication with wireless positioning mobile stations of multiple positioned unmanned aerial vehicles in an unmanned aerial vehicle positioning system (S601), the multiple positioned unmanned aerial vehicles hovering in the air; obtaining location information of the multiple positioned unmanned aerial vehicles which are in wireless signal communication with the wireless positioning mobile station of the aircraft (S602); and determining location information of the aircraft according to the wireless signal communication between the wireless positioning mobile station of the aircraft and the wireless positioning mobile stations of the multiple positioned unmanned aerial vehicles in the unmanned aerial vehicle positioning system, and the location information of the positioned unmanned aerial vehicles which are in wireless signal communication with the aircraft (S603). The positioning requirement of the aircraft is met, and the coverage range and the scalability of a positioning system are improved.

Description

Positioning method of aircraft, control method and device of auxiliary positioning system technical field

The embodiments of the present application relate to the technical field of unmanned aerial vehicles, and in particular, to a positioning method for an aircraft, and a control method and device for an auxiliary positioning system.

Background technique

Aircraft, such as drones, need to obtain their own location information in real time during flight. At present, the aircraft mainly uses satellite positioning receivers for positioning. However, the positioning receivers need to receive satellite signals. In some scenarios (such as areas with high building density, canyons, etc.), the satellite signals are blocked, resulting in poor positioning effect.

In addition, in the prior art, by setting up multiple wireless positioning base stations on the ground, the position of the aircraft is determined through wireless signal communication between the multiple wireless positioning base stations and the wireless positioning tags of the aircraft. However, due to the limitation of regulations or hardware configuration, the transmission power of wireless positioning base stations or wireless positioning tags is usually limited, resulting in a limited range of transmitted wireless signals. As a result, the positioning accuracy of this technology is not high and the positioning range is not wide, which cannot meet the needs of aircraft. positioning needs.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a positioning method for an aircraft, a control method and device for an auxiliary positioning system, and the positioning requirements of the aircraft are met by constructing an extensible multi-layer positioning system.

In a first aspect, an embodiment of the present application provides a method for positioning an aircraft, where the aircraft includes a wireless positioning mobile station, and the method includes:

Controlling the wireless positioning mobile station of the aircraft to perform wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drones in the drone positioning system, wherein the plurality of positioning drones are hovering in the air;

Obtain the position information of a plurality of positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft, wherein the position information of the positioning drone is based on the wireless positioning mobile station of the positioning drone and the position on the ground. Determined by the wireless signal communication between multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station that performs the wireless signal communication with each of the positioning drones;

According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the drone positioning system, and the positioning drone that performs the wireless signal communication with the aircraft The position information of the aircraft determines the position information of the aircraft.

In a second aspect, an embodiment of the present application provides a control method for an auxiliary positioning system, where the auxiliary positioning system includes a plurality of positioning drones, wherein the positioning drones include a wireless positioning mobile station, and the method includes:

control the plurality of positioning drones to fly to a preset area and hover;

According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone The position information of the wireless positioning reference station communicated to determine the position information of each positioning drone;

Controlling the wireless positioning mobile station of each positioning drone to perform the wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned moves according to the wireless positioning of the aircraft to be positioned The wireless signal communication between the wireless positioning mobile station and the wireless positioning mobile stations of the plurality of positioning drones and the position information of the positioning drones that are in wireless signal communication with the aircraft to be positioned determine the aircraft to be positioned location information.

In a third aspect, an embodiment of the present application provides a positioning device for an aircraft, the aircraft includes a wireless positioning mobile station, and the positioning device includes a memory and a processor;

the memory for storing program codes;

The processor calls the program code, and when the program code is executed, is configured to perform the following operations:

Controlling the wireless positioning mobile station of the aircraft to perform wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drones in the drone positioning system, wherein the plurality of positioning drones are hovering in the air;

Obtain the position information of a plurality of positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft, wherein the position information of the positioning drone is based on the wireless positioning mobile station of the positioning drone and the position on the ground. Determined by the wireless signal communication between multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station that performs the wireless signal communication with each of the positioning drones;

According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the drone positioning system, and the positioning drone that performs the wireless signal communication with the aircraft The position information of the aircraft determines the position information of the aircraft.

In a fourth aspect, an embodiment of the present application provides a control device for an auxiliary positioning system, where the auxiliary positioning system includes a plurality of positioning drones, wherein the positioning drones include a wireless positioning mobile station; the control device includes memory and processor;

the memory for storing program codes;

The processor calls the program code, and when the program code is executed, is configured to perform the following operations:

control the plurality of positioning drones to fly to a preset area and hover;

According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone The position information of the wireless positioning reference station communicated to determine the position information of each positioning drone;

Controlling the wireless positioning mobile station of each positioning drone to perform the wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned moves according to the wireless positioning of the aircraft to be positioned The wireless signal communication between the wireless positioning mobile station and the wireless positioning mobile stations of the plurality of positioning drones and the position information of the positioning drones that are in wireless signal communication with the aircraft to be positioned determine the aircraft to be positioned location information.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed, the method provided in the first aspect or the second aspect is implemented.

Embodiments of the present application provide a positioning method for an aircraft, a control method and device for an auxiliary positioning system, and an extensible multi-layer positioning system can be formed by constructing an unmanned aerial vehicle positioning system based on a wireless positioning reference station system on the ground. The UAV positioning system includes a plurality of positioning UAVs hovering in the air, and the position information of each hovering positioning UAV can be determined based on a wireless positioning reference station system on the ground. Further, for the aircraft to be positioned, after obtaining the position information of the positioning drone in the UAV positioning system, the position information of the aircraft to be positioned can be determined based on the UAV positioning system, which satisfies the positioning requirements of the aircraft and improves the positioning. System coverage and scalability.

Description of drawings

Fig. 1 is an architecture diagram of an existing positioning system;

FIG. 2 is an architectural diagram of a positioning system to which an embodiment of the application is applicable;

FIG. 3 is another architectural diagram of a positioning system to which an embodiment of the present application is applicable;

4 is a schematic structural diagram of an unmanned aerial system to which an embodiment of the present application is applicable;

FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application;

6 is a flowchart of a method for positioning an aircraft according to an embodiment of the present application;

FIG. 7 is a flowchart of a control method of an assisted positioning system provided by an embodiment of the present application;

8 is a schematic structural diagram of a positioning device for an aircraft according to an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a control device of an auxiliary positioning system provided by an embodiment of the present application.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

During the flight, the aircraft needs to obtain its own position information in real time. Exemplarily, FIG. 1 is an architectural diagram of an existing positioning system, which adopts the UWB positioning technology. The name of the positioning system is not limited. For example, the positioning system shown in FIG. 1 may be referred to as a UWB positioning system. As shown in Figure 1, the positioning system may include multiple UWB ground base stations. Among them, the number and distribution positions of UWB ground base stations are not limited, and can be set according to positioning requirements. For convenience of description, the four UWB ground base stations in FIG. 1 may be referred to as UWB ground base stations A to UWB ground base stations D respectively. The aircraft W can perform wireless communication with UWB ground base stations A to UWB ground base stations D during the flight, and determine the position information of the aircraft W in real time based on the UWB positioning technology. However, the transmit power of the UWB ground base station and the transmit power of the wireless positioning tag in the aircraft are usually limited. When the aircraft flies out of the signal coverage of the UWB ground base station, or in the scenario where the positioning signal provided by other UWB ground base stations is lost or weakened, The aircraft cannot determine its own position through the UWB ground base station, and cannot meet the positioning requirements of the aircraft.

In order to solve the above technical problems, embodiments of the present application provide a positioning method for an aircraft, and a control method and device for an auxiliary positioning system. A scalable multi-layer positioning system can be formed by building a UAV positioning system. The multi-layer network positioning system may include a UAV positioning system and a wireless positioning reference station system on the ground. The UAV positioning system can include multiple positioning UAVs hovering in a preset area. The wireless location reference station system on the ground may include a plurality of wireless location reference stations. For positioning the drone, the position information of the positioning drone can be determined through the wireless signal communication between the positioning drone and multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station. For the aircraft to be positioned, wireless signal communication can be performed with multiple positioning drones in the UAV positioning system, and the aircraft can be determined in real time according to the wireless signal communication between the aircraft and the positioning drone and the position information of the positioning drone location information. It can be seen that the UAV positioning system can form a spatial coverage expansion for the wireless positioning reference station system on the ground. Therefore, the UAV positioning system can be used as a new layer of positioning system to realize the positioning of the aircraft, which satisfies the positioning of the aircraft. requirements, improving the coverage and scalability of the positioning system.

Below, the positioning system applicable to the embodiment of the present application is exemplarily described with reference to FIG. 2 and FIG. 3 . FIG. 2 is an architectural diagram of a positioning system to which an embodiment of the present application is applied, and FIG. 3 is another architectural diagram of a positioning system to which an embodiment of the present application is applied.

In one example, as shown in FIG. 2 , the positioning system may include a wireless positioning reference station system on the ground and two UAV positioning systems extended in a vertical direction. Figure 2 can be applied to scenarios where the aircraft has positioning requirements at different flight altitudes. The wireless positioning reference station system on the ground may include four wireless positioning reference stations, which may be called wireless positioning reference station A to wireless positioning reference station D respectively. In the vertical direction extending from the ground to the air, the first UAV positioning system can be called the UAV positioning system T1, and the UAV positioning system T1 can include 4 positioning UAVs, which can be respectively called positioning Human-machine 1A to positioning drone 1D. The second UAV positioning system may be referred to as the UAV positioning system T2, and the UAV positioning system T2 may include four positioning UAVs, which may be respectively referred to as positioning UAV 2A to positioning UAV 2D. In FIG. 2 , four aircrafts to be positioned are included, which may be called aircrafts W1 to W4 respectively. The aircrafts W1 to W4 may determine their own position information according to at least one positioning system of a wireless positioning reference station system on the ground and a positioning system of an unmanned aerial vehicle. For example, the aircraft W4 can perform wireless signal communication with the wireless positioning reference station A to the wireless positioning reference station D in the wireless positioning reference station system on the ground, and the wireless positioning reference station system uses the positioning technology to obtain its own position information. For another example, the aircraft W1 can perform wireless signal communication with the positioning drones 1A to 1D in the drone positioning system T1, and obtain its own position information based on the drone positioning system T1 using positioning technology.

In another example, as shown in FIG. 3 , the positioning system may include a wireless positioning reference station system on the ground and three UAV positioning systems extended in a horizontal direction. Figure 3 can be applied to scenarios where the aircraft has positioning requirements in different flight areas on the horizontal plane. The wireless positioning reference station system on the ground may include four wireless positioning reference stations, which may be called wireless positioning reference station A to wireless positioning reference station D respectively. The three UAV positioning systems can be respectively referred to as UAV positioning systems T1 to T3. The UAV positioning system T1 may include four positioning UAVs, which may be respectively referred to as positioning UAV 1A to positioning UAV 1D. The UAV positioning system T2 may include the positioning UAV 2A to the positioning UAV 2D. The drone positioning system T3 may include positioning drone 3A to positioning drone 3D. In FIG. 3 , two aircrafts to be positioned are included, which may be called aircrafts W5 to W6 respectively. The aircrafts W5 to W6 may determine their own position information according to at least one positioning system of a wireless positioning reference station system on the ground and a positioning system of an unmanned aerial vehicle. For example, the aircraft W5 can perform wireless signal communication with the wireless positioning reference station A to the wireless positioning reference station D in the wireless positioning reference station system on the ground, and the wireless positioning reference station system uses the positioning technology to obtain its own position information. For another example, the aircraft W6 can perform wireless signal communication with the positioning drone 2A to the positioning drone 2D in the drone positioning system T2, and obtain its own position information based on the drone positioning system T2 using positioning technology.

It should be noted that Figures 2 and 3 provide examples of positioning systems, but for the number of UAV positioning systems, the number and position of positioning drones in each UAV positioning system, and the number of wireless positioning reference stations and position, the positional relationship between the UAV positioning system and the wireless positioning reference station system, and the number of aircraft are not limited. Optionally, the number of positioning drones in different drone positioning systems may be the same or different. Optionally, in an application scenario, the coverage of the wireless positioning reference station system may include multiple unmanned aerial vehicle positioning systems, which may be applicable to the scenario of local signal enhancement of the wireless positioning reference station system.

It should be noted that the embodiments of the present application do not limit the names of the UAV positioning system, the positioning UAV, the wireless positioning reference station system, and the wireless positioning reference station. For example, a UAV positioning system can also be called an auxiliary positioning system, a positioning drone can also be called an auxiliary station, a wireless positioning reference station system can also be called a reference positioning system, and a wireless positioning reference station can also be called a reference station.

It should be noted that the name of the aircraft to be positioned is not limited in this embodiment of the present application. In various embodiments of the present application, the aircraft and the aircraft to be positioned may represent the same meaning.

It should be noted that the embodiments of the present application do not limit the positioning technology used when determining the location information. For example, it may include, but is not limited to, at least one of the following: UWB positioning technology, Angle-of-Arrival (AOA) ranging method, Time of Flight (ToF) ranging method, and Time Difference of Arrival (Time Difference). Difference of Arrival, TDoA) ranging method.

Below, the system architecture for positioning the drone and the aircraft to be positioned provided by the embodiment of the present application is exemplarily described with reference to FIG. 4 .

FIG. 4 is a schematic structural diagram of an unmanned aerial system to which an embodiment of the present application is applicable. The embodiments of the present application are described by taking a rotor unmanned aerial vehicle as an example.

The unmanned aerial system 100 may include an unmanned aerial vehicle 110 , a display device 130 and a control terminal 140 . The unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a gimbal 120 carried on the frame. The UAV 110 may wirelessly communicate with the control terminal 140 and the display device 130 . The unmanned aerial vehicle 110 further includes a battery (not shown in the figure), and the battery provides power for the power system 150 . The unmanned aerial vehicle 110 may be an agricultural drone or an industrial application drone, and there is a need for cyclic operation. Correspondingly, the battery also needs to be cycled.

The frame may include a fuselage and a foot stand (also known as a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, the one or more arms extending radially from the center frame. The tripod is connected with the fuselage, and is used for supporting when the UAV 110 is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to the Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160, and provide driving according to the driving signal Electric current is supplied to the motor 152 to control the rotational speed of the motor 152 . The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110, and the power enables the UAV 110 to achieve one or more degrees of freedom movement. In certain embodiments, UAV 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

Flight control system 160 may include flight controller 161 and sensing system 162 . The sensing system 162 is used to measure the attitude information of the UAV, that is, the position information and state information of the UAV 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the UAV 110 , for example, the flight of the UAV 110 can be controlled according to the attitude information measured by the sensing system 162 . It should be understood that the flight controller 161 can control the UAV 110 according to pre-programmed instructions, and can also control the UAV 110 by responding to one or more remote control signals from the control terminal 140 .

The pan/tilt head 120 may include a motor 122 . The PTZ is used to carry a payload, and the payload can be, for example, a photographing device 123 . The flight controller 161 can control the movement of the gimbal 120 through the motor 122 . Optionally, as another embodiment, the pan/tilt 120 may further include a controller for controlling the movement of the pan/tilt 120 by controlling the motor 122 . It should be understood that the gimbal 120 may be independent of the UAV 110 , or may be a part of the UAV 110 . It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the gimbal may be located on the top of the UAV, or may be located on the bottom of the UAV.

The photographing device 123 may be, for example, a device for capturing images such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photography under the control of the flight controller. The photographing device 123 in this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the photographing device 123 can also be directly fixed on the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle 100 , can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110 . In addition, the image captured by the capturing device 123 may also be displayed on the display device 130 . It should be understood that the display device 130 may be an independent device, or may be integrated into the control terminal 140 .

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100 , and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110 .

It should be understood that the above naming of the components of the unmanned aerial system is only for the purpose of identification, and should not be construed as a limitation on the embodiments of the present application.

FIG. 5 is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG. 5 , FIG. 5 shows an unmanned aerial vehicle 201 and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the UAV 201 may be one or more of a remote controller, a smart phone, a desktop computer, a laptop computer, and a wearable device (watch, wristband). The embodiments of the present application take that the control terminal 202 is a remote controller 2021 and a terminal device 2022 as an example for schematic illustration. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.

The remote controller 2021 can communicate with the unmanned aerial vehicle 201, and the user can control the flight state of the unmanned aerial vehicle 201 by manipulating the joystick on the remote controller. The control stick and the throttle control stick respectively control the aircraft to fly forward and backward, turn the heading, fly left and right, and fly up and down, and the stick amounts in each direction are independent of each other, and the control is decoupled. Four physical control sticks can be set on the remote control 2021, namely the pitch control stick, the yaw control stick, the roll control stick and the throttle control stick are four physically independent control sticks; or, on the remote control 2021 Two physical joysticks can be set, and each physical joystick can implement the functions of two joysticks. The remote controller 2021 is specifically provided with several solid joysticks, which is not limited in this embodiment.

Next, the concepts involved in the embodiments of the present application will be described.

1. Wireless positioning mobile station

The positioning drone in the drone positioning system may include a wireless positioning mobile station, and the aircraft to be positioned may include a wireless positioning mobile station.

For the aircraft to be positioned, the wireless positioning mobile station of the aircraft may perform wireless signal communication with the wireless positioning mobile station of the drone positioning system for positioning the drone, and/or the wireless positioning mobile station of the aircraft may communicate with the ground-based mobile station. The wireless positioning reference stations in the wireless positioning reference station system perform wireless signal communication.

For positioning the drone, the wireless positioning mobile station for positioning the drone may wirelessly communicate with the wireless positioning mobile station for the aircraft, and/or the wireless positioning mobile station for positioning the drone may communicate with the wireless positioning reference station on the ground. The wireless positioning reference station in the system performs wireless signal communication, and/or the wireless positioning mobile station for positioning the UAV can perform wireless signal communication with other wireless positioning mobile stations for positioning the drone.

The wireless signal communication performed by the positioning drone or the aircraft to be positioned through the wireless positioning mobile station can receive or send wireless positioning signals or other information required in the positioning process. The embodiments of this application do not limit the specific content of the transmission. For example, it may include, but is not limited to, at least one of the following: identification of the positioning drone, position information of the positioning drone, identification of the wireless positioning reference station, position information of the wireless positioning reference station, two positioning drones The angle between, the arrival timestamp of the wireless positioning signal between the two positioning drones, the time synchronization information between the two positioning drones, the angle between the two wireless positioning reference stations, the two wireless positioning The arrival time stamp of the wireless positioning signal between the reference stations, or the time synchronization information between two wireless positioning reference stations.

Optionally, in order to improve the communication quality of wireless signal communication and reduce interference, for the wireless signal communication between different positioning drones in the UAV positioning system and the different wireless positioning reference in the wireless positioning reference station system on the ground Wireless signal communication between stations may use different transmission resources. Optionally, the transmission resources may include, but are not limited to, any one of the following: frequency transmission resources, time transmission resources, and codeword transmission resources. For example, time division multiplexing can be used to reduce signal transmission interference from the transmission time dimension.

It should be noted that the embodiments of the present application do not limit the wireless communication modes supported by the wireless positioning mobile station, for example, may include but are not limited to UWB signal communication, Bluetooth communication, and WIFI communication.

2. Wireless signal communication

As described above, wireless signal communication can be performed between the aircraft to be positioned, the positioning drone, and the wireless positioning reference station on the ground, and the specific content of the wireless signal communication transmission is not limited in this embodiment of the present application.

It should be noted that the embodiments of the present application do not limit the specific manner of wireless signal communication, for example, it may include but not limited to UWB signal communication, Bluetooth communication, and WIFI communication.

3. Location distribution type indication information and distribution type

There is a corresponding relationship between the location distribution type indication information and the distribution type. Different location distribution type indication information may indicate corresponding distribution types. The distribution type is used to determine the position of each positioning drone in the UAV positioning system in the preset area. The distribution type may indicate at least one of the following: altitude information for positioning the drone, two-dimensional position information for positioning the drone, three-dimensional position information for positioning the drone, multiple positioning drones in the drone positioning system The distribution pattern formed in a preset area, or the number of UAVs located in the UAV positioning system.

Optionally, the location distribution type indication information and distribution type may be related to the flight height requirements, flight area requirements, and positioning accuracy requirements of the aircraft to be positioned.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

FIG. 6 is a flowchart of a method for positioning an aircraft according to an embodiment of the present application. In the positioning method for an aircraft provided in this embodiment, the execution body may be a positioning device of the aircraft. In this embodiment, the aircraft includes a wireless positioning mobile station. As shown in FIG. 6 , the positioning method for the aircraft provided in this embodiment may include:

S601. The wireless positioning mobile station of the control aircraft performs wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drone in the unmanned aerial vehicle positioning system.

Among them, multiple positioning drones are hovering in the air.

For ease of understanding, each step of this embodiment is exemplarily described below with reference to FIG. 2 , but FIG. 2 does not limit this embodiment. It is assumed that the aircraft is the aircraft W1 in FIG. 2 , and the UAV positioning system is the UAV positioning system T1 in FIG. 2 . The UAV positioning system T1 includes four positioning UAVs, which are positioning UAVs 1A to 1D. The positioning drones 1A~1D hover in the air, and a new layer of positioning system is formed in the air based on the wireless positioning reference station system located on the ground.

In this step, the aircraft W1 includes a wireless positioning mobile station, and each positioning drone in the UAV positioning system T1 includes a wireless positioning mobile station, and wireless signal communication can be realized through the wireless positioning mobile station. For example, the wireless positioning mobile station of the aircraft W1 can be controlled to communicate with the wireless positioning mobile station of the positioning drone 1A, and the wireless positioning mobile station of the aircraft W1 can be controlled to communicate with the wireless positioning mobile station of the positioning drone 1B. communication. Similarly, by wirelessly positioning the mobile station, the aircraft W1 can perform wireless signal communication with the positioning drone 1C and the positioning drone 1D.

It should be noted that this embodiment does not limit the positioning of the hovering position of the drone in the air.

It should be noted that in this embodiment, wireless signal communication is performed between the wireless positioning mobile station of the aircraft and the wireless positioning mobile station that locates the drone, and wireless signal communication is performed between the wireless positioning mobile station of the aircraft and the positioning drone. The wireless signal communication between the aircraft and the wireless positioning mobile station that locates the drone, and the wireless signal communication between the aircraft and the positioning drone may have the same meaning.

S602: Acquire position information of multiple positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft.

The location information of the positioning drone is based on the wireless signal communication between the wireless positioning mobile station of the positioning drone and multiple wireless positioning reference stations in the wireless positioning reference station system on the ground and the communication with each positioning unmanned aerial vehicle. It is determined by the location information of the wireless positioning reference station that the machine communicates with wirelessly.

In this step, the multiple positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft W1 include positioning drones 1A to 1D, and the respective position information of the positioning drones 1A to 1D is obtained.

Illustratively, the location information of the positioning drone 1A is used as an example for description. The positioning drone 1A can perform wireless signal communication with the wireless positioning reference stations A to D in the wireless positioning reference station system on the ground. Based on the wireless positioning reference station system on the ground, the existing positioning technology can be used, and the position information of the positioning drone 1A can be determined by using the respective position information of the wireless positioning reference stations A to D. Exemplarily, for the technical principle, refer to the scenario shown in FIG. 1 .

It should be noted that, in this embodiment, the method and time for the positioning device of the aircraft to obtain the position information of the positioning drone are not limited. Optionally, the positioning device of the aircraft may receive the position information sent by the positioning drone. Optionally, the positioning drone can send the position information to the cloud server, and the positioning device of the aircraft obtains the position information of positioning the drone through communication with the cloud server. Optionally, the positioning device of the aircraft may acquire position information for positioning the drone before the aircraft takes off. Optionally, the positioning device of the aircraft may acquire position information for positioning the drone during the flight of the aircraft.

S603. Determine the position information according to the wireless signal communication between the wireless positioning mobile station of the aircraft and multiple wireless positioning mobile stations for positioning the drone in the drone positioning system and the positioning drone that performs wireless signal communication with the aircraft The location information of the aircraft.

In this step, since the aircraft W1 can perform wireless signal communication with the positioning drones 1A to 1D in the drone positioning system T1, and obtain the position information of the positioning drones 1A to 1D, based on the drone The positioning system T1 can use the positioning technology to determine the position information of the aircraft W1 by using the position information of the positioning drones 1A to 1D. It is realized by the man-machine positioning system T1, not by the wireless positioning reference station system on the ground.

It can be seen that the positioning method for an aircraft provided in this embodiment can form an extensible multi-layer positioning system by constructing an unmanned aerial vehicle positioning system based on a wireless positioning reference station system on the ground. The UAV positioning system includes a plurality of positioning UAVs hovering in the air, and the position information of each hovering positioning UAV can be determined based on a wireless positioning reference station system on the ground. Furthermore, for the aircraft to be positioned, after obtaining the position information of the positioned drone in the UAV positioning system, the position information of the aircraft to be positioned can be determined based on the UAV positioning system. In the positioning method for an aircraft provided in this embodiment, the wireless positioning reference station system on the ground can be extended in space through the unmanned aerial vehicle positioning system, and the expanded unmanned aerial vehicle positioning system can be used as a new layer of positioning system to achieve positioning The positioning of the aircraft meets the positioning requirements of the aircraft and improves the coverage and scalability of the positioning system.

Optionally, the wireless positioning mobile station may be a UWB positioning mobile station, the wireless positioning reference station may be a UWB positioning reference station, and the wireless signal communication may be UWB signal communication.

Optionally, the method for positioning an aircraft provided in this embodiment may further include:

Select the target positioning system from the UAV positioning system and the wireless positioning base station system on the ground.

Exemplarily, referring to FIG. 2 , in the scenario shown in FIG. 2 , when the flying heights of the aircraft to be positioned are different, positioning can be implemented based on different positioning systems. For example, the aircraft W4 can achieve positioning based on a wireless positioning reference station system on the ground. The aircraft W1 can be positioned based on the UAV positioning system T1. The aircraft W3 can achieve positioning based on the UAV positioning system T2. Therefore, the target positioning system can be selected from the UAV positioning system and the wireless positioning reference station system on the ground, and the position information of the aircraft can be determined based on the target positioning system to improve the accuracy of positioning.

Optionally, in an implementation manner, when the target positioning system is an unmanned aerial vehicle positioning system, the foregoing S603 may be performed.

Optionally, in another implementation manner, when the target positioning system is a wireless positioning reference station system on the ground, the method for positioning an aircraft provided in this embodiment may further include:

According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and the position information of the wireless positioning reference station that performs wireless signal communication with each positioning drone Determine the position information of the aircraft.

The technical principle can be seen in FIG. 1 , which will not be repeated here.

Optionally, in an implementation manner, the target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground, which may include:

Get the flight altitude of the aircraft.

According to the flight height, the target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground.

Exemplarily, this implementation manner can be applied to the scenario shown in FIG. 2 in which the UAV positioning system is expanded and constructed at different heights in space. By obtaining the flight altitude of the aircraft and selecting the target positioning system according to the flight altitude, the accuracy of determining the target positioning system is improved.

Optionally, the target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the flight height, which may include:

When the flight height is greater than or equal to the first preset height threshold, it is determined that the target positioning system is a UAV positioning system.

Otherwise, it is determined that the target positioning system is a wireless positioning reference station system on the ground.

The specific value of the first preset height threshold is not limited in this embodiment.

It should be noted that this embodiment does not limit the number of UAV positioning systems. If the number of UAV positioning systems is greater than or equal to 2, each UAV positioning system may have a corresponding preset height threshold, and the specific value of each preset height threshold is not limited in this embodiment. The space height can be divided into different segments by the preset height threshold, so that the flight height of the aircraft is compared with each preset height threshold to determine the target positioning system. The following takes FIG. 2 as an example for illustrative description. Figure 2 includes two UAV positioning systems, namely UAV positioning systems T1-T2. It is assumed that the preset height threshold corresponding to the UAV positioning system T1 is H1, the preset height threshold corresponding to the UAV positioning system T2 is H2, and H2 is greater than H1. When the flying height of the aircraft is less than H1, it can be determined that the target positioning system is a wireless positioning reference station system on the ground. When the flying height of the aircraft is greater than or equal to H1 and less than H2, it can be determined that the target positioning system is the UAV positioning system T1. When the flying height of the aircraft is greater than or equal to H2, it can be determined that the target positioning system is the UAV positioning system T2.

Optionally, in another implementation manner, selecting the target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground may include:

Determine the first reception strength of the wireless positioning signal sent by the wireless positioning mobile station of the UAV and the wireless positioning reference of the positioning system of the wireless positioning reference station, which are received by the wireless positioning mobile station of the aircraft The second received strength of the Wireless Location Signal sent by the station.

The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength.

In this implementation, the target positioning system is determined according to the receiving strength of the wireless positioning signals from different positioning systems received by the wireless positioning mobile station of the aircraft. The accuracy of the targeting system. This implementation manner may be applicable to the scenario shown in FIG. 2 or FIG. 3 .

It should be noted that this embodiment does not limit the number of UAV positioning systems. When the number of UAV positioning systems is one, the first receiving intensity is one. When the number of UAV positioning systems is at least two, the first receiving intensity is at least two, and each UAV positioning system corresponds to a first receiving intensity. Therefore, the target positioning system can be selected from the at least one UAV positioning system and the wireless positioning reference station system on the ground according to the at least one first receiving strength and the second receiving strength.

Optionally, selecting the target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength may include:

When the average value of the first reception strength is greater than or equal to the average value of the second reception strength, it is determined that the target positioning system is a UAV positioning system.

Otherwise, it is determined that the target positioning system is a wireless positioning reference station system on the ground.

Specifically, the UAV positioning system includes a plurality of positioning UAVs, and each positioning UAV corresponds to a first receiving intensity. The wireless positioning reference station positioning system includes a plurality of wireless positioning reference stations, and each wireless positioning reference station corresponds to a second receiving strength. By comparing the average value of a plurality of first reception intensities with the average value of a plurality of second reception intensities, the average processing is performed on the plurality of first reception intensities and the plurality of second reception intensities, which further improves the determination of the target positioning system. accuracy.

It should be noted that, this embodiment does not limit the definition of the receiving strength of the wireless positioning signal, and the definition of the corresponding receiving strength may be different depending on the transmission mode of the wireless signal.

Optionally, the method for positioning an aircraft provided in this embodiment may further include:

The flight of the aircraft is controlled according to the determined position information of the aircraft.

Specifically, after the position information of the aircraft is determined based on at least one of the wireless positioning reference station system on the ground and the UAV positioning system, the flight of the aircraft can be controlled according to the determined position information, which improves the accuracy of controlling the flight of the aircraft and security.

Optionally, the aircraft may include sensors for observing the environment in which the aircraft is located. The method for positioning an aircraft provided in this embodiment may further include:

According to the sensing data collected by the sensor, the position distribution type indication information of the multiple positioning drones is generated.

Send location distribution type indication information.

For the location distribution type indication information, reference may be made to the above description, which will not be repeated here.

The position distribution type indication information of multiple positioning UAVs can be generated through the sensing data collected in real time by the sensors on the aircraft, which can improve the accuracy of the location distribution type indication information for positioning UAVs, and make each positioning in the UAV positioning system more accurate. The position of the UAV is more reasonable, and the UAV positioning system is more matched with the flight environment of the aircraft, which further improves the accuracy of determining the position information of the aircraft.

FIG. 7 is a flowchart of a control method of an assisted positioning system provided by an embodiment of the present application. In the control method of the auxiliary positioning system provided in this embodiment, the execution body may be a control device of the auxiliary positioning system. In this embodiment, the auxiliary positioning system may include a plurality of positioning drones, and the positioning drones may include wireless positioning mobile stations. As shown in FIG. 7 , the control method of the auxiliary positioning system provided by this embodiment may include:

S701. Control multiple positioning drones to fly to a preset area and hover.

The preset area is not limited in this embodiment. For example, the preset area may be a pre-planned area. For another example, the preset area may be determined according to the flight area of the aircraft to be positioned, or adjusted in real time according to the flight area of the aircraft to be positioned.

S702, according to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the ground wireless positioning reference station system and the wireless signal communication with each positioning drone The position information of the wireless positioning reference station determines the position information of each positioning drone.

S703: Control each wireless positioning mobile station of the positioning drone to perform wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned communicates with multiple positioning wireless stations according to the wireless positioning mobile station of the aircraft to be positioned. The position information of the aircraft to be positioned is determined by the wireless signal communication between the wireless positioning mobile station of the man-machine and the position information of the positioning drone that performs wireless signal communication with the aircraft to be positioned.

Among them, the auxiliary positioning system can refer to the description of the above-mentioned UAV positioning system, positioning the drone, wireless positioning reference station system, wireless positioning reference station, wireless signal communication, determining the position information of the positioning drone, and determining the aircraft to be positioned For the location information of , refer to the above description, and the principles are similar, and will not be repeated here.

In the control method of the assisted positioning system provided in this embodiment, the assisted positioning system can be constructed based on the wireless positioning reference station system on the ground. The assisted positioning system consists of multiple positioning drones hovering in a preset area. The position information of each hovering positioning drone can be determined based on the wireless positioning reference station system on the ground. Furthermore, by controlling the positioning drone to perform wireless signal communication with the aircraft to be positioned, the aircraft to be positioned can determine its own position information based on the auxiliary positioning system. In the control method of the auxiliary positioning system provided in this embodiment, the wireless positioning reference station system on the ground can be extended in space through the auxiliary positioning system, and the extended auxiliary positioning system can be used as a new layer of positioning system to realize the aircraft to be positioned. The positioning of the aircraft meets the positioning requirements of the aircraft and improves the coverage and scalability of the positioning system.

Optionally, the wireless positioning mobile station may be a UWB positioning mobile station, the wireless positioning reference station may be a UWB positioning reference station, and the wireless signal communication may be UWB signal communication.

Optionally, in S702, according to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and with each positioning drone The position information of the wireless positioning reference station for wireless signal communication determines the position information of each positioning drone, which may include:

According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the ground wireless positioning reference station system, the wireless positioning between each positioning drone and the wireless signal communication is determined. Relative position information between base stations.

The position information of each positioning drone is determined according to the relative position information and the position information of the wireless positioning reference station.

Optionally, the relative position information may include relative distance information and/or relative angle information.

Specifically, when determining the position information of the positioning drone, first determine the relative position information between the positioning drone and the wireless positioning reference station on the ground, and then according to the obtained position information of the wireless positioning reference station and the relative position information to determine the location information of the positioning drone.

It should be noted that, in this embodiment, the method and time for the control device of the auxiliary positioning system to acquire the position information of the wireless positioning reference station are not limited. Optionally, the control device of the assisted positioning system may receive the position information sent by the wireless positioning reference station. Optionally, the wireless positioning reference station may send the position information to the cloud server, and the control device of the auxiliary positioning system obtains the position information of the wireless positioning reference station through communication with the cloud server. Optionally, the control device of the auxiliary positioning system may acquire the position information of the wireless positioning reference station before the aircraft takes off. Optionally, the control device of the auxiliary positioning system may acquire the position information of the wireless positioning reference station during the flight of the aircraft.

Optionally, the wireless positioning mobile station for positioning the UAV can be used to transmit wireless positioning signals.

Correspondingly, according to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground, it is determined that each positioning drone is in wireless signal communication. The relative position information between the wireless positioning reference stations can include:

Obtain the wireless positioning signals sent by the wireless positioning mobile station and received by the multiple wireless positioning reference stations.

The relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone.

In this implementation, the wireless positioning mobile station for positioning the drone can be used to transmit a wireless positioning signal. Correspondingly, after the wireless positioning signal is wirelessly transmitted, the wireless positioning reference station can receive the wireless positioning movement of the positioning drone. Wireless location signal transmitted by the station. The relative position information between the positioning drone and the wireless positioning reference station can be determined by positioning the wireless positioning signal transmitted by the drone and the wireless positioning signal received by the wireless positioning reference station.

Optionally, the relative position information between the positioning drone and the wireless positioning reference station may be determined by the AoA ranging method, the ToF ranging method or the TDoA ranging method.

Optionally, the distance between the multiple positioning drones may be greater than or equal to a preset distance threshold.

The value of the distance threshold is not limited in this embodiment.

By setting the distance threshold, it is ensured that the distance between multiple positioning drones is not too small, and the layout rationality of positioning drones in the drone positioning system is improved.

Optionally, in S701, controlling multiple positioning drones to fly to a preset area and hovering may include:

Obtain the location distribution type indication information of multiple positioning drones.

According to the distribution type indicated by the location distribution type indication information, a position point of each positioning drone in the preset area is determined for each of the plurality of positioning drones.

Control each positioning drone to fly to the corresponding position and hover.

For the location distribution type indication information and distribution type, reference may be made to the above description, and details are not repeated here.

Optionally, according to the location distribution type indicated by the location distribution type indication information, each of the multiple positioning drones to locate the location point of the drone in the preset area may include:

When the location distribution type indication information is the first location distribution type indication information, the plurality of location points are determined according to the first location distribution type indicated by the first location distribution type indication information.

When the location distribution type indication information is the second location distribution type indication information, multiple location points are determined according to the second location distribution type indicated by the second location distribution type indication information, wherein the first location distribution type is different from the second location distribution type type.

Optionally, the heights of the plurality of position points of the first position distribution type may be the same, and the heights of at least two position points of the plurality of position points of the second position distribution type may be different.

Optionally, the location distribution type indication information of the multiple positioning drones is generated by detecting the user's selection operation of the location distribution type.

In this implementation manner, the user can select the location distribution type of the positioning drone, which improves the flexibility of the user's control.

It should be noted that this embodiment does not limit the device on which the user performs the location distribution type selection operation, and does not limit the implementation manner of the selection operation. For example, the user may perform a position distribution type selection operation based on the control device of the aircraft. For example, when the control device is a joystick remote control, the selection operation may be a toggle operation of the joystick of the remote control. For another example, when the control device is a smart phone, the selection operation may be a touch operation on a touch screen.

Optionally, the aircraft to be positioned may include sensors for observing the environment in which the aircraft to be positioned is located.

The location distribution type indication information is generated by the aircraft to be positioned according to the sensor data collected by the sensor.

Through the sensing data collected in real time by the sensors on the aircraft to be positioned, the position distribution type indication information of multiple positioning UAVs can be generated, which can improve the accuracy of the position distribution type indication information for positioning UAVs, and make the UAV positioning system more accurate. The position of each positioning UAV is more reasonable, and the UAV positioning system is more matched with the flight environment of the aircraft, which further improves the accuracy of determining the position information of the aircraft.

FIG. 8 is a schematic structural diagram of a positioning device for an aircraft according to an embodiment of the present application. The aircraft includes a wireless positioning mobile station. As shown in FIG. 8 , the positioning device includes a memory 82 and a processor 81;

The memory 82 is used to store program codes;

The processor 81 calls the program code, and when the program code is executed, is configured to perform the following operations:

Controlling the wireless positioning mobile station of the aircraft to perform wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drones in the drone positioning system, wherein the plurality of positioning drones are hovering in the air;

Obtain the position information of a plurality of positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft, wherein the position information of the positioning drone is based on the wireless positioning mobile station of the positioning drone and the position on the ground. Determined by the wireless signal communication between multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station that performs the wireless signal communication with each of the positioning drones;

According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the drone positioning system, and the positioning drone that performs the wireless signal communication with the aircraft The position information of the aircraft determines the position information of the aircraft.

Optionally, the processor 81 is also used for:

The aircraft is controlled to fly according to the determined position information of the aircraft.

Optionally, the processor 81 is also used for:

Select a target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground;

The processor 81 is specifically used for:

When the target positioning system is the UAV positioning system, according to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations positioning the UAV in the UAV positioning system The position information of the aircraft is determined with the position information of the positioning drone in the wireless signal communication with the aircraft.

Optionally, the processor 81 is also used for:

When the target positioning system is the wireless positioning reference station system on the ground, according to the distance between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground The wireless signal communication and the position information of the wireless positioning reference station in the wireless signal communication with each positioning drone determine the position information of the aircraft.

Optionally, the processor 81 is specifically used for:

obtain the flying height of the aircraft;

The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the flying height.

Optionally, the processor 81 is specifically used for:

When the flying height is greater than or equal to a first preset height threshold, determine that the target positioning system is the UAV positioning system;

Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground.

Optionally, the processor 81 is specifically used for:

Determine the first reception strength of the wireless positioning signals sent by the wireless positioning mobile stations of a plurality of positioning drones of the UAV positioning system received by the wireless positioning mobile station of the aircraft and the wireless positioning reference station positioning system The second reception strength of the wireless positioning signals sent by the plurality of wireless positioning reference stations;

The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength.

Optionally, the processor 81 is specifically used for:

When the average value of the first reception strength is greater than or equal to the average value of the second reception strength, determining that the target positioning system is the UAV positioning system;

Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground.

Optionally, the aircraft includes a sensor for observing the environment where the aircraft is located;

The processor 81 is also used for:

generating the position distribution type indication information of the plurality of positioning drones according to the sensing data collected by the sensor;

Controlling the sending of the location distribution type indication information.

The positioning device for an aircraft provided in this embodiment can implement the positioning method for an aircraft shown in FIG. 6 , and the technical principles and technical effects are similar, which will not be repeated here.

FIG. 9 is a schematic structural diagram of a control device of an auxiliary positioning system provided by an embodiment of the present application. The auxiliary positioning system includes a plurality of positioning drones, wherein the positioning drones include wireless positioning mobile stations. As shown in FIG. 9 , the control device includes a memory 92 and a processor 91;

The memory 92 is used to store program codes;

The processor 91 calls the program code, and when the program code is executed, is configured to perform the following operations:

control the plurality of positioning drones to fly to a preset area and hover;

According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone The position information of the wireless positioning reference station communicated to determine the position information of each positioning drone;

Controlling the wireless positioning mobile station of each positioning drone to perform the wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned moves according to the wireless positioning of the aircraft to be positioned The wireless signal communication between the wireless positioning mobile station and the wireless positioning mobile stations of the plurality of positioning drones and the position information of the positioning drones that are in wireless signal communication with the aircraft to be positioned determine the aircraft to be positioned location information.

Optionally, the wireless positioning mobile station is a UWB positioning mobile station, the wireless positioning reference station is a UWB positioning reference station, and the wireless signal communication is UWB signal communication.

Optionally, the processor 91 is specifically used for:

According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground, it is determined that each positioning drone and the Describe the relative position information between the wireless positioning reference stations for wireless signal communication;

The position information of each positioning drone is determined according to the relative position information and the position information of the wireless positioning reference station.

Optionally, the wireless positioning mobile station of the positioning drone is used to transmit wireless positioning signals;

The processor 91 is specifically used for:

acquiring the wireless positioning signals sent by the wireless positioning mobile station and received by multiple wireless positioning reference stations;

The relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone.

Optionally, the distance between the multiple positioning drones is greater than or equal to a preset distance threshold.

Optionally, the processor 91 is specifically used for:

Obtaining the location distribution type indication information of the plurality of positioning drones;

Determine the location point of each of the plurality of positioning drones in the preset area according to the distribution type indicated by the location distribution type indication information;

Control each positioning drone to fly to the corresponding position point and hover.

Optionally, the processor 91 is specifically used for:

When the location distribution type indication information is the first location distribution type indication information, determining a plurality of location points according to the first location distribution type indicated by the first location distribution type indication information;

When the location distribution type indication information is the second location distribution type indication information, a plurality of location points are determined according to the second location distribution type indicated by the second location distribution type indication information, wherein the first location distribution type Different from the second location distribution type.

Optionally, the heights of the plurality of position points of the first position distribution type are the same, and the heights of at least two position points of the plurality of position points of the second position distribution type are different.

Optionally, the location distribution type indication information of the plurality of positioning drones is generated by detecting a user's selection operation of the location distribution type.

Optionally, the aircraft to be positioned includes a sensor for observing the environment where the aircraft to be positioned is located;

The location distribution type indication information is generated by the aircraft to be positioned according to sensing data collected by the sensor.

The control device of the assisted positioning system provided in this embodiment can execute the control method of the assisted positioning system shown in FIG. 7 , and the technical principles and technical effects are similar, and will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, but not to limit them; It should be understood that: it is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the embodiments of the present application Scope of technical solutions.

Claims (39)

A method for positioning an aircraft, wherein the aircraft includes a wireless positioning mobile station, and the method includes: Controlling the wireless positioning mobile station of the aircraft to perform wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drones in the drone positioning system, wherein the plurality of positioning drones are hovering in the air; Obtain the position information of a plurality of positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft, wherein the position information of the positioning drone is based on the wireless positioning mobile station of the positioning drone and the position on the ground. Determined by the wireless signal communication between multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station that performs the wireless signal communication with each of the positioning drones; According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the drone positioning system, and the positioning drone that performs the wireless signal communication with the aircraft The position information of the aircraft determines the position information of the aircraft. The method according to claim 1, wherein the method further comprises: The aircraft is controlled to fly according to the determined position information of the aircraft. The method according to claim 1, wherein the method further comprises: Select a target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground; The wireless signal communication between the wireless positioning mobile station according to the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the UAV positioning system and the positioning without the wireless signal communication with the aircraft. The position information of the man-machine determines the position information of the aircraft, including: When the target positioning system is the UAV positioning system, according to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations positioning the UAV in the UAV positioning system The position information of the aircraft is determined with the position information of the positioning drone in the wireless signal communication with the aircraft. The method according to claim 3, wherein the method further comprises: When the target positioning system is the wireless positioning reference station system on the ground, according to the distance between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground The wireless signal communication and the position information of the wireless positioning reference station in the wireless signal communication with each positioning drone determine the position information of the aircraft. The method according to claim 3 or 4, wherein the selecting a target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground comprises: obtain the flying height of the aircraft; The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the flying height. The method according to claim 5, wherein the selecting the target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground according to the flying height comprises: When the flying height is greater than or equal to a first preset height threshold, determine that the target positioning system is the UAV positioning system; Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground. The method according to claim 3 or 4, wherein the selecting a target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground comprises: Determine the first reception strength of the wireless positioning signals sent by the wireless positioning mobile stations of a plurality of positioning drones of the UAV positioning system received by the wireless positioning mobile station of the aircraft and the wireless positioning reference station positioning system The second reception strength of the wireless positioning signals sent by the plurality of wireless positioning reference stations; The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength. The method according to claim 7, wherein the method is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength The target positioning system includes: When the average value of the first reception strength is greater than or equal to the average value of the second reception strength, determining that the target positioning system is the UAV positioning system; Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground. The method according to any one of claims 1-8, wherein the aircraft includes a sensor for observing the environment where the aircraft is located; the method further comprises: generating the position distribution type indication information of the plurality of positioning drones according to the sensing data collected by the sensor; Send the location distribution type indication information. A control method for an auxiliary positioning system, characterized in that the auxiliary positioning system includes a plurality of positioning drones, wherein the positioning drones include a wireless positioning mobile station, and the method includes: control the plurality of positioning drones to fly to a preset area and hover; According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone The position information of the wireless positioning reference station communicated to determine the position information of each positioning drone; Controlling the wireless positioning mobile station of each positioning drone to perform the wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned moves according to the wireless positioning of the aircraft to be positioned The wireless signal communication between the wireless positioning mobile station and the wireless positioning mobile stations of the plurality of positioning drones and the position information of the positioning drones that are in wireless signal communication with the aircraft to be positioned determine the aircraft to be positioned location information. The method according to claim 10, wherein the wireless positioning mobile station is an ultra-wideband UWB positioning mobile station, the wireless positioning reference station is a UWB positioning reference station, and the wireless signal communication is UWB signal communication. The method according to claim 10, wherein the wireless positioning mobile station for positioning the UAV according to each wireless signal communication between a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground Determine the position information of each positioning drone with the position information of the wireless positioning reference station that performs the wireless signal communication with each positioning drone, including: According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground, it is determined that each positioning drone and the Describe the relative position information between the wireless positioning reference stations for wireless signal communication; The position information of each positioning drone is determined according to the relative position information and the position information of the wireless positioning reference station. The method according to claim 12, wherein the wireless positioning mobile station of the positioning drone is used to transmit a wireless positioning signal; The each positioning drone is determined according to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground The relative position information with the wireless positioning reference station that communicates with the wireless signal, including: acquiring the wireless positioning signals sent by the wireless positioning mobile station and received by multiple wireless positioning reference stations; The relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone. The method according to any one of claims 10-13, wherein the distance between the plurality of positioning drones is greater than or equal to a preset distance threshold. The method according to any one of claims 10-13, wherein the controlling the plurality of positioning drones to fly to a preset area and hovering includes: Obtaining the location distribution type indication information of the plurality of positioning drones; Determine the location point of each of the plurality of positioning drones in the preset area according to the distribution type indicated by the location distribution type indication information; Control each positioning drone to fly to the corresponding position point and hover. The method according to claim 15, wherein, according to the position distribution type indicated by the position distribution type indication information, it is determined that each positioning drone of the plurality of positioning drones is in the preset area location points in , including: When the location distribution type indication information is the first location distribution type indication information, determining a plurality of location points according to the first location distribution type indicated by the first location distribution type indication information; When the location distribution type indication information is the second location distribution type indication information, a plurality of location points are determined according to the second location distribution type indicated by the second location distribution type indication information, wherein the first location distribution type Different from the second location distribution type. The method according to claim 16, wherein the heights of the plurality of position points of the first position distribution type are the same, and the heights of at least two position points of the plurality of position points of the second position distribution type are different . The method according to claim 15, wherein the indication information of the location distribution types of the plurality of positioning drones is generated by detecting a user's selection operation of the location distribution types. The method of claim 15, wherein the aircraft to be positioned comprises a sensor for observing the environment in which the aircraft to be positioned is located; The location distribution type indication information is generated by the aircraft to be positioned according to sensing data collected by the sensor. A positioning device for an aircraft, characterized in that the aircraft includes a wireless positioning mobile station, and the positioning device includes a memory and a processor; the memory for storing program codes; The processor calls the program code, and when the program code is executed, is configured to perform the following operations: Controlling the wireless positioning mobile station of the aircraft to perform wireless signal communication with a plurality of wireless positioning mobile stations for positioning the drones in the drone positioning system, wherein the plurality of positioning drones are hovering in the air; Obtain the position information of a plurality of positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft, wherein the position information of the positioning drone is based on the wireless positioning mobile station of the positioning drone and the position on the ground. Determined by the wireless signal communication between multiple wireless positioning reference stations in the wireless positioning reference station system and the position information of the wireless positioning reference station that performs the wireless signal communication with each of the positioning drones; According to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations for positioning the drone in the drone positioning system, and the positioning drone that performs the wireless signal communication with the aircraft The position information of the aircraft determines the position information of the aircraft. The apparatus of claim 20, wherein the processor is further configured to: The aircraft is controlled to fly according to the determined position information of the aircraft. The apparatus of claim 20, wherein the processor is further configured to: Select a target positioning system from the UAV positioning system and the wireless positioning reference station system on the ground; The processor is specifically used for: When the target positioning system is the UAV positioning system, according to the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning mobile stations positioning the UAV in the UAV positioning system The position information of the aircraft is determined with the position information of the positioning drone in the wireless signal communication with the aircraft. The apparatus of claim 22, wherein the processor is further configured to: When the target positioning system is the wireless positioning reference station system on the ground, according to the distance between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground The wireless signal communication and the position information of the wireless positioning reference station in the wireless signal communication with each positioning drone determine the position information of the aircraft. The apparatus according to claim 22 or 23, wherein the processor is specifically configured to: obtain the flying height of the aircraft; The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the flying height. The apparatus according to claim 24, wherein the processor is specifically configured to: When the flying height is greater than or equal to a first preset height threshold, determine that the target positioning system is the UAV positioning system; Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground. The apparatus according to claim 22 or 23, wherein the processor is specifically configured to: Determine the first reception strength of the wireless positioning signals sent by the wireless positioning mobile stations of a plurality of positioning drones of the UAV positioning system received by the wireless positioning mobile station of the aircraft and the wireless positioning reference station positioning system The second reception strength of the wireless positioning signals sent by the plurality of wireless positioning reference stations; The target positioning system is selected from the UAV positioning system and the wireless positioning reference station system on the ground according to the first receiving strength and the second receiving strength. The apparatus according to claim 26, wherein the processor is specifically configured to: When the average value of the first reception strength is greater than or equal to the average value of the second reception strength, determining that the target positioning system is the UAV positioning system; Otherwise, it is determined that the target positioning system is the wireless positioning reference station system on the ground. The device according to any one of claims 20-27, wherein the aircraft includes a sensor for observing the environment where the aircraft is located; the processor is further configured to: generating the position distribution type indication information of the plurality of positioning drones according to the sensing data collected by the sensor; Controlling the sending of the location distribution type indication information. A control device for an auxiliary positioning system, characterized in that the auxiliary positioning system includes a plurality of positioning drones, wherein the positioning drones include a wireless positioning mobile station; the control device includes a memory and a processor; the memory for storing program codes; The processor calls the program code, and when the program code is executed, is configured to perform the following operations: control the plurality of positioning drones to fly to a preset area and hover; According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone The position information of the wireless positioning reference station communicated to determine the position information of each positioning drone; Controlling the wireless positioning mobile station of each positioning drone to perform the wireless signal communication with the wireless positioning mobile station of the aircraft to be positioned, so that the aircraft to be positioned moves according to the wireless positioning of the aircraft to be positioned The wireless signal communication between the wireless positioning mobile station and the wireless positioning mobile stations of the plurality of positioning drones and the position information of the positioning drones that are in wireless signal communication with the aircraft to be positioned determine the aircraft to be positioned location information. The apparatus according to claim 29, wherein the wireless positioning mobile station is an ultra-wideband UWB positioning mobile station, the wireless positioning reference station is a UWB positioning reference station, and the wireless signal communication is UWB signal communication. The apparatus according to claim 29, wherein the processor is specifically configured to: According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground, it is determined that each positioning drone and the Describe the relative position information between the wireless positioning reference stations for wireless signal communication; The position information of each positioning drone is determined according to the relative position information and the position information of the wireless positioning reference station. The device according to claim 31, wherein the wireless positioning mobile station of the positioning drone is used to transmit a wireless positioning signal; The processor is specifically used for: acquiring the wireless positioning signals sent by the wireless positioning mobile station and received by multiple wireless positioning reference stations; The relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone. The device according to any one of claims 29-32, wherein the distance between the plurality of positioning drones is greater than or equal to a preset distance threshold. The apparatus according to any one of claims 29-32, wherein the processor is specifically configured to: Obtaining the location distribution type indication information of the plurality of positioning drones; Determine the location point of each of the plurality of positioning drones in the preset area according to the distribution type indicated by the location distribution type indication information; Control each positioning drone to fly to the corresponding position point and hover. The apparatus according to claim 34, wherein the processor is specifically configured to: When the location distribution type indication information is the first location distribution type indication information, determining a plurality of location points according to the first location distribution type indicated by the first location distribution type indication information; When the location distribution type indication information is the second location distribution type indication information, a plurality of location points are determined according to the second location distribution type indicated by the second location distribution type indication information, wherein the first location distribution type Different from the second location distribution type. The device according to claim 35, wherein the heights of the plurality of position points of the first position distribution type are the same, and the heights of at least two position points of the plurality of position points of the second position distribution type are different . The apparatus according to claim 34, wherein the indication information of the location distribution types of the plurality of positioning drones is generated by detecting a user's selection operation of the location distribution types. The device according to claim 34, wherein the aircraft to be positioned comprises a sensor for observing the environment in which the aircraft to be positioned is located; The location distribution type indication information is generated by the aircraft to be positioned according to sensing data collected by the sensor. A computer-readable storage medium, wherein a computer program is stored on the readable storage medium; when the computer program is executed, the method according to any one of claims 1-9 is implemented, or, A method as claimed in any of claims 10-19 is implemented.

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