CN106443733A - Positioning system and method for unmanned plane - Google Patents
Positioning system and method for unmanned plane Download PDFInfo
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- CN106443733A CN106443733A CN201610739921.9A CN201610739921A CN106443733A CN 106443733 A CN106443733 A CN 106443733A CN 201610739921 A CN201610739921 A CN 201610739921A CN 106443733 A CN106443733 A CN 106443733A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000002708 enhancing effect Effects 0.000 claims description 34
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- 230000004807 localization Effects 0.000 claims description 15
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- 230000008569 process Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 3
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- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention relates to a positioning system and method for an unmanned plane. The positioning system at least includes a positioning enhancement apparatus, a fixed station and an unmanned plane, wherein the fixed station can be connected with the unmanned plane; the positioning enhancement apparatus is used for acquiring single point positioning coordinates, and can output reference positioning coordinates according to the single point positioning coordinates; the positioning enhancement apparatus utilizes the reference positioning coordinates and/or the single point positioning coordinates to generate positional deviation information; the unmanned plane is used for acquiring the current positioning coordinates of the unmanned plane, and receiving the current positioning coordinates and the positional deviation information transmitted from the positioning enhancement apparatus; when the current positioning coordinates are the single point positioning coordinates, the positional deviation information is used to correct the single point positioning coordinates; and the corrected single point positioning coordinates are used to control flying of the unmanned plane. The positioning system and method for an unmanned plane can be used for reducing the deviation for positioning of the unmanned plane during the period of executing the same task by the unmanned plane so as to improve the execution accuracy of the task track.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to the alignment system of a kind of unmanned plane and a kind of unmanned plane
Localization method.
Background technology
Current unmanned plane can use single-point GPS (global positioning system, Global Positioning System) to carry out
Positioning, but single-point GPS cannot obtain unmanned plane real-time coordinates accurately, and it can be in difference for the coordinate of same position gained
Time produces the skew of measurement, and its error is essentially from satellite clock error, ephemeris error, ionosphere delay, tropospheric delay etc.
Deng.Therefore, the elements of a fix precision of gained is too low so that unmanned plane cannot precisely operation.
In order to improve precision and the reliability of positioning, unmanned plane can also use Differential GPS Technology to position.Unmanned plane
Receiving the difference text that fixed station sends, existing Differential GPS Technology is to be passed through digital radio station or mobile radio communication by fixed station
Network, sends difference text to unmanned plane.Differential GPS location technology advantage is used to be that absolute precision is high, but, existing difference
GPS solution is required for transmitting substantial amounts of data, therefore exists and has a disadvantage that：
1, when sending difference text to unmanned plane by digital radio station, owing to digital radio station communication distance is limited, it is impossible to
Uniform fold (antenna of launching of digital radio station has certain directive property), and run into the impact of the factors such as barrier obstruct,
The place of dtr signal is susceptible to communication disruption.
2, when sending difference text to unmanned plane by mobile communications network, mobile logical owing to generally using on unmanned plane
Letter module and fixed station carry out radio communication, therefore are susceptible in communication in the place without mobile communications network or dtr signal
Disconnected, when communication disruption, unmanned plane can exit differential GPS.
Occurring single-point GPS can only be used to position during case above, unmanned plane positioning is inaccurate.Rule of thumb, civilian
The precision of GPS is typically at about 10 meters, and the coordinate value distance true coordinate of its One-Point Location is the radius of about 10 meters of the center of circle
Within, when i.e. unmanned plane exits difference, coordinate offset is likely larger than 10 meters.When the GPS positioning on unmanned plane is inaccurate, easily
There is driftage mistake, perform in course line, under the high scene of required precision, to be prone to accidents.
Content of the invention
In view of the above problems, it is proposed that the embodiment of the present invention is to provide one to overcome the problems referred to above or at least in part
Solve the alignment system of a kind of unmanned plane of the problems referred to above and the localization method of a kind of unmanned plane.May be used for reducing unmanned plane to exist
The deviation that during performing same task, its positioning occurs, improves the execution precision of task track：Strengthen in small area and move back
Go on business the positioning precision of timesharing；It is being only concerned the occasion of relative accuracy, determining relative to a certain moment can improved in zonule
Position precision.
In order to solve the problems referred to above, the embodiment of the invention discloses the alignment system of a kind of unmanned plane, described alignment system
At least including positioning enhancing features, fixed station and unmanned plane, described fixed station can be connected with described unmanned plane, wherein,
Described positioning enhancing features, including：
First locating module, is used for obtaining One-Point Location coordinate, and exports reference location according to described One-Point Location coordinate
Coordinate, wherein, the positioning precision of described reference location coordinate is higher than One-Point Location coordinate；
Deviation computing module, is used for using described reference location coordinate and/or One-Point Location Coordinate generation position deviation letter
Breath；
Described unmanned plane, including：
Unmanned plane locating module, for obtaining the current positioning coordinate of unmanned plane；
Flight controller, for receiving described current positioning coordinate and the reception institute of the output of described unmanned plane locating module
State the position deviation information that positioning enhancing features sends, when described current positioning coordinate is One-Point Location coordinate, use described
Described One-Point Location coordinate is modified by position deviation information, uses flying of revised One-Point Location coordinate control unmanned plane
OK.
Preferably, described flight controller, is additionally operable to when described current positioning coordinate is Differential positioning coordinate, uses institute
State the flight of Differential positioning coordinate control unmanned plane.
Preferably, described first locating module, for during described unmanned plane during flying, receives the difference that fixed station sends
Divide text, and, obtain the One-Point Location coordinate that satellite sends, calculate reference according to described difference text and One-Point Location coordinate
The elements of a fix；
Or,
Described first locating module, for during described unmanned plane during flying, obtains the list that current time satellite sends
0th moment to the One-Point Location coordinate acquired in current time is filtered processing, obtains current time by point location coordinate
Reference location coordinate.
Preferably, also include：Filtration module, is used for being filtered to the position deviation information in predetermined threshold value processing, and
Send being filtered the position deviation information after processing to described flight controller.
Preferably, described positioning enhancing features is external in described fixed station, or, described positioning enhancing features is built in institute
State fixed station.
The embodiment of the invention also discloses the localization method of a kind of unmanned plane, including：
Receive the position deviation information that positioning enhancing features sends；
Obtain the current positioning coordinate of unmanned plane locating module output, and judge that described current positioning coordinate is Differential positioning
Coordinate or One-Point Location coordinate；
If described current positioning coordinate is One-Point Location coordinate, then use described position deviation information to described One-Point Location
Coordinate is modified；
Use the flight of revised One-Point Location coordinate control unmanned plane.
The embodiment of the invention also discloses the localization method of a kind of unmanned plane, including：
Obtain reference location coordinate and One-Point Location coordinate；
Use described reference location coordinate and One-Point Location Coordinate generation position deviation information；
Send described position deviation information to unmanned plane, so that described unmanned plane can use described position deviation information
The current positioning coordinate obtaining is modified, and uses the flight of revised current positioning coordinate control unmanned plane.
Preferably, the described step using described reference location coordinate and One-Point Location Coordinate generation position deviation information,
Including：
Reference location coordinate is deducted One-Point Location coordinate, it is thus achieved that elements of a fix difference；
Described elements of a fix difference is judged to position deviation information.
Preferably, the step of described acquisition reference location coordinate and One-Point Location coordinate includes：
During described unmanned plane during flying, obtain the difference text that fixed station sends, and, obtain the list that satellite sends
Point location coordinate, calculates reference location coordinate according to described difference text and One-Point Location coordinate；
Or,
During described unmanned plane during flying, obtain the One-Point Location coordinate that current time satellite sends, by the 0th moment extremely
One-Point Location coordinate acquired in current time is filtered processing, and obtains the reference location coordinate of current time.
Preferably, the described step by position deviation information transmission to unmanned plane includes：
Filter out the position deviation information in predetermined threshold value；
It is filtered to the position deviation information in predetermined threshold value processing, and the position deviation letter after processing will be filtered
Breath sends to described unmanned plane.
The embodiment of the present invention includes advantages below：
The embodiment of the present invention unmanned plane alignment system in add positioning enhancing features, as unmanned plane GPS positioning
Supplement.Positioning enhancing features can be connected with fixed station, and unmanned plane can be got by positioning enhancing features and can carry out determining
The position deviation information that position is revised, when the current positioning coordinate of the unmanned plane getting is One-Point Location coordinate, it is possible to use
Positioning enhancing features sends position deviation information and is modified, and then re-uses revised One-Point Location coordinate and controls unmanned
The flight of machine.The embodiment of the present invention may be used for reducing the unmanned plane deviation that its positioning occurs during performing same task, carries
The execution precision of high task track：Strengthen positioning precision when differential GPS exits difference in small area；It is being only concerned phase
Occasion to precision, can improve the positioning precision relative to a certain moment in zonule.
Brief description
Fig. 1 is the structured flowchart of the alignment system embodiment of a kind of unmanned plane of the present invention；
Fig. 2 is the system architecture schematic diagram of a kind of positioning enhancing features of the present invention；
Fig. 3 is the structured flowchart of the localization method embodiment 1 of a kind of unmanned plane of the present invention；
Fig. 4 is the structured flowchart of the localization method embodiment 2 of a kind of unmanned plane of the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the accompanying drawings and specifically in fact
The present invention is further detailed explanation to execute mode.
With reference to Fig. 1, show the structured flowchart of the alignment system embodiment of a kind of unmanned plane of the present invention.Described positioning system
System at least includes positioning enhancing features 101, fixed station 102 and unmanned plane 103, and described fixed station 102 can be with described unmanned plane 103
It is connected.Further, described fixed station 103 can also be connected with described positioning enhancing features 101.
It should be noted that the positioning enhancing features 101 of the embodiment of the present invention, fixed station 102 both can be built in, it is possible to
To be external in fixed station 102, it might even be possible to being installed on the body of unmanned plane, this is not all any limitation as by the embodiment of the present invention.
In implementing, positioning enhancing features 101, phase intercommunication can be carried out between fixed station 102 and unmanned plane 103
Letter, its communication mode can include but is not limited to：Wireless communication protocol (for example, WIFI, GPRS, 3G/4G), bluetooth, wireless wave
Etc..
The positioning enhancing features 101 of the embodiment of the present invention, can include the first locating module 1011 and deviation computing module
1012.
First locating module 1011, is used for obtaining One-Point Location coordinate, and exports reference according to described One-Point Location coordinate
The elements of a fix, wherein, the positioning precision of described reference location coordinate is higher than One-Point Location coordinate；
Deviation computing module 1012, is used for using described reference location coordinate and/or One-Point Location Coordinate generation position inclined
Difference information；
The unmanned plane 103 of the embodiment of the present invention, can include unmanned plane locating module 1031 and flight controller 1032.
Unmanned plane locating module 1031, for obtaining the current positioning coordinate of unmanned plane；
When unmanned plane locating module 1031 is able to receive that the difference text that fixed station 102 sends, unmanned plane locating module
1031 current positioning coordinate to flight controller 1032 output are Differential positioning coordinate.When due to communication disruption or cannot
When the abnormal problems such as communication occur, unmanned plane locating module 1031 cannot receive difference text or cannot receive complete difference
Text, now unmanned plane locating module 1031 then return back to One-Point Location pattern, and current to flight controller 1032 output is determined
Position coordinate is One-Point Location coordinate.
Flight controller 1032, for receive described unmanned plane locating module 1031 output described current positioning coordinate with
And receive the position deviation information that described positioning enhancing features 101 sends, it is One-Point Location coordinate in described current positioning coordinate
When, use described position deviation information to be modified described One-Point Location coordinate, use revised One-Point Location coordinate control
The flight of unmanned plane processed.
The first locating module 1011 in positioning enhancing features 101, can obtain One-Point Location coordinate, real-time ground in real time
Obtaining the reference location coordinate higher than One-Point Location coordinate for the precision in One-Point Location coordinate, then deviation computing module 1012 utilizes
One-Point Location coordinate and reference location coordinate P2 are poor, obtain position deviation information offset (Δ latitude, a Δ
Longitude, Δ altitude).I.e.：Offset=P1 P2.Positioning enhancing features 101 can be in real time by position deviation information
It is sent to unmanned plane 103.
The unmanned plane locating module 1031 of the unmanned plane 103 of the embodiment of the present invention, can carry out One-Point Location and obtain single-point
The elements of a fix, or, utilize RTK (Real-time kinematic, carrier phase difference) technology to carry out Differential positioning poor
Divide the elements of a fix, when unmanned plane interrupts degenerating to One-Point Location or being only capable of carrying out One-Point Location because of Differential positioning, that is to say
Saying, when the current positioning coordinate that unmanned plane 103 gets is One-Point Location coordinate, flight controller 1032 can utilize positioning to increase
The position deviation information that intensity device 101 sends, is modified for the One-Point Location coordinate currently getting, then re-uses and repair
One-Point Location coordinate after just controls the flight of unmanned plane 103.
Application the embodiment of the present invention positioning enhancing features 101 so that unmanned plane 103 exit Differential positioning it
After, in geographic area close together, still can keep higher absolute precision, when Differential positioning interrupts degenerating to One-Point Location
When can produce bigger position error, utilize position deviation information to be modified for One-Point Location coordinate, improve One-Point Location and sit
Target positioning precision, thus it is greatly enhanced the stability that unmanned plane 103 performs course line.Further, since the number of position deviation information
Little especially according to amount, the more weak geographic area of signal at mobile communications network also easily communicates successfully, and position deviation information
Ageing length.
In one preferred embodiment of the invention, the first locating module 1011 can get One-Point Location coordinate, and
Export reference location coordinate based on One-Point Location coordinate.Specifically, the first locating module 1011 get One-Point Location coordinate and
Reference location coordinated manner includes but is not limited to the following two kinds mode：
Mode one：Described first locating module 1011, for during described unmanned plane during flying, receives fixed station and sends
Difference text, and, obtain the One-Point Location coordinate that satellite sends, calculate according to described difference text and One-Point Location coordinate
Reference location coordinate.
Mode two：Described first locating module 1011, for during described unmanned plane during flying, obtains current time and defends
0th moment to the One-Point Location coordinate acquired in current time is filtered processing, obtains by the One-Point Location coordinate that star sends
The reference location coordinate of current time.
In implementing, the first locating module 1011 can two kinds of GPS, i.e. for receiving the difference of difference text
Divide GPS, receive the single-point GPS of One-Point Location coordinate, i.e. two-way can be had defeated at the first locating module 1011
Enter.
Alternatively, if two GPS are independent on hardware, should be by two when calculating position deviation information
The alternate position spike of the reception antenna of GPS counts, certainly, in some use scenes mutually less stringent to required precision
Under, if the reception antenna of two GPS be within close proximity (as<10cm), then the alternate position spike of reception antenna can not be considered.
In embodiments of the present invention, the One-Point Location coordinate that the first locating module 1011 can be obtained by One-Point Location,
And reference location coordinate can obtain in several ways, as long as the positioning precision of reference location coordinate is higher than One-Point Location coordinate
Positioning precision.For example, first the first locating module 1011 can obtain difference text from fixed station, then further according to difference
Text and One-Point Location coordinate is divided to be calculated reference location coordinate, or, sit for obtaining One-Point Location by One-Point Location
Mark row sampling filter obtains (being applicable to the scene being only capable of obtaining One-Point Location coordinate), and the single-point after then processing filtering again is fixed
Position coordinate is as reference location coordinate.
It is only concerned in the flying scene of relative accuracy at some, One-Point Location coordinate can be used to substitute Differential positioning coordinate
As reference location coordinate.Specifically, after unmanned plane start, single-point is carried out by One-Point Location in 0 moment to current time
The collection of the elements of a fix and filtering process, then 0 moment-current time is filtered process after One-Point Location coordinate as
Reference location coordinate.
Certainly, when implementing the embodiment of the present invention, it would however also be possible to employ other modes obtain One-Point Location coordinate and reference
The elements of a fix, this is not necessarily to be any limitation as by the embodiment of the present invention.
In one preferred embodiment of the invention, described positioning enhancing features 101 can also include such as lower module：
Filtration module 1013, is used for being filtered to the position deviation information in predetermined threshold value processing, and will be filtered
Position deviation information after process sends to described flight controller.
In implementing, owing to the One-Point Location coordinate being obtained by One-Point Location exists bigger drift, therefore may be used
To be filtered noise reduction to position deviation information and to make it smooth.
A kind of preferred filters solutions is：Remove the deviation information varying more than threshold value in the deviation information of position, then again
The position deviation information after predetermined threshold value that varies more than removal is filtered processing, and i.e. can get ideal position deviation
Information, is then forwarded to the flight controller 1032 of unmanned plane 103 to revise One-Point Location coordinate.
In one preferred embodiment of the invention, described flight controller 1032, is additionally operable to described when prelocalization seat
When being designated as Differential positioning coordinate, use the flight of described Differential positioning coordinate control unmanned plane.
It should be noted that when unmanned plane is in Differential positioning, due to the Differential positioning coordinate basis of Differential positioning acquisition
As hi-Fix coordinate, then can directly use the flight of the Differential positioning coordinate control unmanned plane that Differential positioning obtains,
And without using position deviation information to be modified for the current positioning coordinate of unmanned plane.
The embodiment of the present invention unmanned plane alignment system in add positioning enhancing features, as unmanned plane alignment system
One is supplemented.Wherein, positioning enhancing features can be connected with fixed station, and unmanned plane can get energy by positioning enhancing features
The enough position deviation information carrying out positioning correction, when the current positioning coordinate of the unmanned plane getting is One-Point Location coordinate,
Positioning enhancing features can be utilized to send position deviation information be modified, then re-use revised One-Point Location coordinate
The flight of control unmanned plane.The embodiment of the present invention may be used for reducing what unmanned plane its positioning during performing same task occurred
Deviation, improves the execution precision of task track：Strengthen positioning precision when exiting difference in small area；It is being only concerned phase
Occasion to precision, can improve the positioning precision relative to a certain moment in zonule.
In order to be the positioning enhancing features that those skilled in the art are more fully understood that the embodiment of the present invention, below use concrete
Example illustrate.
With reference to the system architecture schematic diagram of a kind of positioning enhancing features shown in Fig. 2, the GPS intensifier shown in this figure is
The positioning enhancing features of the embodiment of the present invention, GPS intensifier is to include the first GPS module, deviation calculator and filtering
Device.Wherein, the first GPS module can be RTK Pattern localization, it is also possible to be One-Point Location.
If RTK Pattern localization, then the first GPS module receives the RTCM signal (difference text) of fixed station, GPS simultaneously
The first GPS module utilization on intensifier combines RTCM signal from the One-Point Location coordinate that satellite gets and just can calculate
The hi-Fix information of the first GPS module on GPS intensifier.This hi-Fix inputs to One-Point Location information
Deviation calculator, deviation calculator just can calculate the vector of hi-Fix information and One-Point Location information, and this vector is just
It is deviation information.
If not RTK Pattern localization, then the first GPS module constantly obtains One-Point Location information, by way of filtering
Calculating the reference location information meeting positioning accuracy request that obtains, this reference location information inputs with One-Point Location information
To deviation calculator, deviation calculator equally also can calculate deviation information, and only this deviation information and the preceding paragraph is inclined
Difference information is compared precision and is not had so high.
Finally, position deviation information is sent to the flight controller of unmanned plane by GPS intensifier in real time.
Unmanned plane locating module for unmanned plane, in unmanned plane GPS module i.e. above-described embodiment.If unmanned plane
GPS module is if able to receive RTCM signal, then it is in RTK station-keeping mode, due to the RTCM of RTK station-keeping mode output
The coordinate precision of signal is high, and flight controller can directly use, after receiving this difference text, the flight control carrying out unmanned plane,
And give up the position deviation information of reception.If owing to various problems, unmanned plane GPS module does not receives suddenly RTCM signal,
So it exports to flight controller is exactly One-Point Location coordinate, and now flight controller by One-Point Location coordinate and connects in real time
One-Point Location coordinate is corrected by the position deviation information receiving, and then just uses the One-Point Location coordinate after correcting to carry out nothing
Man-machine flight control.
It it should be noted that the embodiment of the present invention is in addition to being applicable to unmanned plane, is applied equally to other needs and carries out
Positioning terminal equipment, this is not any limitation as by the embodiment of the present invention.
The unmanned plane of the embodiment of the present invention in flight course, when by use Differential positioning deteriorate to One-Point Location, or
It is only capable of when carrying out One-Point Location, according to position deviation information, the One-Point Location coordinate that unmanned plane detects can be carried out
Revise so that unmanned plane is able to maintain that higher positioning precision.
With reference to Fig. 3, show the flow chart of steps of the localization method embodiment 1 of a kind of unmanned plane of the present invention, described
Method specifically may include steps of：
Step 201, receives the position deviation information that positioning enhancing features sends；
Step 202, obtains the current positioning coordinate of unmanned plane locating module output；
Step 203, it is judged that described current positioning coordinate is Differential positioning coordinate or One-Point Location coordinate；If described currently
The elements of a fix are One-Point Location coordinate, then step 204；
Step 204, uses described position deviation information to be modified described One-Point Location coordinate；
Step 205, uses the flight of revised One-Point Location coordinate control unmanned plane.
With reference to Fig. 4, show the flow chart of steps of the localization method embodiment 2 of a kind of unmanned plane of the present invention, described
Method specifically may include steps of：
Step 301, obtains reference location coordinate and One-Point Location coordinate；
In one preferred embodiment of the invention, described step 301 can include sub-step as follows：
Sub-step S11, during described unmanned plane during flying, obtains the difference text that fixed station sends, and, acquisition is defended
The One-Point Location coordinate that star sends, calculates reference location coordinate according to described difference text and One-Point Location coordinate；
Or,
Sub-step S12, during described unmanned plane during flying, obtains the One-Point Location coordinate that current time satellite sends,
Being filtered the 0th moment to the One-Point Location coordinate acquired in current time processing, the reference location obtaining current time is sat
Mark.
Step 302, uses described reference location coordinate and One-Point Location Coordinate generation position deviation information；
In one preferred embodiment of the invention, described step 302 can include following sub-step：
Reference location coordinate is deducted One-Point Location coordinate by sub-step S21, it is thus achieved that elements of a fix difference；
Described elements of a fix difference is judged to position deviation information by sub-step S22.
Step 303, sends described position deviation information to unmanned plane, so that described unmanned plane can use described position
Deviation information is modified for the current positioning coordinate obtaining, and uses revised current positioning coordinate control unmanned plane
Flight.
In one preferred embodiment of the invention, described step 303 can include following sub-step：
Sub-step S31, filters out the position deviation information in predetermined threshold value；
Sub-step S32, the position deviation information in predetermined threshold value is filtered process, and will be filtered process after
Position deviation information sends to described unmanned plane.
For embodiment of the method, due to itself and system embodiment basic simlarity, so describe is fairly simple, related
The part that part sees system embodiment illustrates.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of action group
Closing, but those skilled in the art should knowing, the embodiment of the present invention is not limited by described sequence of movement, because depending on
According to the embodiment of the present invention, some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Knowing, embodiment described in this description belongs to preferred embodiment, and the involved action not necessarily present invention implements
Necessary to example.
Each embodiment in this specification all uses the mode gone forward one by one to describe, what each embodiment stressed is with
The difference of other embodiments, between each embodiment, identical similar part sees mutually.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present invention can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present invention can use complete hardware embodiment, complete software implementation or combine software and
The form of the embodiment of hardware aspect.And, the embodiment of the present invention can use one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disc store, CD-ROM, optical memory etc.) of program code
The form of the computer program implemented.
The embodiment of the present invention is with reference to method according to embodiments of the present invention, terminal device (system) and computer program
The flow chart of product and/or block diagram describe.It should be understood that can be by computer program instructions flowchart and/or block diagram
In each flow process and/or the combination of the flow process in square frame and flow chart and/or block diagram and/or square frame.These can be provided
Computer program instructions sets to all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to produce a machine so that held by the processor of computer or other programmable data processing terminal equipment
The instruction of row produces for realizing in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame
The device of the function specified.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminal equipment
In the computer-readable memory working in a specific way so that the instruction being stored in this computer-readable memory produces bag
Including the manufacture of command device, this command device realizes in one flow process of flow chart or multiple flow process and/or one side of block diagram
The function specified in frame or multiple square frame.
These computer program instructions also can be loaded on computer or other programmable data processing terminal equipment so that
Computer or other programmable terminal equipment perform sequence of operations step producing computer implemented process, thus
The instruction performing on computer or other programmable terminal equipment provides for realizing in one flow process of flow chart or multiple flow process
And/or the step of the function specified in one square frame of block diagram or multiple square frame.
Although having been described for the preferred embodiment of the embodiment of the present invention, but those skilled in the art once knowing base
This creativeness concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to
Including preferred embodiment and all changes and the modification that fall into range of embodiment of the invention.
Finally, in addition it is also necessary to explanation, herein, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", "comprising" or its any other variant meaning
Covering comprising of nonexcludability, so that include that the process of a series of key element, method, article or terminal device not only wrap
Include those key elements, but also include other key elements being not expressly set out, or also include for this process, method, article
Or the intrinsic key element of terminal device.In the case of there is no more restriction, by wanting that statement " including ... " limits
Element, it is not excluded that there is also other identical element in process, method, article or the terminal device include described key element.
Localization method to the alignment system of a kind of unmanned plane provided by the present invention and a kind of unmanned plane, is carried out above
Being discussed in detail, principle and embodiment to the present invention for the specific case used herein is set forth, above example
Method and the core concept thereof being only intended to help to understand the present invention is described；Simultaneously for one of ordinary skill in the art, depend on
According to the thought of the present invention, all will change in specific embodiments and applications, in sum, this specification content
Should not be construed as limitation of the present invention.
Claims (10)
1. the alignment system of a unmanned plane, it is characterised in that described alignment system at least includes positioning enhancing features, fixed station
And unmanned plane, described fixed station can be connected with described unmanned plane, wherein,
Described positioning enhancing features, including：
First locating module, is used for obtaining One-Point Location coordinate, and exports reference location coordinate according to described One-Point Location coordinate,
Wherein, the positioning precision of described reference location coordinate is higher than One-Point Location coordinate；
Deviation computing module, is used for using described reference location coordinate and/or One-Point Location Coordinate generation position deviation information；
Described unmanned plane, including：
Unmanned plane locating module, for obtaining the current positioning coordinate of unmanned plane；
Flight controller, for receive described unmanned plane locating module output described current positioning coordinate and receive described fixed
The position deviation information that position intensifier sends, when described current positioning coordinate is One-Point Location coordinate, uses described position
Described One-Point Location coordinate is modified by deviation information, uses the flight of revised One-Point Location coordinate control unmanned plane.
2. system according to claim 1, it is characterised in that
Described flight controller, is additionally operable to, when described current positioning coordinate is Differential positioning coordinate, use described Differential positioning
The flight of coordinate control unmanned plane.
3. system according to claim 1, it is characterised in that
Described first locating module, for during described unmanned plane during flying, receives the difference text that fixed station sends, with
And, obtain the One-Point Location coordinate that satellite sends, calculate reference location coordinate according to described difference text and One-Point Location coordinate；
Or,
Described first locating module, for during described unmanned plane during flying, the single-point obtaining the transmission of current time satellite is fixed
0th moment to the One-Point Location coordinate acquired in current time is filtered processing, obtains the reference of current time by position coordinate
The elements of a fix.
4. system according to claim 1, it is characterised in that also include：
Filtration module, for being filtered to the position deviation information in predetermined threshold value processing, and after being filtered processing
Position deviation information sends to described flight controller.
5. the system according to claim 1-4 any claim, it is characterised in that described positioning enhancing features is external in
Described fixed station, or, described positioning enhancing features is built in described fixed station.
6. the localization method of a unmanned plane, it is characterised in that include：
Receive the position deviation information that positioning enhancing features sends；
Obtain the current positioning coordinate of unmanned plane locating module output, and judge that described current positioning coordinate is Differential positioning coordinate
Or One-Point Location coordinate；
If described current positioning coordinate is One-Point Location coordinate, then use described position deviation information to described One-Point Location coordinate
It is modified；
Use the flight of revised One-Point Location coordinate control unmanned plane.
7. the localization method of a unmanned plane, it is characterised in that include：
Obtain reference location coordinate and One-Point Location coordinate；
Use described reference location coordinate and One-Point Location Coordinate generation position deviation information；
By described position deviation information send to unmanned plane so that described unmanned plane can use described position deviation information for
The current positioning coordinate obtaining is modified, and uses the flight of revised current positioning coordinate control unmanned plane.
8. unmanned plane localization method according to claim 7, it is characterised in that described employing described reference location coordinate and
The step of One-Point Location Coordinate generation position deviation information, including：
Reference location coordinate is deducted One-Point Location coordinate, it is thus achieved that elements of a fix difference；
Described elements of a fix difference is judged to position deviation information.
9. method according to claim 7, it is characterised in that described acquisition reference location coordinate and One-Point Location coordinate
Step includes：
During described unmanned plane during flying, obtain the difference text that fixed station sends, and, the single-point obtaining satellite transmission is fixed
Position coordinate, calculates reference location coordinate according to described difference text and One-Point Location coordinate；
Or,
During described unmanned plane during flying, obtain the One-Point Location coordinate that current time satellite sends, by the 0th moment to currently
One-Point Location coordinate acquired in moment is filtered processing, and obtains the reference location coordinate of current time.
10. method according to claim 7, it is characterised in that the described step by position deviation information transmission to unmanned plane
Suddenly include：
Filter out the position deviation information in predetermined threshold value；
It is filtered to the position deviation information in predetermined threshold value processing, and the position deviation information being filtered after processing is sent out
Deliver to described unmanned plane.
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