CN108521791A - Localization method, unmanned plane and machine readable storage medium - Google Patents

Localization method, unmanned plane and machine readable storage medium Download PDF

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Publication number
CN108521791A
CN108521791A CN201780004709.0A CN201780004709A CN108521791A CN 108521791 A CN108521791 A CN 108521791A CN 201780004709 A CN201780004709 A CN 201780004709A CN 108521791 A CN108521791 A CN 108521791A
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China
Prior art keywords
unmanned plane
airplanes
circle
coordinate
localization method
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CN201780004709.0A
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Chinese (zh)
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CN108521791B (en
Inventor
王晓东
范伟
王乃博
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0273Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07Cooperating 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/40Correcting position, velocity or attitude
    • G01S19/41Differential correction, e.g. DGPS [differential GPS]
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205Details
    • G01S5/021Calibration, monitoring or correction

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Unmanned plane localization method, unmanned plane and machine readable storage medium, localization method are suitable for unmanned plane, and localization method includes:Receive the Automatic dependent surveillance broadcast signal (step S1) of at least three airplanes;The position (step S2) of at least three airplanes is determined according to Automatic dependent surveillance broadcast signal;And the position (step S3) of the location determination unmanned plane according at least three airplanes;The position for the unmanned plane that can be determined according to the Automatic dependent surveillance broadcast signal of aircraft, rather than the position of unmanned plane is determined according to GPS signal, even if the position of unmanned plane can be accurately determined if in the case where GPS signal is interfered or is tampered.

Description

Localization method, unmanned plane and machine readable storage medium
Technical field
The present invention relates to field of locating technology more particularly to localization method, unmanned plane and machine readable storage mediums.
Background technology
It is directed to the positioning of unmanned plane at present, GPS (Global Positioning are mainly received by unmanned plane System, global positioning system) signal, and positioned according to GPS signal.
But in some cases, GPS signal may be interfered or unmanned plane is passed according to GPS signal to user Defeated position location can be tampered, and cause user that can not determine the accurate location of unmanned plane.
Invention content
The present invention provides localization method, unmanned plane and machine readable storage medium, to solve the above technical problems.
According to the first aspect of the invention, a kind of localization method is provided, unmanned plane is suitable for, the method includes:
Receive the Automatic dependent surveillance broadcast signal of at least three airplanes;
According to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
According to the second aspect of the invention, a kind of unmanned plane is provided, including:
Receiver, the Automatic dependent surveillance broadcast signal for receiving at least three airplanes;
Processor, for the position according at least three airplanes described in Automatic dependent surveillance broadcast signal determination; And
According to the position of unmanned plane described in at least location determination of three airplanes.
According to the third aspect of the invention we, a kind of machine readable storage medium is provided, is suitable for unmanned plane, the machine can It reads to be stored with several computer instructions on storage medium, the computer instruction, which is performed, to be handled as follows:
Receive the Automatic dependent surveillance broadcast signal of at least three airplanes;
According to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
By the above technical solution provided in an embodiment of the present invention as it can be seen that the embodiment of the present invention is the broadcast type according to aircraft The position for the unmanned plane that automatic dependent surveillance signal determines, rather than the position of unmanned plane is determined according to GPS signal, therefore base In the present embodiment, even if the position of unmanned plane can be accurately determined if in the case where GPS signal is interfered or is tampered It sets.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings His attached drawing.
Fig. 1 is a kind of schematic flow diagram of the localization method shown according to an embodiment of the present invention.
Fig. 2 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 3 is the schematic diagram of a kind of aircraft and unmanned plane position relationship that show according to an embodiment of the present invention.
Fig. 4 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 5 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 6 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 7 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 8 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Fig. 9 is the schematic diagram of another aircraft and unmanned plane position relationship that show according to an embodiment of the present invention.
Figure 10 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Figure 11 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Figure 12 is the schematic diagram of another aircraft and unmanned plane position relationship for showing according to an embodiment of the present invention.
Figure 13 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Figure 14 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.
Figure 15 is a kind of schematic block diagram of the unmanned plane shown according to an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.In addition, in the absence of conflict, in following embodiment and embodiment Feature can be combined with each other.
Fig. 1 is a kind of schematic flow diagram of the localization method shown according to an embodiment of the present invention.This implementation can fit For unmanned plane, and unmanned plane can be positioned, as shown in Figure 1, the localization method includes:
Step S1 receives the Automatic dependent surveillance broadcast signal of at least three airplanes;
Step S2, according to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
Step S3, according to the position of unmanned plane described in at least location determination of three airplanes.
In the unmanned plane that the present embodiment is applicable in, it can be provided with receiver, the broadcast type for receiving aircraft is automatic Dependent surveillance signal (ADS-B, Automatic Dependent Surveillance-Broadcast).And in the broadcast of aircraft Include the information such as position, height, speed, the course of aircraft in formula automatic dependent surveillance signal, therefore according to the broadcast of aircraft Formula automatic dependent surveillance signal can determine the position of aircraft, and then in the present embodiment, can be according at least three airplanes Automatic dependent surveillance broadcast signal determines the position of at least three airplanes.
It further, can be further according to the position of at least three airplanes after at least position of three airplanes is determined Set the position of determining unmanned plane.Such as it can determine the seat of unmanned plane according to the average value of the coordinate at least three airplanes It marks, and then determines the position of unmanned plane according to the coordinate of unmanned plane.
As it can be seen that being based on the present embodiment, unmanned plane can be determined according to the Automatic dependent surveillance broadcast signal of aircraft Position, rather than the position of unmanned plane is determined according to GPS signal, therefore it is based on the present embodiment, even if in GPS signal by dry In the case of disturbing or being tampered, the position of unmanned plane can be also accurately determined.
Fig. 2 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Fig. 3 is according to this The schematic diagram of a kind of aircraft and unmanned plane position relationship shown in invention one embodiment.As shown in Fig. 2, described in the basis extremely The position of unmanned plane described in the location determination of few three airplanes includes:
Step S31 is determined and at least three airplane distances and minimum according to the position of at least three airplanes Coordinate is the position of the unmanned plane.
In one embodiment, unmanned plane can be calculated at a distance from least three airplanes per airplane, for example, at least In at least three airplanes, the coordinate of the first airplane is (x1, y1), the coordinate of the second airplane be (x2, y2) ..., the n-th frame fly The coordinate of machine is (xn, yn), wherein the coordinate of unmanned plane is (x, y), then as shown in figure 3, unmanned plane and the first airplane DistanceUnmanned plane is at a distance from the second airplane Unmanned plane is at a distance from the n-th airplaneAnd then above-mentioned distance is added, you can obtain nobody Machine and at least three airplane distances andN is integer more than or equal to 3, i be less than Or the positive integer equal to n.
Wherein it is possible to be acquired according to steepest descent method scheduling algorithmX values when minimum and y values, and then the x values obtained are made For the x-axis coordinate of unmanned plane, using obtained y values as the y-axis coordinate of unmanned plane, wherein x-axis and y-axis are horizontal axis.
The unmanned plane coordinate (x, y) being calculated when minimum, close to by above-mentioned at least three airplanes (at least three framves Aircraft not be located at straight line on) constitute figure center of gravity, and positioned at figure center of gravity on receive positioned at the side of the figure On signal, relative to the signal received other than the center of gravity of figure on the side of the figure, probability is larger.Therefore, root The position of unmanned plane is determined according to the mode of the present embodiment, can improve the accuracy of the position of determining unmanned plane.
Fig. 4 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.As shown in figure 4, It determines and includes for the position of the unmanned plane with the coordinate of at least three airplane distances and minimum:
Step S311 is determined and at least three airplanes according to the intensity of the Automatic dependent surveillance broadcast signal Distance and minimum coordinate.
In one embodiment, on the basis of embodiment shown in Fig. 2, unmanned plane is being calculated at a distance from per airplane When, Automatic dependent surveillance broadcast signal can be corresponded to according to the intensity of the Automatic dependent surveillance broadcast signal received Aircraft weights are set at a distance from unmanned plane, such as the intensity of the Automatic dependent surveillance broadcast signal of the n-th airplane is An, So weights can be AnOr An 2, orIt can specifically select to be arranged as needed.It is with weightsFor Example namely unmanned plane and at least three airplane distances andAnd then it can be according to steepest Descent method scheduling algorithm acquiresX values and y values when minimum, and using the x values obtained as the x-axis coordinate of unmanned plane, the y values that will be obtained Y-axis coordinate as unmanned plane, wherein x-axis and y-axis are horizontal axis.
For the bigger aircraft of signal strength (such as signal power), under normal circumstances unmanned plane apart from the aircraft also more Closely, thus calculate unmanned plane and at least three airplane distances and when, can be relevant with signal strength by being that distance is arranged Weights, to ensureThe unmanned plane coordinate being calculated when minimum, the figure constituted relative to above-mentioned at least three airplanes Center of gravity, (specific offset is related to signal strength) can be deviated to the aircraft of signal strength bigger so that determine The position of unmanned plane is more in line with the relationship of distance and signal strength in actual conditions, to further increase determining nobody The accuracy of the position of machine.
Fig. 5 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.As shown in figure 5, The intensity according to the Automatic dependent surveillance broadcast signal determines the seat at least three airplane distances and minimum Mark includes:
Step S3111, according to the square root of the intensity of the Automatic dependent surveillance broadcast signal, determine with it is described at least Three airplane distances and minimum coordinate.
In one embodiment, it is relevant with signal strength due to distance, specifically, is lost according to signal transmission power The formula of decayingWherein, PTFor transmission power, PRTo receive power, d is signal transmission distance, λ For signal wavelength, can obtainNamely it receives power and (is equivalent to the Automatic dependent surveillance broadcast letter received Number intensity) square root (be equivalent to aircraft at a distance from unmanned plane) at a distance from signal transmission and be inversely proportional.Correspondingly, signal Intensity cause the distance that the coordinate of unmanned plane is deviated relative to above-mentioned center of gravity to the aircraft of signal strength bigger, also just and power Square root positive correlation, therefore the square root of the intensity according to Automatic dependent surveillance broadcast signal is automatically related to broadcast type Weights are arranged in the corresponding aircraft of monitoring signal at a distance from unmanned plane, can more accurately determine the position of unmanned plane.
Fig. 6 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.As shown in fig. 6, The position of at least three airplanes includes the coordinate of at least three airplanes, and the position according at least three airplanes is true The position of the fixed unmanned plane includes:
Step S32, calculate described in at least coordinate of three airplanes average value;
Step S33 determines the position of the unmanned plane according to the average value.
In one embodiment, when the coordinate of unmanned plane is at least average value of the coordinate of three airplanes, unmanned plane connects The Automatic dependent surveillance broadcast signal probability for receiving at least three airplanes is larger.Include three airplanes at least three airplanes For, for example, the coordinate of three airplanes line constitute equilateral triangle, if that unmanned plane is not at equilateral triangle Center fly close to other of the vertex then will be more likely to receive and to some apex offset of equilateral triangle The signal of machine, and the probability for receiving the signal of aircraft positioned at other two vertex can then reduce.Therefore unmanned plane is receiving In the case of the Automatic dependent surveillance broadcast signal positioned at the aircraft on three vertex of the triangle heart, it is located at the equilateral triangle The probability at center is larger, namely according to this embodiment, it can the position of unmanned plane is determined with higher accuracy rate.
Wherein, the coordinate of aircraft can be latitude and longitude coordinates, can also be the coordinate in preset referential.Example If the coordinate of the 1st airplane is (x1, y1, z1), the coordinate of the 2nd airplane be (x2, y2, z2), the coordinate of the 3rd airplane be (x3, y3, z3) ..., the coordinate of the n-th airplane be (xn, yn, zn), then the coordinate (x, y, z) of unmanned plane can beIt can determine the position of unmanned plane accordingly, wherein n is whole more than or equal to 3 Number, i are the positive integer less than or equal to n.
Fig. 7 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.As shown in fig. 7, The average value of at least coordinate of three airplanes includes described in calculating:
Step S321 calculates the average value according to the horizontal coordinate of at least three airplanes.
In one embodiment, since the flying height of unmanned plane under normal circumstances is unable to reach the aircraft altitude of aircraft The order of magnitude, and the user of unmanned plane generally more pays close attention to the horizontal coordinate of unmanned plane, therefore according at least three airplanes When position of the coordinate to determine unmanned plane, the position of unmanned plane can be determined according only to horizontal coordinate, to reduce calculation amount.
Such as the 1st airplane horizontal coordinate be (x1, y1), the horizontal coordinate of the 2nd airplane be (x2, y2), the 3rd frame fly The horizontal coordinate of machine is (x3, y3) ..., the horizontal coordinate of the n-th airplane be (xn, yn), then unmanned plane horizontal coordinate (x, Y) can beIt can determine the position of unmanned plane accordingly, wherein n is whole more than or equal to 3 Number, i are the positive integer less than or equal to n.
Fig. 8 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Fig. 9 is according to this The schematic diagram of another aircraft and unmanned plane position relationship shown in invention one embodiment.As shown in figure 8, according to it is described at least The position of unmanned plane described in the location determination of three airplanes includes:
Step S34, according to the first position and the second position of the location determination lie farthest away of at least three airplanes;
Step S35 is determined according to the distance of the first position and the second position as diameter and is passed through described first The circle of position and the second position;
Step S36 determines the position of the unmanned plane according to the center of circle of the circle.
It in one embodiment, can be according to the first position of the first aircraft of lie farthest away at least three airplanes It is used as diameter L with the second position of the second aircraft, determines the circle by the two positions, such as shown in Fig. 9.
All aircrafts at least three airplanes can be in most cases trapped among in circle (packet by the circle determined therefrom that Include on circle), and in this case, if unmanned plane deviates the center of circle, will be more likely to receive positioned at its institute partially The signal of other aircrafts from direction, such as other aircrafts are located at unmanned plane and deviate outside the circle in center of circle direction, then this other The distance of aircraft in plane distance circle, it is relatively round in aircraft and the interior aircraft of circle at a distance from will have higher probability bigger, That is other aircrafts and certain airplane distance L ' in above-mentioned at least three airplanes will have higher probability to be more than above-mentioned L, because This formed fenestra will change.So in this case, unmanned plane is received in the round center of circle in above-mentioned at least three airplanes The probability of Automatic dependent surveillance broadcast signal per airplane is larger, namely can relatively accurately determine nothing according to the center of circle Man-machine position.
And in a few cases, individual aircrafts at least three airplanes will be located at outside above-mentioned circle, in this case, then The degree that unmanned plane deviates the center of circle can be adjusted according to the quantity of individual aircrafts and the position outside circle.
Figure 10 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Such as Figure 10 institutes It states, the center of circle according to the circle determines that the position of the unmanned plane includes:
Step S361 determines the center of circle in the case where the position of at least three airplanes is respectively positioned in the circle For the position of the unmanned plane.
In one embodiment, (also include being located at when the position of all aircrafts at least three airplanes is respectively positioned in circle Situation on round side), namely in the case of being justified and being surrounded, if unmanned plane deviates the center of circle, will be more likely to receive To the signal of other aircrafts positioned at its deviateed side, such as other aircrafts are located at the circle that unmanned plane deviates center of circle side Outside, then the distance of the aircraft in other plane distances circle, it is relatively round in aircraft and the interior aircraft of circle at a distance from will have it is higher Probability bigger, namely so other aircrafts and certain the airplane distance L ' in above-mentioned at least three airplanes are higher by having Probability be more than above-mentioned L, therefore formed fenestra by change.So in this case, unmanned plane receives in the round center of circle The probability of Automatic dependent surveillance broadcast signal in above-mentioned at least three airplanes per airplane is larger, therefore can be by the center of circle Position as unmanned plane.
Figure 11 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Figure 12 is basis The schematic diagram of another aircraft and unmanned plane position relationship shown in one embodiment of the invention.As described in Figure 11, the basis The center of circle of the circle determines that the position of the unmanned plane includes:
Step S362 determines the other positions outside the circle in at least position of three airplanes;
Step S363 determines the position of the unmanned plane relative to described according to the quantity of the other positions and position The offset direction in the center of circle and offset distance;
Step S364 determines the position of the unmanned plane according to the center of circle, the offset direction and the offset distance.
In one embodiment, with embodiment shown in Fig. 10 correspondingly, in a few cases, at least three airplanes Individual aircrafts will be located at above-mentioned circle outside, in such a case, it is possible to determine individual aircrafts be located at circle outside position (namely its His position), and offset direction of the unmanned plane relative to the center of circle is further determined according to the quantity for the aircraft being located at outside circle and position And offset distance.
Optionally, offset direction can be the direction of the centre of form of the figure constituted from the center of circle to multiple other positions, partially Move the quantity and at least quantity of three airplanes that distance can be the aircraft being located at least three airplanes outside circle Ratio, the product with the radius of the circle.
Such as shown in Figure 12, the position of two airplanes is located at outside above-mentioned circle, then the midpoint of the two positions can be calculated If (airplane is located at that circle is outer, then position of the centre of form of its constituted figure i.e. where it) and this two airplane are in nothing Shared ratio in the aircraft of the man-machine Automatic dependent surveillance broadcast signal received, such as be 2/14=1/7 in fig. 12, So the position of unmanned plane can then deviate in the center of circle of the circle to the direction at the midpoint, and offset distance is the 1/7 of radius, namely L/14。
Due to there is the aircraft being located at outside circle, if unmanned plane is located at the center of circle, then receiving the wide of the aircraft outside circle The probability for broadcasting formula automatic dependent surveillance signal is smaller, and correspondingly, unmanned plane is got over to the aircraft offset outside circle, and it is wide to receive it The probability for broadcasting formula automatic dependent surveillance signal is bigger, but correspondingly, receive the broadcast type of the aircraft in circle and on circle certainly The probability of dynamic dependent surveillance signal can reduce, therefore can unmanned plane be deviated certain distance to the aircraft outside circle, ensure Unmanned plane receives the aircraft outside circle and the Automatic dependent surveillance broadcast signal of the aircraft in circle and on circle is equal With not low probability, and the offset direction according to the position of the aircraft outside circle and quantity adjustment unmanned plane relative to the center of circle And offset distance, then guarantee such case that can be strong are realized.Therefore, according to the position of the aircraft outside circle and quantity tune Offset direction and offset distance of the whole unmanned plane relative to the center of circle are more advantageous to the position for ensureing to accurately determine unmanned plane.
Figure 13 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Such as Figure 13 institutes Show, the method further includes:
Step S4 receives GPS signal;
Step S5, according to GPS signal described in the location verification of the unmanned plane.
In one embodiment, due to the position of the unmanned plane determined according to the present embodiment, not according to GPS signal come really It is fixed, therefore even if the position of unmanned plane can be accurately determined if in the case where GPS signal is interfered or is tampered.
And then the position of the unmanned plane that can be determined according to the present embodiment, to reception for being positioned to its own GPS signal is verified, such as in the case of the two difference, then can determine that GPS signal is inaccurate or is interfered.
Figure 14 is the schematic flow diagram of another localization method shown according to an embodiment of the present invention.Such as Figure 14 institutes Show, includes according to GPS signal described in the location verification of the unmanned plane:
Step S51 obtains GPS coordinate according to the GPS signal;
Step S52 calculates the difference of the GPS coordinate and the position of the unmanned plane;And
Step S53 verifies the difference according to predetermined threshold value.
In one embodiment, GPS coordinate can be used for positioning unmanned plane, but be interfered in GPS signal Or in the case of inaccuracy, GPS coordinate will be unable to accurately embody the position of unmanned plane, and determined according to the present embodiment nobody The position of machine is interfered or in the case of inaccuracy due to not being obtained according to GPS signal in GPS signal, also can be good The position of unmanned plane is embodied well.
It is consequently possible to calculate the difference of GPS coordinate and the position of unmanned plane in the present embodiment, such as GPS coordinate are (xG, yG), the position of unmanned plane is (x, y) in the present embodiment, then the differenceFurther, may be used To determine the relationship of difference c and predetermined threshold value, such as predetermined threshold value is 0, if then c not equal to 0, can determine that GPS believes Number inaccuracy, such as predetermined threshold value are 100 meters, if then c is more than 100 meters, can determine GPS signal inaccuracy.
Further, in the case where determining GPS signal inaccuracy, prompt message can also be generated, with to unmanned plane User prompts.
With the embodiment of above-mentioned localization method correspondingly, the present invention proposes the embodiment of unmanned plane.
Figure 15 is a kind of schematic block diagram of the unmanned plane shown according to an embodiment of the present invention.As shown in figure 15, described Unmanned plane includes:
Receiver, the Automatic dependent surveillance broadcast signal for receiving at least three airplanes;
Processor, for the position according at least three airplanes described in Automatic dependent surveillance broadcast signal determination; And
According to the position of unmanned plane described in at least location determination of three airplanes.
In one embodiment, the processor is used for the position according at least three airplanes, determine and it is described extremely Few three airplane distances and the position that minimum coordinate is the unmanned plane.
In one embodiment, the processor is used for the intensity according to the Automatic dependent surveillance broadcast signal, really The fixed coordinate at least three airplane distances and minimum.
In one embodiment, the processor is used for according to the flat of the intensity of the Automatic dependent surveillance broadcast signal Root determines the coordinate at least three airplane distances and minimum.
In one embodiment, the processor is used in the position of at least three airplanes include at least three framves In the case of the coordinate of aircraft, calculate described in at least coordinate of three airplanes average value;According to average value determination The position of unmanned plane.
In one embodiment, the processor calculates described flat for the horizontal coordinate of at least three airplanes according to Mean value.
In one embodiment, the processor is used for the location determination lie farthest away of at least three airplanes according to First position and the second position;According to the distance of the first position and the second position as diameter, determine by described The circle of first position and the second position;The position of the unmanned plane is determined according to the center of circle of the circle.
In one embodiment, the processor in the position of at least three airplanes for being respectively positioned in the circle In the case of, determine that the center of circle is the position of the unmanned plane.
In one embodiment, the processor is for determining in at least position of three airplanes outside the circle Other positions;According to the quantity of the other positions and position, determine the position of the unmanned plane relative to the center of circle Offset direction and offset distance;The position of the unmanned plane is determined according to the center of circle, the offset direction and the offset distance It sets.
In one embodiment, the receiver is additionally operable to receive GPS signal;
The processor is additionally operable to GPS signal described in the location verification according to the unmanned plane.
In one embodiment, the processor is used to obtain GPS coordinate according to the GPS signal;
Calculate the difference of the GPS coordinate and the position of the unmanned plane;And
The difference is verified according to predetermined threshold value.
The invention also provides a kind of machine readable storage mediums, are suitable for unmanned plane, the machine readable storage medium On be stored with several computer instructions, the computer instruction, which is performed, to be handled as follows:
Receive the Automatic dependent surveillance broadcast signal of at least three airplanes;
According to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
System, device, module or the unit that above-described embodiment illustrates can realize by computer chip or entity, or It is realized by the product with certain function.A kind of typically to realize that equipment is computer, the concrete form of computer can be Personal computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, is led at laptop computer It is arbitrary in equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these equipment of navigating The combination of several equipment.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program production Product.Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects can be used in the present invention The form of example.Moreover, the embodiment of the present invention can be used in one or more wherein include computer usable program code meter The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of sequence product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It is generally understood that being realized by computer program instructions each in flowchart and/or the block diagram The combination of flow and/or box in flow and/or box and flowchart and/or the block diagram.These computer journeys can be provided Sequence instruct to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with Generate a machine so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes It sets.
Computer or the processing of other programmable datas can be guided to set moreover, these computer program instructions can also be stored in In standby computer-readable memory operate in a specific manner so that instruction stored in the computer readable memory generates Manufacture including command device, the command device are realized in one flow of flow chart or multiple flows and/or block diagram one The function of being specified in a box or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing devices so that calculate Series of operation steps are executed on machine or other programmable devices to generate computer implemented processing, in computer or The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.
It will be understood by those skilled in the art that the embodiment of the present invention can be provided as method, system or computer program product. Therefore, complete hardware embodiment, complete software embodiment or implementation combining software and hardware aspects may be used in the present invention The form of example.Moreover, it wherein includes the calculating of computer usable program code that the present invention, which may be used at one or more, The computer implemented in machine usable storage medium (can include but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of program product.
The foregoing is merely the embodiment of the present invention, are not intended to restrict the invention.Those skilled in the art are come It says, the invention may be variously modified and varied.It is all within spirit and principles of the present invention made by it is any modification, equally replace It changes, improve, should be included within scope of the presently claimed invention.

Claims (23)

1. a kind of localization method, which is characterized in that it is suitable for unmanned plane, the method includes:
Receive the Automatic dependent surveillance broadcast signal of at least three airplanes;
According to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
2. localization method according to claim 1, which is characterized in that according to the location determination institute of at least three airplanes The position for stating unmanned plane includes:
According to the position of at least three airplanes, determine that with the coordinate of at least three airplane distances and minimum be the nothing Man-machine position.
3. localization method according to claim 2, which is characterized in that determine and at least three airplane distances and the minimum Coordinate be the unmanned plane position include:
According to the intensity of the Automatic dependent surveillance broadcast signal, the seat at least three airplane distances and minimum is determined Mark.
4. localization method according to claim 3, which is characterized in that described to be believed according to the Automatic dependent surveillance broadcast Number intensity, determine and include at least three airplane distances and minimum coordinate:
According to the square root of the intensity of the Automatic dependent surveillance broadcast signal, determine at least three airplane distances and Minimum coordinate.
5. localization method according to claim 1, which is characterized in that the position of at least three airplanes include it is described extremely The coordinate of few three airplanes, the position according to unmanned plane described in at least location determination of three airplanes includes:
The average value of at least coordinate of three airplanes described in calculating;
The position of the unmanned plane is determined according to the average value.
6. localization method according to claim 5, which is characterized in that at least coordinate of three airplanes described in calculating is averaged Value includes:
The average value is calculated according to the horizontal coordinate of at least three airplanes.
7. localization method according to claim 1, which is characterized in that according to the location determination institute of at least three airplanes The position for stating unmanned plane includes:
According to the first position and the second position of the location determination lie farthest away of at least three airplanes;
According to the distance of the first position and the second position as diameter, determine through the first position and described the The circle of two positions;
The position of the unmanned plane is determined according to the center of circle of the circle.
8. localization method according to claim 7, which is characterized in that the center of circle according to the circle determine it is described nobody The position of machine includes:
In the case where the position of at least three airplanes is respectively positioned in the circle, determine that the center of circle is the unmanned plane Position.
9. localization method according to claim 7, which is characterized in that the center of circle according to the circle determine it is described nobody The position of machine includes:
Determine the other positions outside the circle in at least position of three airplanes;
According to the quantity of the other positions and position, offset direction of the position of the unmanned plane relative to the center of circle is determined And offset distance;
The position of the unmanned plane is determined according to the center of circle, the offset direction and the offset distance.
10. localization method according to any one of claim 1 to 9, which is characterized in that further include:
Receive GPS signal;
According to GPS signal described in the location verification of the unmanned plane.
11. localization method according to claim 10, which is characterized in that according to the location verification of the unmanned plane GPS signal includes:
GPS coordinate is obtained according to the GPS signal;
Calculate the difference of the GPS coordinate and the position of the unmanned plane;And
The difference is verified according to predetermined threshold value.
12. a kind of unmanned plane, which is characterized in that including:
Receiver, the Automatic dependent surveillance broadcast signal for receiving at least three airplanes;
Processor, for the position according at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
13. unmanned plane according to claim 12, which is characterized in that the processor is used at least three framves according to and flies The position of machine determines the position for the unmanned plane with the coordinate of at least three airplane distances and minimum.
14. unmanned plane according to claim 13, which is characterized in that the processor is used for automatic according to the broadcast type The intensity of dependent surveillance signal determines the coordinate at least three airplane distances and minimum.
15. wanting the unmanned plane described in 14 according to right, which is characterized in that the processor is used for according to the automatic phase of the broadcast type The square root for closing the intensity of monitoring signal, determines the coordinate at least three airplane distances and minimum.
16. unmanned plane according to claim 12, which is characterized in that the processor is used at least three airplanes Position include at least coordinate of three airplanes in the case of, calculate described in at least coordinate of three airplanes average value; The position of the unmanned plane is determined according to the average value.
17. unmanned plane according to claim 16, which is characterized in that the processor is used at least three framves according to and flies The horizontal coordinate of machine calculates the average value.
18. unmanned plane according to claim 12, which is characterized in that the processor is used at least three framves according to and flies The first position and the second position of the location determination lie farthest away of machine;According to the distance of the first position and the second position As diameter, the circle by the first position and the second position is determined;According to the center of circle of the circle determine it is described nobody The position of machine.
19. unmanned plane according to claim 18, which is characterized in that the processor is used at least three airplanes Position be respectively positioned in the circle in the case of, determine that the center of circle is the position of the unmanned plane.
20. unmanned plane according to claim 18, which is characterized in that the processor flies at least three framves described in determination The other positions being located in the position of machine outside the circle;According to the quantity of the other positions and position, the unmanned plane is determined Offset direction and offset distance of the position relative to the center of circle;According to the center of circle, the offset direction and the offset Distance determines the position of the unmanned plane.
21. the unmanned plane according to any one of claim 12 to 20, which is characterized in that the receiver is additionally operable to receive GPS signal;
The processor is additionally operable to GPS signal described in the location verification according to the unmanned plane.
22. unmanned plane according to claim 21, which is characterized in that the processor according to the GPS signal for obtaining Take GPS coordinate;
Calculate the difference of the GPS coordinate and the position of the unmanned plane;And
The difference is verified according to predetermined threshold value.
23. a kind of machine readable storage medium, which is characterized in that be suitable for unmanned plane, deposited on the machine readable storage medium Several computer instructions are contained, the computer instruction, which is performed, to be handled as follows:
Receive the Automatic dependent surveillance broadcast signal of at least three airplanes;
According to the position of at least three airplanes described in Automatic dependent surveillance broadcast signal determination;And
According to the position of unmanned plane described in at least location determination of three airplanes.
CN201780004709.0A 2017-07-18 2017-07-18 Positioning method, unmanned aerial vehicle and machine-readable storage medium Expired - Fee Related CN108521791B (en)

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