CN114326757A - Precise landing control method and system for unmanned aerial vehicle - Google Patents
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Abstract
The invention provides an unmanned aerial vehicle accurate landing control method and system, when an unmanned aerial vehicle is located in a preset landing range and the unmanned aerial vehicle is located at a position away from a landing point by a first preset distance, image data or video data below the unmanned aerial vehicle are acquired, when an accurate landing range code is identified according to the acquired image data or video data, the unmanned aerial vehicle is controlled to descend by a second preset distance, and the next step is executed; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified; acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend; the invention combines the real-time differential positioning, the fine landing range code and the fine landing position code to realize the precise echelon control of the landing of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle landing control, in particular to an unmanned aerial vehicle accurate landing control method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The unmanned aerial vehicle nest is in the fire and explodes the state in unmanned aerial vehicle trade value-added is used, but the application at unmanned aerial vehicle airport still is in preliminary development stage, and unmanned aerial vehicle's accurate descending plays crucial effect to the development at unmanned aerial vehicle airport.
The inventor finds that the existing unmanned aerial vehicle landing control process has the following problems:
(1) when the coordinates of the position to be landed are identified, high-precision real-time positioning is needed, the cost of a positioning assembly is high, the coordinate data of the preset point position of the unmanned aerial vehicle airport also needs to be acquired in real time, and landing control is complicated;
(2) in the prior art, a scheme for realizing landing by identifying a specific image of a landing point exists, but the identification of a single image by large multiple values often cannot realize accurate landing.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an unmanned aerial vehicle accurate landing control method and system, which are combined with real-time differential positioning, an accurate landing range code and an accurate landing position code to realize accurate echelon control of unmanned aerial vehicle landing.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an unmanned aerial vehicle accurate landing control method in a first aspect.
An unmanned aerial vehicle accurate landing control method comprises the following processes:
acquiring positioning data of the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
Further, the fine falling range code and the fine falling position code are both ArUco markers.
Further, the distance and the angle from the unmanned aerial vehicle to the landing point are calculated according to the camera internal reference and the camera external reference obtained by camera calibration.
Further, the camera calibration comprises:
acquiring shot images of the checkerboard by a camera at different angles;
detecting characteristic points in the image such as the calibration board angular points to obtain pixel coordinate values of the calibration board angular points, and calculating to obtain physical coordinate values of the calibration board angular points according to the size of the checkerboard and the origin of a world coordinate system;
solving an internal reference matrix and an external reference matrix according to the obtained physical coordinate values;
solving distortion parameters according to the obtained internal reference matrix and external reference matrix;
and optimizing the distortion parameters by using an L-M algorithm.
Further, adopt real-time difference positioning mode to carry out unmanned aerial vehicle location.
The invention provides an unmanned aerial vehicle accurate landing control system in a second aspect.
An unmanned aerial vehicle precision landing control system, comprising:
a positioning data acquisition module configured to: acquiring positioning data of the unmanned aerial vehicle;
a fall range identification module configured to: judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
a first drop control module configured to: when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
a second drop control module configured to: and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
The invention provides an unmanned aerial vehicle accurate landing control system in a third aspect.
An unmanned aerial vehicle accurate landing control system comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a control terminal, a three-axis pan-tilt is arranged on the unmanned aerial vehicle body, a camera and/or a video camera are arranged on the three-axis pan-tilt, and the control terminal is in communication connection with the camera and/or the video camera;
and the control terminal executes the steps of the unmanned aerial vehicle accurate landing control method.
Further, the unmanned aerial vehicle body is provided with a real-time differential positioning module communicated with the control terminal.
A fourth aspect of the present invention provides a computer-readable storage medium, on which a program is stored, which, when executed by a processor, implements the steps in the above-mentioned method for controlling precise landing of an unmanned aerial vehicle.
The invention provides electronic equipment, which comprises a memory, a processor and a program which is stored on the memory and can run on the processor, and is characterized in that the processor executes the program to realize the steps in the unmanned aerial vehicle accurate landing control method.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention innovatively provides an unmanned aerial vehicle accurate landing control method, which realizes the preliminary calibration of an unmanned aerial vehicle and a position to be landed according to the positioning data of the unmanned aerial vehicle, integrates the real-time differential positioning data, the accurate landing range code and the accurate landing position code, solves the problem of difficult accurate landing control of the unmanned aerial vehicle through continuous image recognition and distance approaching, realizes the accurate echelon control of the landing of the unmanned aerial vehicle, and improves the accuracy of the landing control of the unmanned aerial vehicle.
2. The invention innovatively provides an unmanned aerial vehicle accurate landing control system, which realizes the positioning shooting of images and/or videos of landing points through a carried camera and/or a video camera, realizes the quick identification of a fine landing range code and a fine landing position code, adjusts the distance between the unmanned aerial vehicle and the landing points according to the image identification result, avoids the landing difficulty caused by identification data delay when the unmanned aerial vehicle lands, and ensures the precision of unmanned aerial vehicle landing control.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic flow chart of a method for controlling accurate landing of an unmanned aerial vehicle according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of a fine descending code according to embodiment 1 of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example 1:
as shown in fig. 1, an embodiment 1 of the present invention provides an accurate landing control method for an unmanned aerial vehicle, including the following processes:
acquiring positioning data of the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
In this embodiment, the fine landing range code and the fine landing position code are large, small, and large, respectively, fine landing range codes, and are used in high altitude, and are mainly used to determine the approximate position of the unmanned aerial vehicle for landing, and to continuously land and adjust the pose. And when the unmanned aerial vehicle is in low altitude, the unmanned aerial vehicle starts to recognize and continuously adjusts the pose and finally falls on the small unmanned aerial vehicle fine landing position code.
According to the method, firstly, the unmanned aerial vehicle can quickly and accurately return to the position above the landing point after the unmanned aerial vehicle executes the task by using the RTK technology of the unmanned aerial vehicle, and the flight error of the unmanned aerial vehicle can reach centimeter level by using the RTK technology, so that the unmanned aerial vehicle can quickly return to the landing point without updating coordinates for many times; when the unmanned aerial vehicle arrives at the landing range, shooting is started to search for landing range codes, the received images are completed and recognized within 0.7s, the unmanned aerial vehicle returns to adjust the body posture, the unmanned aerial vehicle lands to the height of 20 cm to realize blind landing, and the unmanned aerial vehicle inspection task is completely automatic.
Example 2:
the invention provides an unmanned aerial vehicle accurate landing control system in a second aspect.
An unmanned aerial vehicle precision landing control system, comprising:
a positioning data acquisition module configured to: acquiring positioning data of the unmanned aerial vehicle;
a fall range identification module configured to: judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
a first drop control module configured to: when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
a second drop control module configured to: and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
The invention provides an unmanned aerial vehicle accurate landing control system in a third aspect.
An unmanned aerial vehicle accurate landing control system comprises an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a control terminal, a three-axis pan-tilt is arranged on the unmanned aerial vehicle body, a camera and/or a video camera are arranged on the three-axis pan-tilt, and the control terminal is in communication connection with the camera and/or the video camera;
and the control terminal executes the steps of the unmanned aerial vehicle accurate landing control method.
Further, the unmanned aerial vehicle body is provided with a real-time differential positioning module communicated with the control terminal.
Example 3:
embodiment 3 of the present invention provides a computer-readable storage medium, on which a program is stored, where the program, when executed by a processor, implements the steps in the above-mentioned method for controlling precise landing of an unmanned aerial vehicle.
Example 4:
the embodiment 4 of the invention provides electronic equipment, which comprises a memory, a processor and a program which is stored in the memory and can run on the processor, and is characterized in that the steps in the unmanned aerial vehicle accurate landing control method are realized when the processor executes the program.
Example 5:
the embodiment 5 of the invention provides an unmanned aerial vehicle accurate landing control system, and based on a new technology of an unmanned aerial vehicle autonomous landing system with multi-source fusion in the application of an unmanned aerial vehicle nest, a two-dimensional code reference point is arranged at a landing point of an unmanned aerial vehicle, the reference point is provided with multi-layer patterns for ensuring that the unmanned aerial vehicle can quickly find the general position of the landing point, the accurate landing two-dimensional code also ensures that patterns cannot be symmetrical to ensure that the unmanned aerial vehicle identifies the landing direction, and finally, an open-source ARUCO frame is selected to generate the accurate landing two-dimensional code for marking training to realize the identification of the landing direction of the unmanned aerial vehicle.
Specifically, using the ArUco framework algorithm logic: and (3) based on the distance angle positioning of the Aruco, converting according to the rvec rotation matrix and the tvec displacement matrix of the found Aruco label returned by using an Aruco.
The unmanned aerial vehicle is provided with a three-axis pan-tilt, and a camera and a video camera are mounted on the three-axis pan-tilt; the camera is a monocular zoom camera; the camera is used for acquiring video information of the tower; wherein, the camera and the video camera are integrated in one lens.
The unmanned aerial vehicle is also provided with an RTK positioning module for positioning the three-dimensional coordinate information of the unmanned aerial vehicle;
the unmanned aerial vehicle is also provided with a front-end AI processing module for fitting flight control data of the unmanned aerial vehicle, RTK positioning module data and images collected by the zooming camera, issuing flight control commands to control the unmanned aerial vehicle to fly, controlling the tripod head to adjust the angle and zooming of the camera, locking the tower view point and taking pictures; when the tower view point is not located at the central position of the camera image, the cradle head is controlled to rotate by adopting a visual movement tracking mode, and the position of the cradle head is determined according to the position of the tower view point in the image;
because need use unmanned aerial vehicle's camera, need carry out the demarcation work of camera:
1) a chequer of a Zhang Zhengyou calibration method is prepared, the size of the chequer is known, and shooting is carried out on the chequer at different angles by a camera to obtain a group of images.
2) Detecting characteristic points in the image such as the calibration board angular points to obtain pixel coordinate values of the calibration board angular points, and calculating to obtain physical coordinate values of the calibration board angular points according to the known checkerboard size and the world coordinate system origin.
3) Solving internal reference matrix and external reference matrix
And solving an H matrix according to the relation between the physical coordinate values and the pixel coordinate values, further constructing a V matrix, solving a B matrix, solving a camera internal reference matrix A by using the B matrix, and finally solving a camera external reference matrix corresponding to each picture.
4) And solving distortion parameters.
By using
u、
v, constructing a D matrix, and calculating a radial distortion parameter;
5) the above parameters were optimized using the L-M (Levenberg-Marquardt) algorithm.
The unmanned aerial vehicle also comprises an artificial intelligence visual identification module for identifying the fine landing code of the unmanned aerial vehicle, namely the ArUco mark code.
The ArUco marker is a binary square fiducial marker that can be used for camera pose estimation, as shown in fig. 2. Its main advantages are simple and quick detection and high robustness. The ArUco mark is a square mark consisting of a wide black border and an internal binary matrix that determines its Identifier (ID). The black border of the ArUco mark facilitates its fast detection in the image, and the internal binary code is used to identify the mark and provide error detection and correction. The size of the ArUco mark determines the size of the internal matrix, e.g. a mark of size 4x4 consists of a 16-bit binary number.
In general, the ArUco mark is actually a code, which is similar to two-dimensional codes in our daily life, but the method, capacity and the like of storing information are different due to different coding modes, so that the application level is different. Since a single ArUco marker can provide sufficient correspondence, for example, there are four distinct corner points and an internal binary code, the ArUco marker is widely used to increase the amount of information when mapping from a two-dimensional world to a three-dimensional world, so as to find the projection relationship between the two-dimensional world and the three-dimensional world, thereby implementing applications such as pose estimation and camera correction.
The system comprises the following specific steps:
step 1): the unmanned aerial vehicle executes the task according to the task requirement, and the finished task is completed by returning the landing point range to the unmanned aerial vehicle by using the RTK technology to prepare for searching the fine landing range code.
Step 2): the unmanned aerial vehicle opens the camera, hovers 10 meters above the landing point, starts to shoot and gives the artificial intelligent visual identification server. And (5) waiting for the artificial intelligence visual recognition server to return a result, if the fine reduction code is found, entering the step 4), and entering the step 3) if the fine reduction code is not found.
Step 3): and (3) the artificial intelligence visual identification service does not identify the fine descending code, the unmanned aerial vehicle is controlled to descend by one meter, and the step 2) is executed.
Step 4): the artificial intelligence visual identification receives the photo, then recognizes the photo in the picture, calculates the actual distance and angle of the unmanned aerial vehicle according to the camera internal reference and external reference obtained by calibrating the camera, if the fine landing code is not recognized, the unmanned aerial vehicle is controlled to descend for 1 meter, the fine landing code is successfully recognized to descend for 2 meters according to the recognition distance of the unmanned aerial vehicle, whether the fine landing code reaches the height of 1 meter is judged, and the switching recognition code is hovered one meter.
Step 5): the unmanned aerial vehicle continues to shoot the photo and uploads the artificial intelligence visual identification server.
Step 6): and the artificial intelligence server receives the picture and identifies the fine descending code on the picture, continuously adjusts the pose, judges whether the current position reaches the height of 20 cm, and starts to descend blindly when the current position is less than or equal to 20 cm.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an accurate landing control method of unmanned aerial vehicle which characterized in that:
the method comprises the following steps:
acquiring positioning data of the unmanned aerial vehicle;
judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
2. The precise landing control method for the unmanned aerial vehicle according to claim 1, wherein:
the fine descending range code and the fine descending position code are both ArUco markers.
3. The precise landing control method for the unmanned aerial vehicle according to claim 1, wherein:
and calculating the actual distance and angle from the unmanned aerial vehicle to the landing point according to the camera internal reference and the camera external reference obtained by camera calibration.
4. An unmanned aerial vehicle accurate landing control method according to claim 3, wherein:
camera calibration, comprising:
acquiring shot images of the checkerboard by a camera at different angles;
detecting characteristic points in the image such as the calibration board angular points to obtain pixel coordinate values of the calibration board angular points, and calculating to obtain physical coordinate values of the calibration board angular points according to the size of the checkerboard and the origin of a world coordinate system;
solving an internal reference matrix and an external reference matrix according to the obtained physical coordinate values;
solving distortion parameters according to the obtained internal reference matrix and external reference matrix;
and optimizing the distortion parameters by using an L-M algorithm.
5. The precise landing control method for the unmanned aerial vehicle according to claim 1, wherein:
and positioning the unmanned aerial vehicle by adopting a real-time differential positioning mode.
6. The utility model provides an accurate descending control system of unmanned aerial vehicle which characterized in that:
the method comprises the following steps:
a positioning data acquisition module configured to: acquiring positioning data of the unmanned aerial vehicle;
a fall range identification module configured to: judging whether the unmanned aerial vehicle is located within a preset landing range or not according to the acquired positioning data, and executing the next step when the unmanned aerial vehicle is located within the preset landing range; otherwise, controlling the unmanned aerial vehicle to move until the position requirement is met;
a first drop control module configured to: when the unmanned aerial vehicle is located at a position which is a first preset distance away from a landing point, acquiring image data or video data below the unmanned aerial vehicle, and when a fine landing range code is identified according to the acquired image data or video data, controlling the unmanned aerial vehicle to descend for a second preset distance, and executing the next step; otherwise, controlling the unmanned aerial vehicle to descend for a third preset distance, and identifying the fine descent range code again until the fine descent range code is identified;
a second drop control module configured to: and acquiring image data or video data below the unmanned aerial vehicle again, and controlling the unmanned aerial vehicle to descend to a position which is a fourth preset distance away from the descent point when the fine descent position code is identified according to the acquired image data or video data again, so as to control the unmanned aerial vehicle to descend.
7. The utility model provides an accurate descending control system of unmanned aerial vehicle which characterized in that:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a control terminal, wherein a three-axis pan-tilt is arranged on the unmanned aerial vehicle body, a camera and/or a video camera are arranged on the three-axis pan-tilt, and the control terminal is in communication connection with the camera and/or the video camera;
the control terminal executes the steps of the unmanned aerial vehicle precision landing control method according to any one of claims 1-5.
8. An unmanned aerial vehicle precision landing control system according to claim 7, characterized in that:
the unmanned aerial vehicle body is provided with a real-time differential positioning module communicated with the control terminal.
9. A computer-readable storage medium, on which a program is stored, wherein the program, when executed by a processor, implements the steps in the method for controlling fine landing of a drone according to any one of claims 1 to 5.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for controlling the precise landing of a drone according to any one of claims 1 to 5 when executing the program.
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