CN115811354B - Aerial flight equipment positioning system based on satellite time service - Google Patents
Aerial flight equipment positioning system based on satellite time service Download PDFInfo
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Abstract
The invention discloses an aerial flying equipment positioning system based on satellite time service, and belongs to the technical field of satellite positioning. When the self satellite positioning system fails, the invention can timely calculate the position information of the air flight equipment by utilizing the height acquisition module and the ultra-wideband ranging module, further update the position data of the air flight equipment, indirectly time-service by utilizing the satellite time-service module and the ground base station module and update the time data by utilizing the time-service signal; and the processing modes of image recognition and contour detection are also utilized to acquire the flight height range data, so that whether the current height acquisition module has faults or not is judged, the timely starting of the standby height acquisition module is ensured, and the normal operation of the air flight equipment is further ensured.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to an air flight equipment positioning system based on satellite time service.
Background
The air flying device comprises an airship, an unmanned plane, a glider and the like, wherein the airship is a lighter-than-air aircraft and is the biggest difference from a hot air balloon in that the airship is provided with a device for propelling and controlling the flying state; the airship consists of a huge streamline boat body, a nacelle positioned below the boat body, a tail surface with a stable control function and a propelling device; unmanned aerial vehicles are unmanned planes which are operated by using radio remote control equipment and a self-contained program control device, or are operated by a vehicle-mounted computer completely or intermittently and autonomously, and compared with manned planes, unmanned aerial vehicles can be classified into military and civil use according to application fields; most gliders have no power device and are heavier than air fixed wing aircraft. The aircraft can be towed to take off, the winch or the automobile can be used for towing to take off, and the aircraft can also slide into the air from the upper side and the lower side of a high slope. In windless conditions, the glider obtains forward power by means of the gravity component of the glider in the gliding flight, and the powerless gliding flight with high loss is called gliding. In updraft, the glider may fly flat or rise like an hawk-wing.
In the above various air flying devices, the positioning is usually realized by using a satellite positioning system, but when the satellite positioning system fails, accurate positioning work cannot be realized, which easily causes damage to the air flying device and causes great loss. The above problems need to be solved, and therefore, an aerial flying device positioning system based on satellite time service is provided.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to solve the problem that when a satellite positioning system of an air-borne flight device fails, accurate positioning work cannot be realized, and further the air-borne flight device is easily damaged, so that great loss is caused, and the air-borne flight device positioning system based on satellite time service is provided.
The invention solves the technical problems through the following technical proposal, which comprises the following steps: the system comprises a satellite time service module, a ground base station module, a time service receiving control module, an image processing module, a height acquisition module, an ultra-wideband ranging module and a background processing module;
the satellite time service module is arranged on the satellite and is used for sending time service signals to the ground base station module or directly sending the time service signals to the aerial flying equipment after receiving the time service request of the ground base station module;
the ground base station module is arranged in the ground base station and is used for receiving the time service request instruction of the background processing module, sending a time service request to the satellite time service module, receiving a time service signal sent by the satellite time service module and sending the time service signal to the time service receiving control module;
the time service receiving control module is arranged in the aerial flying equipment and is used for controlling and receiving time service signals directly sent by the satellite time service module or time service signal data packets sent by the ground base station module and sending the time service signal data packets to the background processing module;
the image processing module is arranged in the aerial flying equipment and used for acquiring the ground mark shape picture in real time, preprocessing the ground mark shape picture, identifying the target and detecting the contour, and acquiring the contour length information of the ground mark shape in the picture;
the height acquisition module is used for acquiring the height value of the aerial flight equipment from the ground;
the ultra-wideband ranging module is an ultra-wideband ranging receiving unit and an ultra-wideband ranging transmitting unit which are arranged on the air flying equipment and the ground base station and is used for acquiring a distance value between the air flying equipment and the ground base station;
the background processing module is arranged at the background control center and is used for updating the position of the air flight equipment under the geodetic coordinate system through calculation and synchronizing time.
Further, the satellite time service module comprises a first time service sending unit, a second time service sending unit and a first request receiving unit; the first time service transmitting unit is used for directly transmitting time service signals to the satellite positioning system of the aerial flight equipment and receiving the time service signals by the satellite positioning system of the aerial flight equipment; the second time service sending unit is used for sending time service signals to the ground base station module after receiving the time service request of the ground base station module; the first request receiving unit is used for receiving the time service request of the ground base station module and sending a time service signal through the second time service sending unit.
Further, the ground base station module comprises a first time service signal receiving unit, a third time service signal sending unit and a second request receiving unit, wherein the second request receiving unit is used for receiving a time service request instruction of the background processing module and sending a time service request to the first request receiving unit in the satellite time service module; the first time service signal receiving unit is used for receiving time service signals of the first time service transmitting unit in the satellite time service module and transmitting the received time service signals to the third time service signal transmitting unit; the third time service signal sending unit is used for compressing the time service signal received by the first time service signal receiving unit and the base station number information to obtain a time service signal data packet, and sending the time service signal data packet to the time service receiving control module.
Further, the time service receiving control module comprises a second time service signal receiving unit, a third time service signal receiving unit, a time service receiving control unit and a signal sending unit; the second time service signal receiving unit is arranged in a satellite positioning system of the aerial flight device and is used for receiving time service signals directly transmitted by the first time service transmitting unit in the satellite time service module; the third time service signal receiving unit is used for decompressing the time service signal data packet sent by the third time service signal sending unit to obtain time service signals and base station numbering information; the time service receiving control unit is used for detecting whether the second time service signal receiving unit has a fault or not, and when detecting that the second time service signal receiving unit has a fault, the time service receiving control unit sends the information of the fault of the second time service signal receiving unit to the background processing module, and starts the image processing module, the third time service signal receiving unit, the height acquisition module and the ultra-wideband ranging module; the signal transmitting unit is used for transmitting the time service signal directly transmitted by the first time service transmitting unit received by the second time service signal or the time service signal and the base station number information after decompression of the time service signal data packet received by the third time service signal receiving unit to the background processing module.
Further, the image processing module comprises an image acquisition unit, an image preprocessing unit and an image processing unit; the image acquisition unit is used for acquiring a ground mark shape picture in real time; the image preprocessing unit is used for carrying out noise reduction and gray processing on the ground mark shape picture; the image processing unit is used for carrying out target recognition on the ground mark shape in the ground mark shape picture subjected to noise reduction and gray processing, detecting and calculating the outline length of the recognized ground mark shape, obtaining outline length information of the ground mark shape in the picture, and sending the outline length information to the background processing module for calculation and processing by the background processing module.
Further, after the ground base station is materialized, the plane of the ground base station is regarded as being coplanar with the plane of each ground mark shape, and the outline length of each ground mark shape is the same.
Further, the processing procedure of the image processing unit is as follows:
s11: performing target recognition on the ground mark shape in the ground mark shape picture by using a trained target detection network to obtain a detection frame containing the ground mark shape, and cutting the detection frame out of the ground mark shape picture to obtain the ground mark shape detection frame picture;
s2: detecting the outline length of the ground mark shape detection frame picture by using a contour detection function to obtain the outline length Ln of the ground mark shape, wherein n is a positive integer and represents different ground mark shapes;
s3: when n is 1, the outer contour length L1 of the single ground mark shape is sent to a background processing module, and when n is greater than 1, arithmetic average processing is carried out on the outer contour lengths of the ground mark shapes to obtain average outer contour lengths Lr of the ground mark shapes, and the average outer contour lengths Lr of the ground mark shapes are sent to the background processing module.
Further, the process of positioning the air-to-air flying device by the air-to-air flying device positioning system is specifically as follows:
s1: detecting whether the second time service signal receiving unit has faults or not through the time service receiving control unit, when detecting that the second time service signal receiving unit has faults, sending the information of the faults of the second time service signal receiving unit to the background processing module, and starting the image processing module, the third time service signal receiving unit, the height acquisition module and the ultra-wideband ranging module;
s2: acquiring a ground identification shape picture in real time through an image processing module, preprocessing the ground identification shape picture, identifying a target, detecting a contour, and acquiring contour length information of the ground identification shape in the picture; receiving and decompressing the time service signal data packet sent by the third time service signal sending unit through the third time service signal receiving unit to obtain time service signals and base station numbering information; acquiring a height value of the aerial flight device from the ground through a height acquisition module; acquiring distance values between the air flight equipment and at least three ground base stations through an ultra-wideband ranging module; transmitting the shape, outline and length information of the ground mark, time service signals, base station number information, height values and distance values to a background processing module;
s3: the background processing module searches in a ground identification shape outline length-flying height range database according to the ground identification shape outline length information, acquires a flying height range corresponding to the control flying device at the moment, judges whether the height value of the flying device from the ground, acquired by the current height acquisition module, is in the flying height range, if so, judges that the current height acquisition module has no fault, otherwise, judges that the current height acquisition module has fault, timely controls the starting of the standby height acquisition module, and closes the current height acquisition module;
s4: when the current height acquisition module is judged to be fault-free, the height value acquired by the current height acquisition module is used as the height value of the air flight equipment under the geodetic coordinate system, meanwhile, the longitude value and the dimension value of the air flight equipment under the geodetic coordinate system are calculated by utilizing the distance values between the air flight equipment and at least three ground base stations, and further, the three-axis coordinate value of the air flight equipment under the geodetic coordinate system, namely, the position information, is acquired, the position information is utilized to update the position data of the air flight equipment, and the time service signal is utilized to update the time data.
Further, in the step S3, the position of the ground base station in the geodetic coordinate system is obtained by searching in the ground base station number-position database according to the number thereof, and at most two ground base stations in at least three ground base stations are on the same ground line.
Further, the ground mark shape contour length-flying height range database comprises the corresponding relation between the ground mark shape contour length and the flying height range; the ground base station number-position database comprises the corresponding relation between the ground base station number and the position of the ground base station number under the geodetic coordinate system.
Compared with the prior art, the invention has the following advantages: when the self satellite positioning system fails, the position information of the air flight equipment can be timely calculated by utilizing the height acquisition module and the ultra-wideband ranging module, so that the position data of the air flight equipment is updated, the satellite time service module and the ground base station module are utilized to indirectly time service, and the time service signal is utilized to update the time data; and the processing modes of image recognition and contour detection are also utilized to acquire the flight height range data, so that whether the current height acquisition module has faults or not is judged, the timely starting of the standby height acquisition module is ensured, and the normal operation of the air flight equipment is further ensured.
Drawings
FIG. 1 is a general architecture diagram of an airborne equipment positioning system based on satellite timing in an embodiment of the invention.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
As shown in fig. 1, this embodiment provides a technical solution: an aerial flying device positioning system based on satellite time service, comprising: the system comprises a satellite time service module, a ground base station module, a time service receiving control module, an image processing module, a height acquisition module, an ultra-wideband ranging module and a background processing module;
in this embodiment, the satellite time service module is disposed on a satellite, and is configured to send a time service signal to the ground base station module after receiving a time service request from the ground base station module, or directly send the time service signal to an air flight device;
specifically, the satellite time service module comprises a first time service sending unit, a second time service sending unit and a first request receiving unit; the first time service transmitting unit is used for directly transmitting time service signals to the satellite positioning system of the aerial flight equipment and receiving the time service signals by the satellite positioning system of the aerial flight equipment; the second time service sending unit is used for sending time service signals to the ground base station module after receiving the time service request of the ground base station module; the first request receiving unit is used for receiving the time service request of the ground base station module and sending a time service signal through the second time service sending unit.
In this embodiment, the ground base station module is disposed in the ground base station, and is configured to receive a timing request instruction of the background processing module, send a timing request to the satellite timing module, receive a timing signal sent by the satellite timing module, and send the timing signal to the timing receiving control module;
the ground base station module comprises a first time service signal receiving unit, a third time service signal sending unit and a second request receiving unit, wherein the second request receiving unit is used for receiving a time service request instruction of the background processing module and sending a time service request to the first request receiving unit in the satellite time service module; the first time service signal receiving unit is used for receiving time service signals of the first time service transmitting unit in the satellite time service module and transmitting the received time service signals to the third time service signal transmitting unit; the third time service signal sending unit is used for compressing the time service signal received by the first time service signal receiving unit and the base station number information to obtain a time service signal data packet, and sending the time service signal data packet to the time service receiving control module.
In this embodiment, the time service receiving control module is disposed in the air flight device, and is configured to control to receive a time service signal directly sent by the satellite time service module or a time service signal data packet sent by the ground base station module, and send the time service signal data packet to the background processing module;
specifically, the time service receiving control module comprises a second time service signal receiving unit, a third time service signal receiving unit, a time service receiving control unit and a signal sending unit; the second time service signal receiving unit is arranged in a satellite positioning system of the aerial flight device and is used for receiving time service signals directly transmitted by the first time service transmitting unit in the satellite time service module; the third time service signal receiving unit is used for decompressing the time service signal data packet sent by the third time service signal sending unit to obtain time service signals and base station numbering information; the time service receiving control unit is used for detecting whether the second time service signal receiving unit has a fault or not, and when detecting that the second time service signal receiving unit has a fault, the time service receiving control unit sends the information of the fault of the second time service signal receiving unit to the background processing module, and starts the image processing module, the third time service signal receiving unit, the height acquisition module and the ultra-wideband ranging module; the signal transmitting unit is used for transmitting the time service signal received by the second time service signal and directly transmitted by the first time service transmitting unit, or the time service signal and the base station number information after decompression of the time service signal data packet received by the third time service signal receiving unit to the background processing module, and the background processing module performs time synchronization and related processing work;
when the background processing module receives the time service signal, only one time service signal sent by the ground base station is needed.
In this embodiment, the image processing module is disposed in an air flight device, and is configured to obtain a ground identifier shape picture in real time, perform preprocessing, target recognition, and contour detection processing on the ground identifier shape picture, and obtain contour length information of the ground identifier shape in the picture;
specifically, the image processing module comprises an image acquisition unit, an image preprocessing unit and an image processing unit; the image acquisition unit is used for acquiring a ground mark shape picture in real time; the image preprocessing unit is used for carrying out noise reduction and gray processing on the ground mark shape picture; the image processing unit is used for carrying out target recognition on the ground mark shape in the ground mark shape picture subjected to noise reduction and gray processing, detecting and calculating the outline length of the recognized ground mark shape, obtaining outline length information of the ground mark shape in the picture, and sending the outline length information to the background processing module for calculation and processing by the background processing module.
In this embodiment, after the ground base station is textured, the plane where the ground base station is located is regarded as being coplanar with the plane where each ground identification shape is located, and the contour length of each ground identification shape is the same, and it can be understood that the higher the flying device in the air, the smaller the contour length of the ground identification shape in the image.
Specifically, the processing procedure of the image processing unit is as follows:
s11: performing target recognition on the ground mark shape in the ground mark shape picture by using a target detection network trained by a large number of data sets to obtain a detection frame containing the ground mark shape, and cutting the detection frame out of the ground mark shape picture to obtain the ground mark shape detection frame picture;
s2: detecting the outline length of the ground mark shape detection frame picture by using a contour detection function to obtain the outline length Ln of the ground mark shape, wherein n is a positive integer and represents different ground mark shapes;
s3: when n is 1, the outer contour length L1 of the single ground mark shape is sent to a background processing module, and when n is greater than 1, arithmetic average processing is carried out on the outer contour lengths of the ground mark shapes to obtain average outer contour lengths Lr of the ground mark shapes, and the average outer contour lengths Lr of the ground mark shapes are sent to the background processing module.
In this embodiment, the height obtaining module is a height sensor disposed on the air flight device, and is configured to obtain a height value of the air flight device from the ground, and send the height value to the background processing module for calculation;
in this embodiment, the ultra-wideband ranging module is an ultra-wideband ranging receiving unit and an ultra-wideband ranging transmitting unit, which are disposed on the air flying device and the ground base station, and is configured to obtain a distance value between the air flying device and the ground base station, and send the distance value to the background processing module for calculation;
in this embodiment, the background processing module is disposed in a background control center, and is configured to update, by calculating, a position of the air craft device in a geodetic coordinate system, and simultaneously perform synchronous operation on time;
in this embodiment, the process of positioning the air-borne flight device by the air-borne flight device positioning system based on satellite time service is specifically as follows:
s1: detecting whether the second time service signal receiving unit has faults or not through the time service receiving control unit, when detecting that the second time service signal receiving unit has faults, sending the information of the faults of the second time service signal receiving unit to the background processing module, and starting the image processing module, the third time service signal receiving unit, the height acquisition module and the ultra-wideband ranging module;
s2: acquiring a ground identification shape picture in real time through an image processing module, preprocessing the ground identification shape picture, identifying a target, detecting a contour, and acquiring contour length information of the ground identification shape in the picture; receiving and decompressing the time service signal data packet sent by the third time service signal sending unit through the third time service signal receiving unit to obtain time service signals and base station numbering information; acquiring a height value of the aerial flight device from the ground through a height acquisition module; acquiring distance values between the air flight equipment and at least three ground base stations through an ultra-wideband ranging module; transmitting the shape, outline and length information of the ground mark, time service signals, base station number information, height values and distance values to a background processing module;
s3: the background processing module searches in a ground identification shape outline length-flying height range database according to the ground identification shape outline length information, acquires a flying height range corresponding to the control flying device at the moment, judges whether the height value of the flying device from the ground, acquired by the current height acquisition module, is in the flying height range, if so, judges that the current height acquisition module has no fault, otherwise, judges that the current height acquisition module has fault, timely controls the starting of the standby height acquisition module, and closes the current height acquisition module;
s4: when the current height acquisition module is judged to be fault-free, the height value acquired by the current height acquisition module is used as the height value of the air flight equipment under the geodetic coordinate system, meanwhile, the longitude value and the dimension value of the air flight equipment under the geodetic coordinate system are calculated by utilizing the distance values between the air flight equipment and at least three ground base stations, and further, the three-axis coordinate value of the air flight equipment under the geodetic coordinate system, namely, the position information, is acquired, the position information is utilized to update the position data of the air flight equipment, and the time service signal is utilized to update the time data.
In the step S3, the position of the ground base station under the geodetic coordinate system is obtained by searching in the ground base station number-position database according to the number thereof, and at most two ground base stations in at least three ground base stations are on the same ground straight line.
In the step S4, a spatial geometrical relationship between the airborne equipment and each ground base station is established, and a projection of the distance value on the ground is calculated by using a trigonometric function, so as to obtain a spatial correspondence between the airborne equipment and each ground base station, and further obtain a triaxial coordinate value, i.e. position information, of the airborne equipment in a geodetic coordinate system.
The ground mark shape outline length-flying height range database comprises the corresponding relation between the ground mark shape outline length and the flying height range; the ground base station number-position database comprises the corresponding relation between the ground base station number and the position of the ground base station number under the geodetic coordinate system.
In summary, in the above-mentioned embodiment, when the satellite positioning system of the embodiment fails, the positioning system of the aerial flight device based on satellite time service can timely calculate the position information of the aerial flight device by using the altitude acquisition module and the ultra-wideband ranging module, so as to update the position data of the aerial flight device, indirectly time service is performed by using the satellite time service module and the ground base station module, and update the time data by using the time service signal; and the processing modes of image recognition and contour detection are also utilized to acquire the flight height range data, so that whether the current height acquisition module has faults or not is judged, the timely starting of the standby height acquisition module is ensured, and the normal operation of the air flight equipment is further ensured.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. An aerial flying device positioning system based on satellite time service, which is characterized by comprising: the system comprises a satellite time service module, a ground base station module, a time service receiving control module, an image processing module, a height acquisition module, an ultra-wideband ranging module and a background processing module;
the satellite time service module is arranged on the satellite and is used for sending time service signals to the ground base station module or directly sending the time service signals to the aerial flying equipment after receiving the time service request of the ground base station module;
the ground base station module is arranged in the ground base station and is used for receiving the time service request instruction of the background processing module, sending a time service request to the satellite time service module, receiving a time service signal sent by the satellite time service module and sending the time service signal to the time service receiving control module;
the time service receiving control module is arranged in the aerial flying equipment and is used for controlling and receiving time service signals directly sent by the satellite time service module or time service signal data packets sent by the ground base station module and sending the time service signal data packets to the background processing module;
the image processing module is arranged in the aerial flying equipment and used for acquiring the ground mark shape picture in real time, preprocessing the ground mark shape picture, identifying the target and detecting the contour, and acquiring the contour length information of the ground mark shape in the picture;
the height acquisition module is arranged in the air flight equipment and is used for acquiring the height value of the air flight equipment from the ground;
the ultra-wideband ranging module is an ultra-wideband ranging receiving unit and an ultra-wideband ranging transmitting unit which are arranged on the air flying equipment and the ground base station and is used for acquiring a distance value between the air flying equipment and the ground base station;
the background processing module is arranged in a background control center and is used for updating the position of the air flight equipment under the geodetic coordinate system through calculation and synchronizing time;
the process of the air-to-air flying equipment positioning system for positioning the air-to-air flying equipment is specifically as follows:
s1: detecting whether a second time service signal receiving unit in a time service receiving control module has faults or not through a time service receiving control unit, wherein the second time service signal receiving unit is arranged in a satellite positioning system of the aerial flight equipment and is used for receiving time service signals directly transmitted by a first time service transmitting unit in the satellite time service module, transmitting information of faults of the second time service signal receiving unit to a background processing module when the faults of the second time service signal receiving unit are detected, and starting an image processing module, a third time service signal receiving unit in the time service receiving control module, a height acquisition module and an ultra-wideband ranging module;
s2: acquiring a ground identification shape picture in real time through an image processing module, preprocessing the ground identification shape picture, identifying a target, detecting a contour, and acquiring contour length information of the ground identification shape in the picture; the method comprises the steps that a third time service signal receiving unit in a time service receiving control module receives and decompresses a time service signal data packet sent by a third time service signal sending unit in a ground base station module to obtain time service signals and base station number information, the third time service signal sending unit is used for compressing the time service signals and the base station number information received by a first time service signal receiving unit in the ground base station module to obtain time service signal data packet, the time service signal data packet is sent to the time service receiving control module, and the first time service signal receiving unit is used for receiving time service signals of a first time service sending unit in a satellite time service module and sending the received time service signals to the third time service signal sending unit; acquiring a height value of the aerial flight device from the ground through a height acquisition module; acquiring distance values between the air flight equipment and at least three ground base stations through an ultra-wideband ranging module; transmitting the shape, outline and length information of the ground mark, time service signals, base station number information, height values and distance values to a background processing module;
s3: the background processing module searches in a ground identification shape outline length-flying height range database according to the ground identification shape outline length information, acquires a flying height range corresponding to the control flying device at the moment, judges whether the height value of the flying device from the ground, acquired by the current height acquisition module, is in the flying height range, if so, judges that the current height acquisition module has no fault, otherwise, judges that the current height acquisition module has fault, timely controls the starting of the standby height acquisition module, and closes the current height acquisition module;
s4: when the current height acquisition module is judged to be fault-free, the height value acquired by the current height acquisition module is used as the height value of the air flight equipment under the geodetic coordinate system, meanwhile, the longitude value and the dimension value of the air flight equipment under the geodetic coordinate system are calculated by utilizing the distance values between the air flight equipment and at least three ground base stations, and further, the three-axis coordinate value of the air flight equipment under the geodetic coordinate system, namely, the position information, is acquired, the position information is utilized to update the position data of the air flight equipment, and the time service signal is utilized to update the time data.
2. An airborne equipment positioning system based on satellite time service according to claim 1, wherein: the satellite time service module comprises a first time service sending unit, a second time service sending unit and a first request receiving unit; the first time service transmitting unit is used for directly transmitting time service signals to the satellite positioning system of the aerial flight equipment and receiving the time service signals by the satellite positioning system of the aerial flight equipment; the second time service sending unit is used for sending time service signals to the ground base station module after receiving the time service request of the ground base station module; the first request receiving unit is used for receiving the time service request of the ground base station module and sending a time service signal through the second time service sending unit.
3. An airborne equipment positioning system based on satellite time service according to claim 2, wherein: the ground base station module comprises a first time service signal receiving unit, a third time service signal transmitting unit and a second request receiving unit; the second request receiving unit is used for receiving a time service request instruction of the background processing module and sending a time service request to the first request receiving unit in the satellite time service module; the third time service signal receiving unit is used for receiving the time service signal of the first time service transmitting unit in the satellite time service module and transmitting the received time service signal to the third time service signal transmitting unit; the first time service signal receiving unit is used for receiving the time service signal of the first time service transmitting unit in the satellite time service module and transmitting the received time service signal to the third time service signal transmitting unit.
4. A satellite time service based airborne equipment positioning system according to claim 3, wherein: the time service receiving control module comprises a second time service signal receiving unit, a third time service signal receiving unit, a time service receiving control unit and a signal sending unit; the second time service signal receiving unit is arranged in a satellite positioning system of the aerial flight device and is used for receiving time service signals directly transmitted by the first time service transmitting unit in the satellite time service module; the third time service signal receiving unit is used for decompressing the time service signal data packet sent by the third time service signal sending unit to obtain time service signals and base station numbering information; the time service receiving control unit is used for detecting whether the second time service signal receiving unit has a fault or not, and when detecting that the second time service signal receiving unit has a fault, the time service receiving control unit sends the information of the fault of the second time service signal receiving unit to the background processing module, and starts the image processing module, the third time service signal receiving unit, the height acquisition module and the ultra-wideband ranging module; the signal transmitting unit is used for transmitting the time service signal directly transmitted by the first time service transmitting unit received by the second time service signal or the time service signal and the base station number information after decompression of the time service signal data packet received by the third time service signal receiving unit to the background processing module.
5. An airborne equipment positioning system based on satellite timing according to claim 4, wherein: the image processing module comprises an image acquisition unit, an image preprocessing unit and an image processing unit; the image acquisition unit is used for acquiring a ground mark shape picture in real time; the image preprocessing unit is used for carrying out noise reduction and gray processing on the ground mark shape picture; the image processing unit is used for carrying out target recognition on the ground mark shape in the ground mark shape picture subjected to noise reduction and gray processing, detecting and calculating the outline length of the recognized ground mark shape, obtaining outline length information of the ground mark shape in the picture, and sending the outline length information to the background processing module.
6. An airborne equipment positioning system based on satellite timing according to claim 5, wherein: and after the ground base station is materialized, the plane of the ground base station is regarded as being coplanar with the plane of each ground mark shape, and the outline length of each ground mark shape is the same.
7. The aerial device positioning system based on satellite time service of claim 6, wherein: the processing procedure of the image processing unit is as follows:
s11: performing target recognition on the ground mark shape in the ground mark shape picture by using a trained target detection network to obtain a detection frame containing the ground mark shape, and cutting the detection frame out of the ground mark shape picture to obtain the ground mark shape detection frame picture;
s2: detecting the outline length of the ground mark shape detection frame picture by using a contour detection function to obtain the outline length Ln of the ground mark shape, wherein n is a positive integer and represents different ground mark shapes;
s3: when n is 1, the outer contour length L1 of the single ground mark shape is sent to a background processing module, and when n is greater than 1, arithmetic average processing is carried out on the outer contour lengths of the ground mark shapes to obtain average outer contour lengths Lr of the ground mark shapes, and the average outer contour lengths Lr of the ground mark shapes are sent to the background processing module.
8. An airborne equipment positioning system based on satellite time service according to claim 1, wherein: in the step S3, the position of the ground base station under the geodetic coordinate system is obtained by searching in the ground base station number-position database according to the number thereof, and at most two ground base stations in at least three ground base stations are on the same ground straight line.
9. An airborne equipment positioning system based on satellite timing as set forth in claim 8, wherein: the ground mark shape contour length-flying height range database comprises the corresponding relation between the ground mark shape contour length and the flying height range; the ground base station number-position database comprises the corresponding relation between the ground base station number and the position of the ground base station number under the geodetic coordinate system.
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