CN207164258U - A kind of hand-held earth station for unmanned plane - Google Patents
A kind of hand-held earth station for unmanned plane Download PDFInfo
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- CN207164258U CN207164258U CN201720475496.7U CN201720475496U CN207164258U CN 207164258 U CN207164258 U CN 207164258U CN 201720475496 U CN201720475496 U CN 201720475496U CN 207164258 U CN207164258 U CN 207164258U
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Abstract
The utility model provides a kind of hand-held earth station for unmanned plane.The earth station includes a shell, shell includes upper shell and lower house, upper shell is provided with number and passes antenna, radio antenna and rotatable RTK modules, processor, digital transmission module and wireless communication module are provided with shell, digital transmission module is respectively connected with unmanned plane and processor, and processor is connected with RTK modules；Number passes antenna and radio antenna is connected with digital transmission module and wireless communication module respectively.The utility model unmanned aerial vehicle station positions by using RTK, improve mapped point, when unmanned plane makes a return voyage during level point and flight safe distance positioning accurate accuracy.In addition, surveyed and drawn using earth station, alternative conventional hand surveying and mapping rod sprayed before mapping, mapped results, which need not upload background server, can also perform plant protection work, reduce the demand to environment network.
Description
Technical field
It the utility model is related to agricultural technology field, more particularly to a kind of hand-held earth station for unmanned plane.
Background technology
Unmanned plane is as a kind of aerial platform of superior performance, earliest for military field.But with technology development and
Change, unmanned plane starts to develop rapidly in civil area, especially in terms of agricultural plant protection.Plant protection unmanned plane is to be used to agricultural plant
Thing protects the UAV of operation, mainly flies control by ground remote control or GPS to realize sprinkling medicament operation.Unmanned plane
Plant protection operation compared with traditional plant protection operation, have the characteristics that operation precisely, high-efficiency environment friendly, can be that peasant household saves substantial amounts of people
Power cost.
Recently as intelligentized development, the full autonomous flight plant protection of unmanned plane is also increasingly popularized, to the essence of plant protection
Accuracy requires also more and more higher.But realizing the complete autonomous precisely plant protection of unmanned plane needs certain conditioned basic, is nothing first
Man-machine accurate flight, next to that the accurate mapping in plot, and earth station can realize that plot data are downloaded and plot course line is advised
Draw.So flying hand, just needs are first surveyed and drawn to plot and upload to background server before plant protection, and then earth station is from service
Device, which is downloaded ground block message and gone forward side by side after professional etiquette is drawn, could start plant protection flight.Following Railway Project in whole process be present：
1st, need to take accurately surveying and mapping tool during plant protection（Such as, surveying and mapping rod is held）, the equipment for adding plant protection personnel bears
Weight.
2nd, field needs network signal, the ground block message of mapping can be allowed to upload to background server, to network rings
Border requires higher.
The 3rd, if field does not have network signal, then just need mapping when make a trip plant protection when make a trip, add
The workload of plant protection.
Therefore, R ＆ D design goes out a kind of earth station for being adapted to complete autonomous plant protection unmanned plane industry requirement with precise positioning, gesture
It must go.
The content of the invention
The utility model aims to overcome that the shortcomings of the prior art, a kind of for the hand-held of unmanned plane so as to provide
Earth station.
To achieve the above object, the utility model provides a kind of hand-held earth station for unmanned plane.It is included outside one
Shell, the shell include upper shell and lower house, and upper shell is provided with number and passes antenna, radio antenna and rotatable RTK
Module, shell is interior to be provided with processor, digital transmission module and wireless communication module,
The digital transmission module is respectively connected with unmanned plane and processor, is handed over to complete the data of processor and unmanned plane
Change；
The processor is connected with the RTK modules, to receive mapped point positioning instruction and transmit to RTK modules；With
And mapped point positioning instruction is subjected to corresponding integration with the coordinate that RTK resume modules are drawn and handled, and preserve integration result；
The RTK modules, to the mapped point positioning instruction of reception processing device transmission, and led to according to mapped point positioning instruction
Cross RTK base stations and satellite carries out localization process to obtain the coordinate value of earth station, the coordinate value of the earth station is mapped point
Coordinate value；
The wireless communication module is respectively connected with processor and background server, to by the processor positioning integration
Result is sent to background server；
The number passes antenna and radio antenna is connected with the digital transmission module and wireless communication module respectively, uses respectively
With receiving and transmitting signal.
Further, upper shell and the lower house junction is provided with water-proof strip.
Further, protective case is additionally provided with outside the lower house, the protective case is TPU material water-proof rubber sleeves.
Further, the earth station also includes loudspeaker, and the loudspeaker are arranged on the upper shell, posted in horn mouth
Waterproof and breathable mould.
Further, upper shell is provided with LCD colorful display screens, and it is connected with the processor, to display data.
Further, the wireless communication module is 4G modules or WIFI module.
Further, the model XBee PRO 900HP S3B of the digital transmission module.
The utility model has the following advantages that：
1st, RTK modules are increased by earth station, hand-held surveying and mapping rod and earth station is combined into one, deviations can be made from original
The meter level come drops to a centimetre rank, not only enhances positioning accurate accuracy, also this essence for improving place of landing when unmanned plane makes a return voyage
True property.
2nd, due to the presence of RTK modules so that earth station can substitute the mapping before conventional hand surveying and mapping rod is sprayed.
Not only reduce equipment and the input of transport, moreover it is possible to the input of manpower, mapping and the front and rear progress of the plant protection same period are reduced, without surveying
Examination is individually made a trip.
3rd, earth station surveys and draws, and reduces the demand to environment networking, and surveying and mapping rod mapping needs ability plant protection after upload server,
But background server need not then be uploaded using earth station's mapping and also can perform plant protection work.
Brief description of the drawings
Fig. 1 is a kind of structure chart of hand-held earth station for unmanned plane of the utility model embodiment；
Fig. 2 is a kind of essential electrical theory diagram of hand-held earth station for unmanned plane of the utility model embodiment；
Fig. 3 is a kind of surveying and drawing location method flow of hand-held earth station for unmanned plane of the utility model embodiment
Figure；
Fig. 4 is a kind of number between the hand-held earth station of unmanned plane and self-built base station of the utility model embodiment
According to interaction schematic diagram；
Fig. 5 is a kind of number between the hand-held earth station of unmanned plane and public base station of the utility model embodiment
According to interaction schematic diagram；
Fig. 6 is a kind of independent positioning method flow of making a return voyage of hand-held earth station for unmanned plane of the utility model embodiment
Figure；
Fig. 7 be a kind of hand-held earth station for unmanned plane of the utility model embodiment prevent unmanned plane hit ground
Stand the schematic diagram of operator；
Fig. 8 be a kind of hand-held earth station for unmanned plane of the utility model embodiment prevent unmanned plane hit ground
Stand the method flow diagram of operator.
Embodiment
In order that those skilled in the art are better understood from the technical scheme in the embodiment of the utility model, and make this reality
Can be more obvious understandable with the above-mentioned purpose of new embodiment, feature and advantage, below by drawings and examples, to this reality
It is described in further detail with new technical scheme.Based on the embodiment in the utility model, ordinary skill people
All other embodiment that member is obtained under the premise of creative work is not made, belong to the model of the utility model protection
Enclose.
Fig. 1 is a kind of structure chart of hand-held earth station for unmanned plane of the utility model embodiment.
As shown in figure 1, the utility model embodiment provides a kind of hand-held intelligent earth station of unmanned plane, it includes shell
Body, the housing include upper shell 1 and lower house 2, and upper shell 1 is provided with LCD colorful display screens 3, outdoor highlight, and gloves are worn in support
Carry out touch screen operation.Loudspeaker 4 are additionally provided with upper shell 1, loudspeaker 4 can be used to alarm.A number is connected on upper shell 1
Pass antenna 5 and radio antenna 6, and a rotatable RTK module 7, number passes antennas 5 and radio antenna 6 can be with
Facilitate the reception and transmission of signal.The benefit that RTK modules 7 are arranged to rotary type is can be according to winged hand（Earth station operator）
The angle taken is different and adjusts RTK modules so that locating effect is optimal.It is using the reason for RTK modules 7, it is contemplated that even
Its deviation of high-precision GPS location uses common also in 2-5 rice or so in the plant protection mapping or positioning of reality
GPS module deviation is bigger, it is impossible to reaches expected locating effect.So at the unmanned aerial vehicle station of the utility model embodiment
Common GPS module is replaced using RTK modules, deviations is dropped to a centimetre rank from original meter level.Make the positioning of equipment
Precision reaches a centimetre rank, the energy moment precise positioning in plant protection operation, realizes accurate sprinkling and the peace of plant protection operation
The demand of full operation.
In addition, in order to prevent hand-held intelligent earth station from intaking, the normal operation of internal components is influenceed, the utility model is implemented
Example sets protective case 8 outside lower house 2, and the protective case 8 is TPU material water-proof rubber sleeves.Upper shell 1 and the junction of lower house 2 are set
Water-proof strip is put, the patch waterproof and breathable mould in loudspeaker 4.
Fig. 2 is a kind of essential electrical theory diagram of hand-held earth station for unmanned plane of the utility model embodiment.
As shown in Fig. 2 processing is provided with a kind of hand-held earth station's shell for unmanned plane of the utility model embodiment
Device 8, digital transmission module 9 and wireless communication module 10.
Connected between digital transmission module 9 and unmanned plane by wireless radio frequency mode, and processor 8 passes through serial ports or USB modes
Or other wired modes connect, it is mainly used to complete the data exchange of processor 8 and unmanned plane 11.The utility model embodiment
The digital transmission module of the optional XBee PRO 900HP S3B models of digital transmission module 9.The data receiver of digital transmission module 9 is led with sending
Antenna 5 is passed to complete by connected number.
Processor 8 is connected with RTK modules 7, for coordinating the operation of each part, issuing control instruction and receiving feedback knot
Structure.Such as to receive mapped point positioning instruction or the point location that makes a return voyage is instructed and transmitted to RTK modules 7；And mapped point is determined
Bit instruction or the point location that makes a return voyage instruction carry out corresponding integration with the coordinate that the processing of RTK modules 7 is drawn and handled, and preserve integration processing
As a result.And be also used for controlling loudspeaker 4 to carry out warning output, control LCD colorful display screens 3 carry out related content and shown.Processing
Device 8 calculates the area and shape in plot, then generates flight path, unmanned plane is just after the position coordinates of mapped point is obtained
Plant protection operation can be carried out according to the flight path of generation.
Wireless communication module 10 is respectively connected with processor 8 and background server 12, to by the positioning integration of processor 8
Reason result is sent to background server 12.Wireless communication module 10 can be WiFi module or 4G modules.
RTK modules 7 are mainly used to realize the positioning of earth station, are specially：The mapping point location that reception processing device 8 transmits refers to
Make or the point location that makes a return voyage instructs, and entered according to mapped point positioning instruction or the point location that makes a return voyage instruction by RTK base stations and satellite
Row localization process is to obtain the coordinate value of earth station, and the coordinate value of the earth station of acquisition is mapped point or point coordinates value of making a return voyage.
When being positioned using RTK modules 7, earth station is equivalent to a RTK rover for earth station.In actual use, RTK
Location path is divided to two kinds of transmission means with the difference of base station.
The first：It is to use self-built base station, both when using RTK positioning, the number of base station is set up using user oneself
According to being positioned；This requires user first to have set up base station before positioning, and user may be selected specified location and set up base station,
Base station is completed once setting up, in whole position fixing process all cannot changing position, then earth station and specified base station be just
It can be matched, earth station's can receives the data from base station after the completion of pairing.
As shown in figure 4, self-built base station obtains satellite-signal, while the carrier phase received is sent to earth station,
Earth station is received by digital transmission module and comes from self-built base station satellite-signal, carrier phase and observation coordinate value（x,y,z）, then by
Processor is transmitted to RTK modules, while RTK modules will also receive the satellite-signal received in itself, then defending according to itself
The carrier phase information of star signal and self-built base station, calculate the position skew of earth station and self-built base station（X, y,
∆z）；According to the observation coordinate value of self-built base station（x,y,z）, calculate the relative coordinate values of earth station（A, b, c）=（x+∆
X, y+ y, z+ z）, voluntarily built because self-built base station is user, its observation coordinate value（x,y,z）It is not actual coordinate
Value, so calculating the coordinate value of earth station（A, b, c）It is a relative value.
Second：It is to use public base station, both earth station with RTK when being positioned, using the number of public base station
According to being positioned；User oneself need not set up base station under this mode, directly be connected by wireless communication module in earth station
Connect public base station.
As shown in figure 5, public base station obtains satellite update information, and by the exhausted of satellite update information and public base station
To coordinate value（x,y,z）Earth station is sent to, earth station is received by digital transmission module and comes from public base station satellite update information
And absolute coordinate（x,y,z）, then transmitted to RTK modules by processor, while RTK modules will also receive defending of receiving in itself
Star signal, then according to the update information of the public base station of satellite-signal of itself, calculate earth station and public base station
Position is offset（X, y, z）；According to the absolute coordinate of public base station（x,y,z）, calculate the absolute seat of earth station
Scale value（A, b, c）=（X+ x, y+ y, z+ z）.Because the position coordinates at common reference station be can ensure it is point-device,
The absolute coordinate that so earth station is calculated is also just very accurate.
When there is location requirement in earth station, location requirement can be sent to by RTK modules 7 by processor 8, RTK modules 7 are carried out
After positioning, location information is fed back into processor 8.The plant protection instruction of earth station is that processor 8 is sent by digital transmission module 9 simultaneously
To unmanned plane, and unmanned plane can also be passed by number plant protection situation and positional information feeding back to processor 8；Processor 8 is not only protected
The location information from RTK modules 7 has been deposited, also saving plant protection instruction and plant protection feedback information, while will also by network
These information are sent to background server 12 and preserved.
Fig. 3 is a kind of surveying and drawing location method flow of hand-held earth station for unmanned plane of the utility model embodiment
Figure.
In step 301, the instruction of mapped point Location Request is received, records and preserves the mapped point Location Request instruction.
In step 302, instructed according to the mapped point Location Request, ground is calculated by RTK base stations and satellite
Station coordinates value, the ground station coordinates are mapped point position coordinates.
In step 303, position coordinate value will be calculated and carry out one-to-one corresponding integration with mapped point Location Request, and will be whole
Result is closed in local preservation.
In step 304, integrated results are respectively sent to unmanned plane and background server.
Wherein, when using RTK positioning, earth station is equivalent to a RTK rover for earth station in step 302.In reality
During the use of border, RTK location path is divided to two kinds of transmission means with the difference of base station.
The first, RTK base stations use self-built base station, self-built base station and earth station's pairing connection, pass through self-built base
Quasi- station calculates earth station location coordinate and is specially：
Receive satellite-signal, carrier phase and the observation coordinate value of self-built base station（x,y,z）；
The satellite-signal and the carrier phase information of self-built base station received in itself according to earth station, calculates earth station
Offset with the position of self-built base station（X, y, z）；
According to the observation coordinate value of self-built base station（x,y,z）, calculate the relative coordinate values of earth station（A, b, c）=（x+
X, y+ y, z+ z）.
Second, RTK base stations use public base station, public base station and earth station's wireless connection, pass through public base
Quasi- station calculates earth station location coordinate and is specially：
Receive satellite update information and the absolute coordinate that public base station is sent（x,y,z）；
The satellite update information that the satellite-signal received in itself according to earth station and common reference station are sent, calculates ground
The position at face station and common reference station is offset（X, y, z）；
According to the absolute coordinate at common reference station（x,y,z）, calculate the absolute coordinate of earth station（A, b, c）= （x+
X, y+ y, z+ z）.
Fig. 6 is a kind of independent positioning method flow of making a return voyage of hand-held earth station for unmanned plane of the utility model embodiment
Figure.
The demand for security of unmanned plane landing：Accurate set returns waypoint location, the level point that i.e. unmanned plane makes a return voyage of making a return voyage a little, returns
The whether accurate safe falling problem for being not only related to unmanned plane in the position of destination also relates to the choosing to level point geographical position
Select.
The region of unmanned plane plant protection operation is typically all field or hillside, and landing point is general all in field, but these
The characteristics of ridge region, majority was narrow injustice, and most wide also there was only 1 meter or so, general GPS positioning precision is that meter level is difficult true
Protect unmanned function in this narrow regions zero deflection to land, once there is several decimeters of deviation, then unmanned plane will drop to peace
Region-wide outer, this is likely to result in the crash of unmanned plane；So have strict requirements in the selection in geographical position, it is necessary near
There is the field of a larger area, or the manual accurate landing place for adjusting aircraft is needed to ensure safety before landing
Property, so also limit the geographical environment of unmanned plane plant protection operation.
The GPS module that the utility model embodiment is instead of by RTK modules in earth station is positioned, and positioning precision is improved
To a centimetre rank, so the position error of earth station is at most in several centimetres, so that it may accurately in designated area safe falling,
It so both ensure that the safety of unmanned plane also expanded the geographical environment restrictive condition of unmanned machine operation；So fly picking select it is any
The region for placing lower unmanned plane enough is arranged to make a return voyage a little, even narrow ridge may be alternatively provided as making a return voyage a little, so
Unmanned plane can the region of operation also accordingly expand, the region for originally limiting unmanned machine operation due to unsuitable level point shows
Unmanned plane plant protection operation is being can be carried out, or is needing to make a return voyage a little to be arranged on liftoff plot of far field, it is unrestrained back and forth
The problem of taking unmanned plane electricity, causing operating efficiency to reduce can also solve in the lump now, so increasing RTK moulds in earth station newly
Block, not only ensure the safety of unmanned plane, expand can job area, also improve operating efficiency to a certain extent.
Set after successfully making a return voyage a little, earth station's point coordinates that will make a return voyage is sent to unmanned plane by digital transmission module, on unmanned plane
RTK can accurately be found according to coordinate and return waypoint location.Concrete operations flow is as follows.
In step 601, the point location request instruction that makes a return voyage is received, records and preserves the point location request instruction that makes a return voyage；
In step 602, instructed according to the mapped point Location Request, ground is calculated by RTK base stations and satellite
Station coordinates value, the ground station coordinates are a position coordinates that makes a return voyage.In the step make a return voyage a position coordinates acquiring method with it is upper
It is identical to state mapping point location acquiring method, does not repeat one by one herein.
In step 603, position coordinate value will be calculated and carry out one-to-one corresponding integration with mapped point Location Request, and will be whole
Result is closed in local preservation.
In step 604, integrated results are respectively sent to unmanned plane and background server.
It should be noted that make a return voyage the instruction of point location request instruction and above-mentioned mapped point Location Request by earth station come
Realize, it is necessary to set when making a return voyage, it is assumed that will be set to make a return voyage at the edge of a field of plot a little, need to only fly hand and carry earth station herein i.e.
Can, the point location request instruction that makes a return voyage is inputted, the positioning of the point can be realized.
Fig. 7 illustrates a kind of signal for preventing unmanned plane shock earth station operator of hand-held earth station for unmanned plane
Figure.
Maked a return voyage or when other reasonses make a return voyage as shown in fig. 7, completing plant protection operation, its course back is exactly starting point and maked a return voyage a little
（HOME points）Straight line；Because the return route point of unmanned plane is indefinite, fly hand in plant protection operation, may just stand returning in unmanned plane
On course line, do not pay attention to if flying hand, it is possible to injures and deaths event occur.Therefore offer one kind is just needed to prevent unmanned plane from hitting earth station
The method of operator.Concrete operation method can be as shown in Figure 8.
Fig. 8 be a kind of hand-held earth station for unmanned plane of the utility model embodiment prevent unmanned plane hit ground
Stand the method flow diagram of operator.
In step 801, the location coordinate information sent during ground station reception unmanned plane during flying, and pass through RTK simultaneously
Base station and satellite calculate position coordinates of the earth station in the same time.
In step 802, the range difference of both position coordinateses is calculated.
In step 803, by the coordinate difference in step 802 compared with the safe distance set, if both distances
Difference be less than setting safe distance, then regenerated between unmanned plane current location and next destination locations one safety away from
From outer route, unmanned plane is set to get around earth station's flight.Safety zone in the present embodiment is：To fly hand position（Ground
Station location）Centered on, outside the region that safe distance is formed by radius, the safe distance threshold value set is 3 meter.
To sum up, the hand-held earth station of the present utility model for unmanned plane employs RTK localization methods and had the following advantages that：
1st, positioning precision can be made to reach a centimetre rank, it is more accurate to make to return waypoint location, realizes position zero during landing
Deviation, reduce the geographical environment requirement of landing point.
2nd, earth station adds plot and precisely surveys and draws function, can not only reduce equipment and the input of transport, moreover it is possible to reduce
The input of manpower, mapping and the front and rear progress of the plant protection same period, individually make a trip without test.
3rd, earth station surveys and draws, and reduces the demand to environment networking, and surveying and mapping rod mapping needs ability plant protection after upload server,
But background server need not then be uploaded using earth station's mapping and also can perform plant protection work.
The 4th, one unmanned plane and the safe distance of earth station are set, unmanned plane, can be according to the position of earth station in operation
Information, earth station position is got around, ensure being perfectly safe for personnel.
5th, on earth station's intelligent networking, Android or linux system can be used, line number is entered by 4G and WiFi technology
According to interaction.
Above-described embodiment, the purpose of this utility model, technical scheme and beneficial effect are entered
One step describes in detail, should be understood that and the foregoing is only specific embodiment of the present utility model, is not used to limit
Determine the scope of protection of the utility model, it is all within the spirit and principles of the utility model, any modification for being made, equally replace
Change, improve, should be included within the scope of protection of the utility model.
Claims (7)
1. a kind of hand-held earth station for unmanned plane, it is characterised in that including a shell, the shell includes upper shell with
Housing, upper shell are provided with number and pass antenna, radio antenna and rotatable RTK modules, processor are provided with shell, number passes
Module and wireless communication module,
The digital transmission module is respectively connected with unmanned plane and processor, to complete the data exchange of processor and unmanned plane；
The processor is connected with the RTK modules, to receive mapped point positioning instruction and transmit to RTK modules；And will
Mapped point positioning instruction carries out corresponding integration with the coordinate that RTK resume modules are drawn and handled, and preserves integration result；
The RTK modules, to the mapped point positioning instruction of reception processing device transmission, and passed through according to mapped point positioning instruction
RTK base stations and satellite carry out localization process to obtain the coordinate value of earth station, and the coordinate value of the earth station is sat for mapped point
Scale value；
The wireless communication module is respectively connected with processor and background server, the processor positioning integration to be handled
As a result send to background server；
The number passes antenna and radio antenna and is connected respectively with the digital transmission module and wireless communication module, respectively receiving
Signal.
2. a kind of hand-held earth station for unmanned plane according to claim 1, it is characterised in that the upper shell is with
Housing junction is provided with water-proof strip.
3. a kind of hand-held earth station for unmanned plane according to claim 1, it is characterised in that outside the lower house also
Provided with protective case, the protective case is TPU material water-proof rubber sleeves.
4. a kind of hand-held earth station for unmanned plane according to claim 1, it is characterised in that also including loudspeaker, institute
State loudspeaker to be arranged on the upper shell, waterproof and breathable mould is posted in horn mouth.
5. a kind of hand-held earth station for unmanned plane according to claim 1, it is characterised in that set on the upper shell
There are LCD colorful display screens, it is connected with the processor, to display data.
A kind of 6. hand-held earth station for unmanned plane according to claim 1, it is characterised in that the radio communication mold
Block is 4G modules or WIFI module.
7. a kind of hand-held earth station for unmanned plane according to claim 1, it is characterised in that the digital transmission module
Model XBee PRO 900HP S3B.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| WO2022094875A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Positioning device, remote control terminal, unmanned aerial vehicle, and unmanned aerial device |
| WO2023000192A1 (en) * | 2021-07-21 | 2023-01-26 | 深圳市大疆创新科技有限公司 | Remote control and positioning device |
-
2017
- 2017-05-02 CN CN201720475496.7U patent/CN207164258U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106932801A (en) * | 2017-05-02 | 2017-07-07 | 南京嘉谷初成通信科技有限公司 | It is a kind of for the hand-held earth station of unmanned plane and surveying and drawing location method |
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| WO2022094875A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Positioning device, remote control terminal, unmanned aerial vehicle, and unmanned aerial device |
| WO2023000192A1 (en) * | 2021-07-21 | 2023-01-26 | 深圳市大疆创新科技有限公司 | Remote control and positioning device |
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