CN-121978731-A - Seamless switching method, system and equipment for positioning of unmanned aerial vehicle on-board sensor and GNSS RTK

CN121978731ACN 121978731 ACN121978731 ACN 121978731ACN-121978731-A

Abstract

The application discloses a seamless switching method, a system and equipment for positioning an Unmanned Aerial Vehicle (UAV) on-board sensor and a Global Navigation Satellite System (GNSS) RTK, and relates to the technical field of multi-sensor information fusion and navigation positioning; the method comprises the steps of determining the quality of a GNSS RTK signal based on the quality score of the GNSS RTK signal by adopting an RTK setting threshold, determining the quality score of the airborne sensor signal based on the airborne sensor signal data obtained in real time, determining the quality of the airborne sensor signal based on the quality score of the airborne sensor signal by adopting an airborne sensor setting threshold, and switching a positioning mode according to the quality judgment result of the GNSS RTK signal and the quality judgment result of the airborne sensor signal. The application can realize the stable and seamless switching of the two positioning modes.

Inventors

ZHU JUNWEI
ZHAO YIDE
HOU XIN
LIAO ZHIYONG
XUAN QI
PAN LEI
LI CHENGBIN

Assignees

杭州市滨江区浙工大人工智能创新研究院

Dates

Publication Date: 20260505
Application Date: 20260211

Claims (10)

1. The seamless switching method for the positioning of the unmanned aerial vehicle on-board sensor and the GNSS RTK is characterized by comprising the following steps: acquiring GNSS RTK signal data in real time; determining a quality fraction of the GNSS RTK signal based on the GNSS RTK signal data; Judging the quality of the GNSS RTK signal based on the quality fraction of the GNSS RTK signal by adopting an RTK set threshold value to obtain a quality judgment result of the GNSS RTK signal, wherein the quality judgment result of the GNSS RTK signal is RTK primary quality, RTK secondary quality or RTK tertiary quality; acquiring signal data of an airborne sensor in real time; Determining a mass fraction of the on-board sensor signal based on the on-board sensor signal data; Judging the quality of the airborne sensor signal based on the quality score of the airborne sensor signal by adopting an airborne sensor set threshold value to obtain a quality judgment result of the airborne sensor signal, wherein the quality judgment result of the airborne sensor signal is primary quality, secondary quality or tertiary quality; if the quality judgment result of the GNSS RTK signal is RTK second-level quality, and the quality judgment result of the airborne sensor signal is third-level quality, the unmanned aerial vehicle is positioned by adopting the GNSS RTK positioning mode; If the quality judgment result of the GNSS RTK signal is RTK secondary quality and the quality judgment result of the airborne sensor signal is primary quality or secondary quality, the unmanned aerial vehicle adopts a GNSS RTK and airborne sensor fusion positioning mode for positioning; and if the quality judgment result of the GNSS RTK signal is RTK three-level quality, the unmanned aerial vehicle is positioned by adopting an airborne sensor positioning mode.
2. The unmanned aerial vehicle-mounted sensor and GNSS RTK positioning seamless switching method according to claim 1, wherein the GNSS RTK signal data comprises the number of satellites of a GNSS, a position accuracy factor, a carrier-to-noise ratio and an RTK solution state; Using the formula Determining a quality score of the GNSS RTK signal based on the GNSS RTK signal data, wherein, Representing the quality fraction of the GNSS RTK signal, Representing the number of satellites of the GNSS, The position accuracy factor is represented by a position accuracy factor, Representing the carrier-to-noise ratio, Weights representing different solution states of the RTK, Representing normalization based on a logic function.
3. The unmanned aerial vehicle on-board sensor and GNSS RTK positioning seamless handoff method of claim 1, wherein the on-board sensor signal data includes lidar signal data and camera signal data; The quality scores of the airborne sensor signals comprise a quality score of a laser radar signal and a quality score of a camera signal, the quality score of the laser radar signal is determined based on laser radar signal data, and the quality score of the camera signal is determined based on camera signal data.
4. The unmanned aerial vehicle on-board sensor and GNSS RTK positioning seamless handoff method according to claim 3, wherein the on-board sensor set threshold includes a lidar set threshold and a camera set threshold; The method for judging the quality of the airborne sensor signal based on the quality score of the airborne sensor signal by adopting the airborne sensor set threshold value comprises the following steps of: judging the quality of the laser radar signal based on the quality fraction of the laser radar signal by adopting a laser radar set threshold value to obtain a quality judgment result of the laser radar signal, wherein the quality judgment result of the laser radar signal is the primary quality of the laser radar, the secondary quality of the laser radar or the tertiary quality of the laser radar; Judging the quality of the camera signal based on the quality fraction of the camera signal by adopting a camera set threshold value to obtain a quality judgment result of the camera signal, wherein the quality judgment result of the camera signal is the first-stage quality of the camera, the second-stage quality of the camera or the third-stage quality of the camera; If the quality judgment result of the laser radar signal is the primary quality of the laser radar and the quality judgment result of the camera signal is the primary quality of the camera, the quality judgment result of the airborne sensor signal is the primary quality; The method comprises the steps of judging whether a quality judgment result of a laser radar signal is a first-level quality of the laser radar signal and judging whether the quality judgment result of a camera signal is a second-level quality of the camera signal, if the quality judgment result of the laser radar signal is the second-level quality of the laser radar signal and judging whether the quality judgment result of the camera signal is the first-level quality of the camera signal, judging whether the quality judgment result of the camera signal is the second-level quality of the laser radar signal and judging whether the quality judgment result of the camera signal is the second-level quality of the camera signal; And if the quality judgment result of the laser radar signal is the three-level quality of the laser radar or the quality judgment result of the camera signal is the three-level quality of the camera, the quality judgment result of the airborne sensor signal is the three-level quality.
5. The unmanned aerial vehicle-mounted sensor and GNSS RTK positioning seamless switching method of claim 3, wherein a point cloud matching residual of a radar point cloud, a consistency score of point cloud registration, and local geometric anisotropy are determined based on laser radar signal data; Using the formula Determining the quality fraction of the lidar signal, wherein, Representing the mass fraction of the lidar signal, 、、 As the weight coefficient of the light-emitting diode, , A consistency score representing the point cloud registration, Represents a point cloud matching residual error and, Representing the local geometrical anisotropy of the material, Representing normalization based on a logic function.
6. The unmanned aerial vehicle-mounted sensor and GNSS RTK positioning seamless switching method of claim 3, wherein the camera signal data comprises image data; Using the formula Determining a quality fraction of the camera signal, wherein, Representing the quality score of the camera signal, 、、 As the weight coefficient of the light-emitting diode, , The number of feature points representing the image is indicated, The number of feature points is represented as a normalized constant, The rate of the interior points is indicated, Representing the illumination score of the image.
7. The seamless switching method for positioning of an onboard sensor and a GNSS RTK of an unmanned aerial vehicle according to claim 1, wherein the positioning of the unmanned aerial vehicle by using a fusion positioning mode of the GNSS RTK and the onboard sensor includes: And taking the GNSS RTK and the airborne sensor as independent measuring sources under the same coordinate system, respectively acquiring the pose, and fusing the pose of the GNSS RTK and the pose of the airborne sensor by adopting an extended Kalman filter to obtain a fused positioning result of the GNSS RTK and the airborne sensor.
8. The seamless switching method for positioning an unmanned aerial vehicle on-board sensor and a GNSS RTK according to claim 7, wherein the process of directly fusing the pose of the GNSS RTK and the pose of the on-board sensor by adopting extended Kalman filtering comprises the following steps: determining whether the quality fraction of the GNSS RTK signal meets an RTK setting condition; if the RTK setting condition is met, updating by adopting the pose of the GNSS RTK in an extended Kalman filtering updating stage, and updating by adopting the pose of the airborne sensor to obtain a fusion positioning result of the GNSS RTK and the airborne sensor; And if the RTK setting condition is not met, updating by adopting the pose of the airborne sensor in an extended Kalman filtering updating stage, and updating by adopting the pose of the GNSS RTK to obtain a fusion positioning result of the GNSS RTK and the airborne sensor.
9. An unmanned aerial vehicle on-board sensor and GNSS RTK location seamless switching system, characterized by comprising: The GNSS receiver unit is used for receiving GNSS signals in real time and obtaining GNSS RTK signal data based on the GNSS signals; The airborne sensor unit is used for acquiring signal data of the airborne sensor in real time; The system comprises a GNSS receiver unit, an airborne sensor unit, a signal processing unit, an airborne sensor signal processing unit and an airborne sensor signal processing unit, wherein the GNSS receiver unit is respectively connected with the airborne sensor unit, the signal processing unit is used for determining the mass fraction of the GNSS RTK signal based on the GNSS RTK signal data, and determining the mass fraction of the airborne sensor signal based on the airborne sensor signal data; The positioning mode switching unit is respectively connected with the GNSS receiver unit, the airborne sensor unit and the signal processing unit and is used for switching the positioning mode based on the quality judgment result of the GNSS RTK signal and the quality judgment result of the airborne sensor signal, and selecting the GNSS receiver unit and/or the airborne sensor unit to position the unmanned aerial vehicle based on the positioning mode.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the unmanned aerial vehicle on-board sensor and GNSS RTK positioning seamless handover method of any of claims 1-8.

Description

Seamless switching method, system and equipment for positioning of unmanned aerial vehicle on-board sensor and GNSS RTK Technical Field The application relates to the technical field of multi-sensor information fusion and navigation positioning, in particular to a seamless switching method, system and equipment for positioning an unmanned aerial vehicle-mounted sensor and a GNSS RTK. Background When the unmanned aerial vehicle performs tasks such as inspection, mapping, emergency rescue and the like, the unmanned aerial vehicle usually depends on a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS), particularly a Real-time dynamic differential (Real-TIME KINEMATIC, RTK) technology to obtain the global positioning accuracy of centimeter level. However, GNSS RTK positioning accuracy can significantly decrease, even completely lose, signals in urban canyons, under-forest environments, tunnels, indoors, etc. where shadowing or multipath interference is severe, resulting in an inability of the drone to continue to perform autonomous navigation tasks. In order to improve positioning robustness of the GNSS RTK technology in a signal limited environment, related research often adopts an on-board sensor (such as an inertial measurement unit (Inertial Measurement Unit, IMU), a laser radar, a camera, etc.) to perform fusion positioning. The autonomous positioning method based on the sensor fusion can keep higher positioning precision in a short time and does not depend on external signals. However, due to lack of global position constraints, such methods inevitably generate accumulated drift during long-term operation, thereby reducing navigation accuracy. In related researches, a system combining multi-sensor fusion and GNSS RTK mostly adopts a fixed fusion proportion or a simple priority switching strategy, when GNSS signal quality fluctuates, the problems of frequent switching, positioning mutation or delay switching and the like easily occur, so that a navigation track is discontinuous, and even abnormal flight control is caused. The partial system lacks of real-time evaluation of GNSS signal quality, fusion positioning error and environmental characteristics, and cannot intelligently decide an optimal positioning source according to the current task scene, so that the positioning accuracy and stability are insufficient in a complex environment. Disclosure of Invention The application aims to provide a seamless switching method, system and equipment for positioning an unmanned aerial vehicle sensor and a GNSS RTK, which can realize stable and seamless switching of two positioning modes. In order to achieve the above object, the present application provides the following solutions: In a first aspect, the present application provides a seamless handover method for positioning an unmanned aerial vehicle on-board sensor and a GNSS RTK, including: acquiring GNSS RTK signal data in real time; determining a quality fraction of the GNSS RTK signal based on the GNSS RTK signal data; Judging the quality of the GNSS RTK signal based on the quality fraction of the GNSS RTK signal by adopting an RTK set threshold value to obtain a quality judgment result of the GNSS RTK signal, wherein the quality judgment result of the GNSS RTK signal is RTK primary quality, RTK secondary quality or RTK tertiary quality; acquiring signal data of an airborne sensor in real time; Determining a mass fraction of the on-board sensor signal based on the on-board sensor signal data; Judging the quality of the airborne sensor signal based on the quality score of the airborne sensor signal by adopting an airborne sensor set threshold value to obtain a quality judgment result of the airborne sensor signal, wherein the quality judgment result of the airborne sensor signal is primary quality, secondary quality or tertiary quality; if the quality judgment result of the GNSS RTK signal is RTK second-level quality, and the quality judgment result of the airborne sensor signal is third-level quality, the unmanned aerial vehicle is positioned by adopting the GNSS RTK positioning mode; If the quality judgment result of the GNSS RTK signal is RTK secondary quality and the quality judgment result of the airborne sensor signal is primary quality or secondary quality, the unmanned aerial vehicle adopts a GNSS RTK and airborne sensor fusion positioning mode for positioning; and if the quality judgment result of the GNSS RTK signal is RTK three-level quality, the unmanned aerial vehicle is positioned by adopting an airborne sensor positioning mode. In one embodiment, the GNSS RTK signal data includes a number of satellites of a GNSS, a position accuracy factor, a carrier-to-noise ratio, and an RTK solution state; Using the formula Determining a quality score of the GNSS RTK signal based on the GNSS RTK signal data, wherein,Representing the quality fraction of the GNSS RTK signal,Representing the number of satellites of the GNSS,The positi