Unmanned aerial vehicle location method, device and system based on ultra wideband as well as storage medium

Abstract

The invention discloses an unmanned aerial vehicle location method, device and system based on ultra wideband as well as a computer readable storage medium. The method comprises the following steps: acquiring a corresponding original measured distance value of each base station and a tag output by UWB equipment; performing calibration processing on each original measured distance value according to a preset calibration method, so that actual distance values in one-to-one correspondence with all the original measured distance values are obtained; and processing each corresponding actual distance value of the tag and each base station by adopting an extended Kalman filter method, so that location information of the tag is obtained. The method disclosed by the invention performs calibration on each acquired original measured distance value, a more accurate distance value can be obtained, each corresponding actual distance value of the tag and each base station is processed by adopting theextended Kalman filter method, compared with a method in the prior art, tag location precision can be improved, and an output frequency is high and antijamming capability is strong, so that locationon a tag moving at a high speed can be beneficially realized.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of UAV positioning, and in particular, relate to an ultra-bandwidth-based UAV positioning method, device, system, and computer-readable storage medium. Background technique [0002] With the development of the times and the needs of the industry, drones are being used in more and more fields. Because of its small size, high flexibility, low cost, and easy maintenance, it has attracted attention. It can work in various restricted environments, whether it is jungle, underground or indoor environment, so it is used in such as: electricity, oil pipelines, photovoltaics, UAVs can be seen in various fields such as inspection tasks, search and arrest of fugitives, security tasks, terrain detection, emergency rescue, forest fire prevention, and environmental monitoring in warehousing and other scenarios. [0003] UAVs usually rely on GPS to provide positioning information outdoors, but when UA...

AI Technical Summary

Problems solved by technology

However, on the one hand, due to the existence of environmental interference, the ranging value output by the UWB device based on the TOF algorithm is unstable; , and the positioning of tags moving at high speeds cannot be realized, so the positioning accuracy of the existing UAV positioning methods is low, and the scope of application is limited

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