Heading determining method and device, storage medium, and moving platform

Abstract

A heading determining method and device, a storage medium, and a moving platform. The heading determining method comprises: obtaining the current measurement length of the baseline of a dual RTK antenna assembly and a currently measured heading (S302); determining whether the current measured heading is a trusted heading according to the current measurement length of the baseline of the dual RTK antenna assembly (S304); if not, repeating the steps above; and if yes, outputting the currently measured heading (S306). The method further improves the accuracy of determining the credibility of a measured heading, thereby improving the accuracy and reliability of a moving platform performing flight operation according to the measured heading.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of control, and in particular, relate to a heading determination method, a heading determination device, a computer-readable storage medium, and a movable platform. Background technique [0002] Since the last century, extensive research has been carried out in the fields of satellite positioning and directional attitude measurement at home and abroad. Compared with other directional attitude measurement systems, it has the advantages of low cost, small size, high precision and stability. , the mainstream directional attitude measurement technology is based on carrier information phase difference technology, carrier information phase difference technology, also known as RTK (RealTime Kinematic) technology, is based on real-time processing of carrier information phase of two measuring stations, it can Provide real-time three-dimensional coordinates of observation points, and achieve ...

AI Technical Summary

Problems solved by technology

[0004] In related technologies, the measurement course output by the positioning board developed based on RTK technology (hereinafter referred to as RTK board) is fed back to the flight controller of the movable platform, and the flight controller adjusts the flight trajectory in real time according to the measurement course. Therefore, the measurement course The accuracy of the mobile platform determines the accuracy of the flight trajectory of the movable platform. However, it is impossible to judge whether the measured heading output by the RTK board is credible. This may cause the movable platform to deviate from the preset flight trajectory or even lose it, causing serious economic loss

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