CN106908822A - Unmanned plane positioning changing method, device and unmanned plane - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle positioning switching method, a device and an unmanned aerial vehicle, and relates to the field of unmanned aerial vehicles. Wherein by detecting the current height of the UAV, if the current height is within the range greater than the first threshold and less than the second threshold, the first position information provided by GPS and the second position information provided by the auxiliary positioning system Weighting processing is performed to serve as the position information of the drone, wherein the first threshold value is smaller than the second threshold value. By fusing the data of GPS positioning and assisted positioning within a predetermined range, it helps the positioning data used by the drone to transition smoothly before and after the switching of the positioning mode, thereby ensuring the positioning accuracy while avoiding large jitters in the positioning data. The flight safety of the UAV is ensured.

Description

Unmanned aerial vehicle positioning switching method, device and unmanned aerial vehicle

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a positioning switching method and device for an unmanned aerial vehicle and an unmanned aerial vehicle.

Background technique

Traditional UAV positioning is usually implemented by GPS (Global Positioning System, Global Positioning System) positioning. However, in places relatively close to the ground (such as drone takeoff and landing points), GPS signals are easily blocked by surrounding objects, resulting in inaccurate positioning. Even if the differential GPS technology with high precision is used, this problem cannot be avoided. Therefore, only relying on GPS positioning cannot meet the positioning requirements of UAVs.

With the development of indoor wireless positioning technology, its accuracy can reach centimeter level. Therefore, high-precision positioning services can be provided when the drone is near the take-off and landing point.

At present, when the UAV uses the auxiliary positioning system, it usually adopts a simple switching method, that is, the auxiliary positioning system is used below a certain set height, and the GPS positioning is used above the height. However, since there is a certain deviation between GPS positioning and assisted positioning, the positioning data used by the UAV will jitter greatly before and after this switching method is adopted, which brings great risks to the flight safety of the UAV. Hidden danger.

Contents of the invention

Embodiments of the present invention provide a UAV positioning switching method, device, and UAV. By merging GPS positioning and auxiliary positioning data within a predetermined range, it is helpful to use the UAV before and after switching the positioning mode. The positioning data is smooth and excessive, so as to ensure the positioning accuracy while avoiding large jitter of the positioning data, ensuring the flight safety of the drone.

According to one aspect of the present invention, there is provided a method for positioning switching of drones, including:

Detect the current altitude of the drone;

If the current height is within the range greater than the first threshold value and less than the second threshold value, the first position information provided by the global positioning system GPS and the second position information provided by the assisted positioning system are weighted to be used as The location information of the man-machine, wherein the first threshold value is smaller than the second threshold value.

In one embodiment, if the current altitude is not greater than the first threshold value, the second location information provided by the auxiliary positioning system is used as the location information of the drone.

In one embodiment, if the current altitude is not less than the second threshold value, the first location information provided by the GPS is used as the location information of the drone.

In one embodiment, performing weighting processing on the first position information provided by the global positioning system GPS and the second position information provided by the assisted positioning system includes:

determining a first positioning weight of the first position information provided by the GPS and a second positioning weight of the second position information provided by the assisted positioning system;

A weighted sum of the first position information and the second position is calculated by using the first positioning weight and the second positioning weight.

In one embodiment, determining the first positioning weight of the first location information provided by the GPS and the second positioning weight of the second location information provided by the auxiliary positioning system includes:

Calculate GPS positioning error;

Using the GPS positioning error to obtain a normalized first positioning accuracy;

Obtaining a normalized second positioning accuracy by using the signal quality information of the second position information provided by the assisted positioning system;

Using the ratio of the first positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy as the first positioning weight;

The ratio of the second positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the second positioning weight.

In one embodiment, calculating the GPS positioning error includes:

Receive the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock error precision factor from the satellite;

The arithmetic square root of the square sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock error precision factor is taken as the GPS positioning error.

In one embodiment, using the GPS positioning error to obtain the normalized first positioning accuracy includes:

The reciprocal of the GPS positioning error is normalized to obtain a normalized first positioning accuracy.

According to another aspect of the present invention, there is provided a UAV positioning switching device, comprising:

An information receiving module, configured to receive the first location information provided by the global positioning system GPS and the second location information provided by the assisted positioning system;

The height detection module is used to detect the current height of the drone;

An altitude identification module, configured to determine whether the current altitude is within a range greater than the first threshold and less than the second threshold, wherein the first threshold is less than the second threshold;

The first positioning module is used to use the first position information provided by the global positioning system GPS and the auxiliary The second position information provided by the positioning system is weighted and used as the position information of the drone.

In one embodiment, the second positioning module is configured to use the second position information provided by the auxiliary positioning system as the position information of the drone if the current height is not greater than the first threshold value according to the judgment result of the height identification module .

In one embodiment, the third positioning module is configured to use the first location information provided by GPS as the location information of the drone if the current altitude is not less than the second threshold according to the judgment result of the altitude identification module.

In one embodiment, the first positioning module includes:

a weight determining unit, configured to determine a first positioning weight of the first position information provided by the GPS and a second positioning weight of the second position information provided by the auxiliary positioning system;

A weighted sum calculation unit, configured to use the first positioning weight and the second positioning weight to calculate the weighted sum of the first position information and the second position.

In one embodiment, the weight determination unit specifically calculates the GPS positioning error, uses the GPS positioning error to obtain the normalized first positioning accuracy, and uses the signal quality information of the second position information provided by the auxiliary positioning system to obtain the normalized second For positioning accuracy, the ratio of the first positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the first positioning weight, and the ratio of the second positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the second Positioning weight.

In one embodiment, the weight determination unit specifically receives the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock difference precision factor from the satellite, and the square sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock difference precision factor The arithmetic square root of is used as the GPS positioning error.

In one embodiment, the weight determination unit specifically performs a normalization operation on the reciprocal of the GPS positioning error to obtain a normalized first positioning accuracy.

According to another aspect of the present invention, there is provided a UAV positioning switching device, comprising:

storage; and

A processor coupled to the memory, and the processor is configured to execute the UAV positioning switching method according to any one of the above embodiments based on the instructions stored in the memory.

According to another aspect of the present invention, there is provided a drone, including the drone positioning switching device according to any one of the above embodiments.

According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the UAV positioning switching method involved in any of the above embodiments is implemented.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic diagram of an embodiment of the UAV positioning switching method of the present invention.

Fig. 2 is a schematic diagram of another embodiment of the UAV positioning switching method according to the present invention.

Fig. 3 is a schematic diagram of an embodiment of the weighting process of the present invention.

Fig. 4 is a schematic diagram of an embodiment of the UAV positioning switching device of the present invention.

Fig. 5 is a schematic diagram of another embodiment of the UAV positioning switching device of the present invention.

Fig. 6 is a schematic diagram of an embodiment of the first positioning module of the present invention.

Fig. 7 is a schematic diagram of another embodiment of the UAV positioning switching device of the present invention.

Fig. 8 is a schematic diagram of an embodiment of the drone of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification.

In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

Fig. 1 is a schematic diagram of an embodiment of the UAV positioning switching method of the present invention. Optionally, the method steps of this embodiment may be performed by the UAV positioning switching device. in:

Step 101, detecting the current height of the drone.

For example, a drone can determine its current altitude from a positioning signal. Since how to determine the current height of the UAV is not the point of the invention of the present invention, it will not be described here.

Step 102, if the current height is within the range greater than the first threshold and less than the second threshold, weighting the first position information provided by the global positioning system GPS and the second position information provided by the assisted positioning system, as the position information of the drone, wherein the first threshold value is smaller than the second threshold value.

Wherein, the auxiliary positioning system may be a wireless positioning system, such as a Bluetooth positioning system, a wireless local area network positioning system, or a narrow bandwidth positioning system. The assisted positioning system can also be a visual assisted positioning system.

For example, weighting processing can be performed according to formula (1).

P=Qg×Pg+Qw×Pw(1)

Among them, P represents the position of the UAV after weighting processing, Pg represents the first position information provided by GPS, Pw represents the second position information provided by the auxiliary positioning system, Qg represents the positioning weight of GPS, and Qw represents the positioning of the auxiliary positioning system Weights.

Based on the UAV positioning switching method provided by the above-mentioned embodiments of the present invention, by performing data fusion of GPS positioning and assisted positioning within a predetermined range, the positioning data used by the UAV before and after switching the positioning mode is facilitated. Therefore, while ensuring the positioning accuracy, large jitter of the positioning data is avoided, and the flight safety of the UAV is ensured.

Fig. 2 is a schematic diagram of another embodiment of the UAV positioning switching method according to the present invention. Optionally, the method steps of this embodiment may be performed by the UAV positioning switching device. in:

Step 201, detecting the current altitude of the drone.

Step 202, judging whether the current altitude is greater than a first threshold. If the current altitude is not greater than the first threshold value, execute step 203; if the current altitude is greater than the first threshold value, execute step 204.

Step 203, using the second location information provided by the auxiliary positioning system as the location information of the drone.

Step 204, judging whether the current height is less than a second threshold. Wherein the first threshold value is smaller than the second threshold value. If the current altitude is not less than the second threshold value, execute step 205; if the current altitude is less than the second threshold value, execute step 206.

Step 205, using the first location information provided by the GPS as the location information of the drone.

Step 206 , weighting the first position information provided by the GPS and the second position information provided by the auxiliary positioning system to be the position information of the drone.

The steps of weighting the first location information provided by the global positioning system GPS and the second location information provided by the auxiliary positioning system are shown in FIG. 3 .

Step 301, determining a first positioning weight of the first position information provided by the GPS and a second positioning weight of the second position information provided by the auxiliary positioning system.

Optionally, by calculating the GPS positioning error, the normalized first positioning accuracy can be obtained by using the GPS positioning error; and the normalized second positioning accuracy can be obtained by using the signal quality information of the second position information provided by the auxiliary positioning system.

For example, the reciprocal of the GPS positioning error may be normalized to obtain a normalized first positioning accuracy.

For example, the horizontal component positioning precision factor, the vertical component positioning precision factor, and the clock error precision factor can be received from the satellite, and the arithmetic square root of the square sum of the horizontal component positioning precision factor, the vertical component positioning precision factor, and the clock error precision factor can be used as the GPS positioning error .

The ratio of the first positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the first positioning weight, and the ratio of the second positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the second positioning weight.

Step 302, using the first positioning weight and the second positioning weight to calculate a weighted sum of the first position information and the second position.

For example, UAVs can obtain HDOP (horizontal dilution of precision, horizontal component precision factor), VDOP (vertical dilution of precision, vertical component positioning precision factor) and TDOP (time dilution of precision) clock error precision factor from satellites. Among them, HDOP represents the positioning error of the GPS system in the horizontal direction, VDOP represents the positioning error of the GPS system in the vertical direction, and TDOP represents the offset error of the UAV timetable. The UAV calculates PDOP (position dilution of precision, three-dimensional position precision factor) according to the formula (2), and further calculates the GPS positioning error GDOP according to the formula (3), that is, the horizontal component positioning precision factor, the vertical component positioning precision factor and The arithmetic square root of the sum of the squares of clock error precision factors is regarded as the GPS positioning error, among which, GDOP can reflect the positioning accuracy of GPS.

HDOP ² +VDOP ² = PDOP ² (2)

PDOP ² + TDOP ² = GDOP ² (3)

By taking the reciprocal of GDOP and normalizing it, the normalized GPS positioning accuracy G' is obtained. In addition, the UAV performs a normalization operation on the signal quality information of the auxiliary positioning system to obtain the normalized auxiliary positioning accuracy R′.

Next, the positioning weight Qg of the GPS and the positioning weight Qw of the auxiliary positioning system can be determined according to formula (4) and formula (5).

Qg=G'/(G'+R') (4)

Qw=R'/(G'+R') (5)

It can be seen from the above formula that the positioning weight Qg of GPS and the positioning weight Qw of the auxiliary positioning system will change with the change of the normalized GPS positioning accuracy G′ and the normalized auxiliary positioning accuracy R′.

For example, during the take-off process of the UAV, the signal strength of the auxiliary positioning system near the ground is relatively strong, and the location accuracy provided is high, so the positioning weight Qw is relatively large. As the height of the UAV from the ground increases, the signal of the auxiliary positioning system gradually weakens, and the reliability decreases. Relatively speaking, as the environment gradually becomes more open, the GPS signal quality gradually improves, and the GPS positioning weight Qg increases. When the drone reaches a certain altitude, it can smoothly transition to GPS positioning only. Therefore, along with the take-off process of the UAV, the process of gradually switching from the auxiliary positioning system to GPS has been realized. Conversely, the weight of the auxiliary positioning system will gradually increase during the landing process. After the drone is lower than the predetermined height, it will smoothly transition to only using the auxiliary positioning system for positioning.

As a result, the positioning data used by the UAV can be smoothly transitioned before and after the switching of the positioning mode, thereby ensuring the positioning accuracy while avoiding large jitters in the positioning data and ensuring the flight safety of the UAV.

According to actual statistics, the method provided in this embodiment can significantly improve the positioning accuracy of the drone. The ideal positioning accuracy of the drone can reach within 10 cm, and the average positioning accuracy can reach within 20 cm.

Fig. 4 is a schematic diagram of an embodiment of the UAV positioning switching device of the present invention. Wherein, the drone positioning switching device may include an information receiving module 401, a height detection module 402, a height identification module 403 and a first positioning module 404, wherein:

The information receiving module 401 is used for receiving the first location information provided by the global positioning system GPS and the second location information provided by the auxiliary positioning system.

The altitude detection module 402 is used to detect the current altitude of the drone.

The altitude identification module 403 is used to determine whether the current altitude is within a range greater than a first threshold and less than a second threshold, wherein the first threshold is smaller than the second threshold.

The first positioning module 404 is configured to use the first position information provided by the global positioning system GPS and The second position information provided by the auxiliary positioning system is weighted and used as the position information of the drone.

Based on the UAV positioning switching device provided by the above-mentioned embodiments of the present invention, by performing data fusion of GPS positioning and auxiliary positioning within a predetermined range, it helps to smooth the positioning data used by the UAV before and after switching the positioning mode, Therefore, while ensuring the positioning accuracy, large jitter of the positioning data is avoided, and the flight safety of the UAV is ensured.

Fig. 5 is a schematic diagram of another embodiment of the UAV positioning switching device of the present invention. Compared with the embodiment shown in Figure 4, in the embodiment shown in Figure 5, in addition to including the information receiving module 501, the height detection module 502, the height identification module 503 and the first positioning module 504, it also includes a second positioning module 505 and a third positioning module 506. in:

The second positioning module 505 is configured to use the second position information provided by the auxiliary positioning system as the position information of the drone if the current height is not greater than the first threshold according to the judgment result of the height identification module 503 .

The third positioning module 506 is configured to use the first location information provided by GPS as the location information of the drone if the current altitude is not less than the second threshold according to the judgment result of the altitude identification module 503 .

As shown in FIG. 6, in the above embodiment, the first positioning module 404, 504 may further include a weight determination unit 601 and a weighted sum calculation unit 602, wherein:

The weight determining unit 601 is configured to determine a first positioning weight of the first position information provided by the GPS and a second positioning weight of the second position information provided by the auxiliary positioning system.

Optionally, the weight determination unit 601 specifically calculates the GPS positioning error, uses the GPS positioning error to obtain the normalized first positioning accuracy, and uses the signal quality information of the second position information provided by the auxiliary positioning system to obtain the normalized second positioning Accuracy, the ratio of the first positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the first positioning weight, and the ratio of the second positioning accuracy to the sum of the first positioning accuracy plus the second positioning accuracy is used as the second positioning Weights.

Among them, the weight determination unit 601 can receive the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock difference precision factor from the satellite, and calculate the arithmetic square root of the square sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and the clock difference precision factor as GPS positioning error.

In addition, the weight determining unit 601 may also perform a normalization operation on the reciprocal of the GPS positioning error to obtain a normalized first positioning accuracy.

The weighted sum calculation unit 602 is configured to calculate a weighted sum of the first position information and the second position by using the first positioning weight and the second positioning weight.

Fig. 7 is a schematic diagram of another embodiment of the UAV positioning switching device of the present invention. As shown in FIG. 7 , the drone positioning switching device includes a memory 701 and a processor 702 . in:

The memory 701 is used to store instructions, and the processor 702 is coupled to the memory 701 , and the processor 702 is configured to implement the method involved in any one of the embodiments shown in FIG. 1 to FIG. 3 based on executing instructions stored in the memory.

As shown in FIG. 7 , the apparatus for extracting book outlines also includes a communication interface 703 for information exchange with other devices. Meanwhile, the device also includes a bus 704 , and the processor 702 , the communication interface 703 , and the memory 701 communicate with each other through the bus 704 .

The memory 701 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. Memory 701 may also be a memory array. The storage 701 may also be divided into blocks, and the blocks can be combined into virtual volumes according to certain rules.

In addition, the processor 702 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

Fig. 8 is a schematic diagram of an embodiment of the drone of the present invention. As shown in FIG. 8 , the drone 801 includes a drone positioning switching device 802 , wherein the drone positioning switching device 802 is the drone positioning switching device involved in any one of the embodiments in FIGS. 4-7 .

The present invention also includes a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the UAV positioning switching method in any one of the foregoing embodiments is implemented.

By implementing the present invention, the GPS positioning and auxiliary positioning are fused within a predetermined range, thereby helping to smooth the positioning data used by the drone before and after the switching of the positioning mode, thereby avoiding positioning data while ensuring positioning accuracy. Large jitter occurs, which ensures the flight safety of the drone.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein .

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and changes will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to better explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention and design various embodiments with various modifications as are suited to the particular use.

Claims (17)

1. a kind of unmanned plane positions changing method, it is characterised in that including：

Detect the present level of unmanned plane；

If the present level is in the range of more than the first threshold value and less than the second threshold value, by global positioning system The second place information that the first position information and aided positioning system that GPS is provided are provided is weighted treatment, as institute The positional information of unmanned plane is stated, wherein the first threshold value is less than the second threshold value.

2. method according to claim 1, it is characterised in that

If the present level is not more than the first threshold value, the second place information that aided positioning system is provided is used as described The positional information of unmanned plane.

3. method according to claim 1, it is characterised in that

If the present level is not less than the second threshold value, using the first position information of GPS offers as the unmanned plane Positional information.

4. the method according to any one of claim 1-3, it is characterised in that

The second place information that the first position information and aided positioning system that global position system GPS is provided are provided is carried out Weighting treatment includes：

Determine that GPS provides first bit-weight and aided positioning system of first position information and provides second place information The second bit-weight；

Using the first bit-weight and the second bit-weight, the weighted sum of first position information and the second place is calculated.

5. method according to claim 4, it is characterised in that

Determine that GPS provides first bit-weight and aided positioning system of first position information and provides second place information The second bit-weight include：

Calculate GPS location error；

Normalized first positioning precision is obtained using GPS location error；

The signal quality information for providing second place information using aided positioning system obtains normalized second positioning precision；

First positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the first bit-weight；

Second positioning precision and the first positioning precision are added the ratio of the second positioning precision sum as the second bit-weight.

6. method according to claim 5, it is characterised in that

Calculating GPS location error includes：

From the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision；

By the arithmetic of the quadratic sum of the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision Square root is used as GPS location error.

7. method according to claim 5, it is characterised in that

Obtaining normalized first positioning precision using GPS location error includes：

The inverse of GPS location error is normalized operation, to obtain normalized first positioning precision.

8. a kind of unmanned plane positions switching device, it is characterised in that including：

Information receiving module, the first position information and aided positioning system provided for receiving world locational system GPS is carried The second place information of confession；

Height detection module, the present level for detecting unmanned plane；

Level identification module, for judging the present level whether more than the first threshold value and less than the model of the second threshold value In enclosing, wherein the first threshold value is less than the second threshold value；

First locating module, for the judged result according to level identification module, if the present level is more than the first thresholding Value and less than the second threshold value in the range of, then by global position system GPS provide first position information and auxiliary positioning The second place information that system is provided is weighted treatment, as the positional information of the unmanned plane.

9. device according to claim 8, it is characterised in that also include：

Second locating module, for the judged result according to level identification module, if the present level is not more than the first thresholding Value, then positional information of second place information aided positioning system being provided as the unmanned plane.

10. device according to claim 8, it is characterised in that also include：

3rd locating module, for the judged result according to level identification module, if the present level is not less than the second thresholding Value, then positional information of first position information GPS being provided as the unmanned plane.

11. device according to any one of claim 8-10, it is characterised in that the first locating module includes：

Weight determining unit, for determining that GPS provides first bit-weight and aided positioning system of first position information Second bit-weight of provided second place information；

Weighted sum computing unit, for utilizing the first bit-weight and the second bit-weight, calculates first position information and second The weighted sum of position.

12. devices according to claim 11, it is characterised in that

Weight determining unit specifically calculates GPS location error, and normalized first positioning precision is obtained using GPS location error, The signal quality information for providing second place information using aided positioning system obtains normalized second positioning precision, by the One positioning precision adds the ratio of the second positioning precision sum as the first bit-weight with the first positioning precision, by the second positioning accurate Degree adds the ratio of the second positioning precision sum as the second bit-weight with the first positioning precision.

13. devices according to claim 12, it is characterised in that

Weight determining unit is specifically from the satellite reception horizontal component positioning precision factor, the vertical component positioning precision factor and clock Difference dilution of precision, by the horizontal component positioning precision factor, the vertical component positioning precision factor and clock correction dilution of precision square The arithmetic square root of sum is used as GPS location error.

14. devices according to claim 12, it is characterised in that

The inverse of GPS location error is specifically normalized operation by weight determining unit, to obtain normalized first positioning Precision.

A kind of 15. unmanned plane positioning switching devices, it is characterised in that including：

Memory；And

The processor of the memory is coupled to, the processor is configured as the instruction in the memory based on storage, Perform the unmanned plane positioning changing method as any one of claim 1 to 7.

16. a kind of unmanned planes, it is characterised in that including the unmanned plane positioning switching dress as any one of claim 8-15 Put.

17. a kind of computer-readable recording mediums, it is characterised in that the computer-readable recording medium storage has computer to refer to Order, the instruction is when executed by realizing the unmanned plane positioning changing method as any one of claim 1 to 7.