The invention provides an indoor unmanned aerial vehicle positioning method based on a weighted least square method, a medium and an unmanned aerial vehicle. The indoor unmanned aerial vehicle positioning method comprises the following steps: step 1, obtaining distances between the unmanned aerial vehicle and a plurality of indoor fixed reference nodes and positions of the plurality of fixed reference nodes; 2, solving a priori estimated value of the coordinates of the unmanned aerial vehicle by adopting a least square method; 3, calculating a unit direction vector of the unmanned aerial vehicle relative to a fixed reference node, and solving the distance in a linearization manner; and 4, solving a posterior value of the coordinates of the unmanned aerial vehicle by adopting a weighted least square method. According to the invention, indoor precise three-dimensional positioning is carried out on the unmanned aerial vehicle in combination with the distance measurement information, and the coordinate information of the unmanned aerial vehicle is accurately obtained by using a small amount of calculation.
本发明提供基于加权最小二乘法的室内无人机定位方法、介质及无人机,其中方法包括:步骤一:获取无人机与室内多个固定参考节点的距离及多个固定参考节点的位置;步骤二:采用最小二乘法求取无人机坐标的先验估计值;步骤三:计算无人机相对固定参考节点的单位方向向量,并线性化求解距离;步骤四:采用加权最小二乘法求取无人机坐标的后验值。本发明结合测距信息对无人机进行室内精准三维定位,利用较少的计算量实现精确获取无人机的坐标信息。
Indoor unmanned aerial vehicle positioning method based on weighted least square method, medium and unmanned aerial vehicle
基于加权最小二乘法的室内无人机定位方法、介质及无人机
2023-10-27
Patent
Electronic Resource
Chinese
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