POSITIONING METHOD AND DEVICE OF UNMANNED AERIAL VEHICLE

1 . A positioning method of an unmanned aerial vehicle, comprising:

receiving position information provided by a global positioning system (GPS) and position information provided by an auxiliary positioning system;

determining a positioning weight of the GPS and a positioning weight of the auxiliary positioning system; and

calculating a position of the unmanned aerial vehicle in a weighted manner according to the position information provided by the GPS, the position information provided by the auxiliary positioning system, the positioning weight of the GPS and the positioning weight of the auxiliary positioning system.

2 . The positioning method of claim 1 , wherein said determining a positioning weight of the GPS and a positioning weight of the auxiliary positioning system comprises:

calculating a GPS positioning error;

taking a physical quantity in negative correlation with the GPS positioning error as a GPS positioning accuracy coefficient and taking a physical quantity in positive correlation with signal quality information of the auxiliary positioning system as an auxiliary positioning accuracy coefficient; and

determining the positioning weight of the GPS and the positioning weight of the auxiliary positioning system according to the GPS positioning accuracy coefficient and the auxiliary positioning accuracy coefficient.

3 . The positioning method of claim 2 , wherein

a normalization operation is performed after taking reciprocal of the GPS positioning error to obtain the GPS positioning accuracy coefficient;

a normalization operation is performed on the signal quality information of the auxiliary positioning system to obtain the auxiliary positioning accuracy coefficient.

4 . The positioning method of claim 2 , wherein said calculating a GPS positioning error comprises:

receiving horizontal dilution of precision, vertical dilution of precision and time dilution of precision from a satellite; and

taking an arithmetic square root of a sum of squares of the horizontal dilution of precision, the vertical dilution of precision and the time dilution of precision as the GPS positioning error.

5 . The positioning method of claim 1 , wherein the auxiliary positioning system is a wireless positioning system, and the signal quality information of the auxiliary positioning system is wireless signal quality information.

6 . The positioning method of claim 1 , wherein the auxiliary positioning system is a vision auxiliary positioning system, and the signal quality information of the auxiliary positioning system is image quality information of an image obtained by the unmanned aerial vehicle taking pictures of a ground.

7 . The positioning method of claim 5 , wherein the wireless positioning system comprises: a Bluetooth positioning system, a wireless local area network positioning system, and a narrow bandwidth positioning system.

8 - 14 . (canceled)

15 . A positioning device of an unmanned aerial vehicle, comprising:

a processer; and

memory coupled to the processor and storing instructions that when executed by the processor, cause the processor to:

receive position information provided by a global positioning system (GPS) and position information provided by an auxiliary positioning system;

determine a positioning weight of the GPS and a positioning weight of the auxiliary positioning system; and

calculate a position of the unmanned aerial vehicle in a weighted manner according to the position information provided by the GPS, the position information provided by the auxiliary positioning system, the positioning weight of the GPS and the positioning weight of the auxiliary positioning system.

16 . A non-transitory computer readable storage medium storing computer instructions which, when executed by a processor, cause the processor to:

receive position information provided by a global positioning system (GPS) and position information provided by an auxiliary positioning system;

determine a positioning weight of the GPS and a positioning weight of the auxiliary positioning system; and

calculate a position of the unmanned aerial vehicle in a weighted manner according to the position information provided by the GPS, the position information provided by the auxiliary positioning system, the positioning weight of the GPS and the positioning weight of the auxiliary positioning system.

17 . The positioning device of claim 15 , wherein determining a positioning weight of the GPS and a positioning weight of the auxiliary positioning system comprises:

calculating a GPS positioning error;

taking a physical quantity in negative correlation with the GPS positioning error as a GPS positioning accuracy coefficient and taking a physical quantity in positive correlation with signal quality information of the auxiliary positioning system as an auxiliary positioning accuracy coefficient; and

determining the positioning weight of the GPS and the positioning weight of the auxiliary positioning system according to the GPS positioning accuracy coefficient and the auxiliary positioning accuracy coefficient.

18 . The positioning device of claim 17 , wherein

a normalization operation is performed after taking reciprocal of the GPS positioning error to obtain the GPS positioning accuracy coefficient; and

a normalization operation is performed on the signal quality information of the auxiliary positioning system to obtain the auxiliary positioning accuracy coefficient.

19 . The positioning device of claim 17 , wherein calculating a GPS positioning error comprises:

receiving horizontal dilution of precision, vertical dilution of precision and time dilution of precision from a satellite; and

taking an arithmetic square root of a sum of squares of the horizontal dilution of precision, the vertical dilution of precision and the time dilution of precision as the GPS positioning error.

20 . The positioning device of claim 15 , wherein the auxiliary positioning system is a wireless positioning system, and the signal quality information of the auxiliary positioning system is wireless signal quality information.

21 . The positioning device of claim 15 , wherein the auxiliary positioning system is a vision auxiliary positioning system, and the signal quality information of the auxiliary positioning system is image quality information of an image obtained by the unmanned aerial vehicle taking pictures of a ground.

22 . The positioning device of claim 20 , wherein the wireless positioning system comprises:

a Bluetooth positioning system, a wireless local area network positioning system, and a narrow bandwidth positioning system.

23 . The non-transitory computer readable storage medium of claim 16 , wherein determining a positioning weight of the GPS and a positioning weight of the auxiliary positioning system comprises:

calculating a GPS positioning error;

taking a physical quantity in negative correlation with the GPS positioning error as a GPS positioning accuracy coefficient and taking a physical quantity in positive correlation with signal quality information of the auxiliary positioning system as an auxiliary positioning accuracy coefficient; and

determining the positioning weight of the GPS and the positioning weight of the auxiliary positioning system according to the GPS positioning accuracy coefficient and the auxiliary positioning accuracy coefficient.

24 . The non-transitory computer readable storage medium of claim 23 , wherein

a normalization operation is performed after taking reciprocal of the GPS positioning error to obtain the GPS positioning accuracy coefficient;

a normalization operation is performed on the signal quality information of the auxiliary positioning system to obtain the auxiliary positioning accuracy coefficient.

25 . The non-transitory computer readable storage medium of claim 23 , wherein calculating a GPS positioning error comprises:

receiving horizontal dilution of precision, vertical dilution of precision and time dilution of precision from a satellite; and

taking an arithmetic square root of a sum of squares of the horizontal dilution of precision, the vertical dilution of precision and the time dilution of precision as the GPS positioning error.

26 . The non-transitory computer readable storage medium of claim 16 , wherein the auxiliary positioning system is a wireless positioning system, and the signal quality information of the auxiliary positioning system is wireless signal quality information.

27 . The non-transitory computer readable storage medium of claim 16 , wherein the auxiliary positioning system is a vision auxiliary positioning system, and the signal quality information of the auxiliary positioning system is image quality information of an image obtained by the unmanned aerial vehicle taking pictures of a ground.