Systems and methods for positioning of uav

Abstract

A method for tracking a target object using a tracking device includes obtaining an estimated location of a target object and a correction measurement, determining, according to the estimated location of the target object and the correction measurement, a corrected location of the target object and a corrected location of the tracking device, determining, based on the corrected location of the target object and the corrected location of the tracking device, a position of the tracking device relative to the target object, and adjusting, according to a predetermined distance between the tracking device and the target object, the position of the tracking device relative to the target object such that the position of the tracking device relative to the target object satisfies the predetermined distance.

What is claimed is: 
     
         1 . A method for tracking a target object using a tracking device, comprising:
 obtaining an estimated location of a target object and a correction measurement;   determining, according to the estimated location of the target object and the correction measurement, a corrected location of the target object and a corrected location of the tracking device;   determining, based on the corrected location of the target object and the corrected location of the tracking device, a position of the tracking device relative to the target object; and   adjusting, according to a predetermined distance between the tracking device and the target object, the position of the tracking device relative to the target object such that the position of the tracking device relative to the target object satisfies the predetermined distance.   
     
     
         2 . The method according to  claim 1 , wherein the predetermined distance is measured between a first predetermined point on the tracking device and a second predetermined point on the target object. 
     
     
         3 . The method according to  claim 2 , wherein the predetermined distance includes a horizontal distance component and a vertical distance component, wherein:
 the horizontal distance component is a length of a vertical line extending from the tracking device and intersecting with a horizontal plane of the target object; and   the vertical distance component is a length of a horizontal line extending from the target object and intersecting with a vertical plane of the tracking device.   
     
     
         4 . The method according to  claim 1 , wherein:
 the estimated location of the target object is determined based on global navigation satellite system (GNSS) signals received at the target object, and   the estimated location of the tracking device is determined based on GNSS signals received at the mobile tracking device.   
     
     
         5 . The method according to  claim 1 , wherein obtaining the correction measurement includes determining a spatial difference between an estimated location of a base station and a known location of the base station as the correction measurement. 
     
     
         6 . The method according to  claim 5 , wherein the base station includes a receiver configured to receive GNSS signals. 
     
     
         7 . The method according to  claim 1 , wherein adjusting the position of the tracking device relative to the target object includes adjusting a movement characteristic of the tracking device or the target object. 
     
     
         8 . The method according to  claim 7 , wherein:
 the movement characteristic of the tracking device includes at least one of: an attitude, an instantaneous position, a velocity, or an acceleration of the tracking device; and   the movement characteristic of the target object includes at least one of: an attitude, an instantaneous position, a velocity, or an acceleration of the target object.   
     
     
         9 . The method according to  claim 1 , further comprising:
 capturing a plurality of image frames while at least one of the target object or the tracking device is in motion.   
     
     
         10 . The method according to  claim 9 , further comprising:
 determining a position of at least one of the tracking device or the target object by comparing the plurality of image frames to one another such that the position of the tracking device relative to the target object satisfies the predetermined distance.   
     
     
         11 . A positioning system, comprising:
 a tracking device configured to obtain an estimated location of a target object; and   a base station configured to:
 determine a correction measurement; 
 determine, according to the estimated location of the target object and the correction measurement, a corrected location of the target object and a corrected location of the tracking device; 
 determine, based on the corrected location of the target object and the corrected location of the tracking device, a position of the tracking device relative to the target object; and 
 adjust, according to a predetermined distance between the tracking device and the target object, the position of the tracking device relative to the target object such that the position of the tracking device relative to the target object satisfies the predetermined distance. 
   
     
     
         12 . The positioning system according to  claim 11 , wherein the predetermined distance is measured between a first predetermined point on the tracking device and a second predetermined point on the target object. 
     
     
         13 . The positioning system according to  claim 12 , wherein the predetermined distance includes a horizontal distance component and a vertical distance component, wherein:
 the horizontal distance component is a length of a vertical line extending from the tracking device and intersecting with a horizontal plane of the target object; and   the vertical distance component is a length of a horizontal line extending from the target object and intersecting with a vertical plane of the tracking device.   
     
     
         14 . The positioning system according to  claim 11 , wherein:
 the estimated location of the target object is determined based on global navigation satellite system (GNSS) signals received at the target object, and   the estimated location of the tracking device is determined based on GNSS signals received at the mobile tracking device.   
     
     
         15 . The positioning system according to  claim 11 , wherein the base station is further configured to determine a spatial difference between an estimated location of a base station and a known location of the base station as the correction measurement. 
     
     
         16 . The positioning system according to  claim 15 , wherein the base station includes a receiver configured to receive GNSS signals. 
     
     
         17 . The positioning system according to  claim 11 , wherein the base station is further configured to adjust a movement characteristic of the tracking device or the target object. 
     
     
         18 . The positioning system according to  claim 17 , wherein:
 the movement characteristic of the tracking device includes at least one of: an attitude, an instantaneous position, a velocity, or an acceleration of the tracking device; and   the movement characteristic of the target object includes at least one of: an attitude, an instantaneous position, a velocity, or an acceleration of the target object.   
     
     
         19 . The positioning system according to  claim 1 , further comprising:
 a camera configured to capture a plurality of image frames while at least one of the target object or the tracking device is in motion.   
     
     
         20 . The positioning system according to  claim 19 , wherein a position of at least one of the tracking device or the target object is determined by comparing the plurality of image frames to one another such that the position of the tracking device relative to the target object satisfies the predetermined distance.