US 11,798,423 B2
Drone and positioning method thereof, drone communication system and operation method thereof
Cheng-Shen Lee, Hsin-Chu (TW); Chih-Neng Tseng, Hsin-Chu (TW); and Kuan-Chou Ko, Hsin-Chu (TW)
Assigned to Coretronic Intelligent Robotics Corporation, Hsin-Chu (TW)
Filed by Coretronic Intelligent Robotics Corporation, Hsin-Chu (TW)
Filed on Sep. 15, 2020, as Appl. No. 17/20,813.
Claims priority of application No. 201910924110.X (CN), filed on Sep. 27, 2019.
Prior Publication US 2021/0097868 A1, Apr. 1, 2021
Int. Cl. G08G 5/00 (2006.01); H04B 17/318 (2015.01); B64C 39/02 (2023.01); H04W 24/02 (2009.01); H04W 4/40 (2018.01); H04L 5/00 (2006.01); B64U 50/19 (2023.01)
CPC G08G 5/0013 (2013.01) [B64C 39/024 (2013.01); G08G 5/0069 (2013.01); H04B 17/318 (2015.01); H04L 5/0053 (2013.01); H04W 4/40 (2018.02); H04W 24/02 (2013.01); B64U 50/19 (2023.01); B64U 2201/104 (2023.01); B64U 2201/20 (2023.01)] 14 Claims
OG exemplary drawing
 
1. A positioning method of a drone, adapted for the drone cruising in a flight field, the positioning method comprising steps of:
flying according to a destination coordinate in the flight field;
sensing, a plurality of base stations via a first wireless communication module, to obtain a plurality of first radio wave signals of the plurality of base stations;
positioning, according to the plurality of first radio wave signals, to determine a current coordinate of the drone; and
flying toward the destination coordinate in the flight field according to the current coordinate,
wherein the plurality of base stations respectively provide a plurality of coordinates of the plurality of base stations to the drone through the plurality of first radio wave signals,
wherein the step of positioning, according to the plurality of first radio wave signals, to determine the current coordinate of the drone comprises steps of:
calculating a plurality of distances respectively between the drone and the plurality of base stations according to the plurality of first radio wave signals; and
calculating the current coordinate of the drone according to the plurality of coordinates of the plurality of base stations and the plurality of distances,
wherein the step of calculating the plurality of distances respectively between the drone and the plurality of base stations according to the plurality of first radio wave signals comprises steps of:
estimating a distance DTOA between the drone and one of the adjacent base stations based on a time of arrival positioning method;
estimating a distance DRSSI between the drone and the one of the adjacent base stations based on a received signal strength indication positioning method; and
obtaining a distance D between the drone and the one of the adjacent base stations by D=A×DTOA+B×DRSSI/A+B, wherein symbols A and B are constants.