1. A method of aircraft positioning, the method comprising:

acquiring first position information acquired in real time in the flying process of an aircraft;

acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

determining second position information according to the second topographic data;

and correcting the first position information according to the second position information to obtain the positioning information of the aircraft.

2. The method of claim 1, wherein determining second location information based on the second topographic data comprises:

acquiring first image data acquired in real time;

according to the second topographic data, image matching is carried out on the first image data in preset map data to obtain second image data;

and determining the position information corresponding to the second image data as second position information.

3. The method according to claim 2, wherein the image matching the first image data in preset map data according to the second topographic data to obtain second image data comprises:

determining a second area range according to the second topographic data;

and carrying out image matching on the first image data within a second area range of preset map data to obtain second image data.

4. A method according to claim 1, 2 or 3, wherein said acquiring first terrain data acquired in real-time comprises:

acquiring first height information of the aircraft relative to the ground surface;

acquiring second height information of the aircraft relative to a reference plane;

and determining first terrain data according to the first height information and the second height information.

5. The method of claim 1, wherein the terrain matching the first terrain data in preset map data to obtain second terrain data comprises:

determining a first area range according to the first position information;

and carrying out terrain matching on the first terrain data within a first area range in preset map data to obtain second terrain data.

6. The method of claim 1, further comprising, prior to said correcting said first location information according to said second location information:

judging whether the flying distance of the aircraft is greater than a preset distance;

and when the flying distance is greater than the preset distance, executing the correction of the first position information according to the second position information.

7. The method of claim 1, wherein the first location information is location information determined based on a base station positioning system.

8. An apparatus for aircraft positioning, the apparatus comprising:

the first position information acquisition module is used for acquiring first position information acquired in real time in the flying process of the aircraft;

the second topographic data determining module is used for acquiring first topographic data acquired in real time and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

the second position information determining module is used for determining second position information according to the second topographic data;

and the first position information correction module is used for correcting the first position information according to the second position information to obtain the positioning information of the aircraft.

9. An aircraft, characterized by comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing a method of aircraft positioning according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for locating an aircraft according to any one of claims 1 to 7.

Background

Currently, a combined navigation algorithm formed by a GNSS (global navigation Satellite System) and a high-precision inertial measurement unit is generally used for positioning a low-altitude aircraft, and the aircraft is positioned through a differential receiver.

However, because GNSS signals are broadcast signals, frequency bands and communication characteristics of the GNSS signals are both open, and shielding and interference on related signals exist in a part of regions, the high-precision positioning of an aircraft cannot be realized in the flight process, and the high-precision inertial measurement unit also has the problems of high cost and insufficient precision.

Disclosure of Invention

In view of the above, it is proposed to provide a method and a device for aircraft positioning that overcome the above problems or at least partially solve the above problems, comprising:

a method of aircraft positioning, the method comprising:

acquiring first position information acquired in real time in the flying process of an aircraft;

acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

determining second position information according to the second topographic data;

and correcting the first position information according to the second position information to obtain the positioning information of the aircraft.

Optionally, the determining second location information according to the second topographic data includes:

acquiring first image data acquired in real time;

according to the second topographic data, image matching is carried out on the first image data in preset map data to obtain second image data;

and determining the position information corresponding to the second image data as second position information.

Optionally, the image matching, according to the second topographic data, the first image data in preset map data to obtain second image data includes:

determining a second area range according to the second topographic data;

and carrying out image matching on the first image data within a second area range of preset map data to obtain second image data.

Optionally, the acquiring first terrain data acquired in real time includes:

acquiring first height information of the aircraft relative to the ground surface;

acquiring second height information of the aircraft relative to a reference plane;

and determining first terrain data according to the first height information and the second height information.

Optionally, the performing terrain matching on the first terrain data in preset map data to obtain second terrain data includes:

determining a first area range according to the first position information;

and carrying out terrain matching on the first terrain data within a first area range in preset map data to obtain second terrain data.

Optionally, before the correcting the first position information according to the second position information, the method further includes:

judging whether the flying distance of the aircraft is greater than a preset distance;

and when the flying distance is greater than the preset distance, executing the correction of the first position information according to the second position information.

Optionally, the first location information is location information determined based on a base station positioning system.

An apparatus for aircraft positioning, the apparatus comprising:

the first position information acquisition module is used for acquiring first position information acquired in real time in the flying process of the aircraft;

the second topographic data determining module is used for acquiring first topographic data acquired in real time and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

the second position information determining module is used for determining second position information according to the second topographic data;

and the first position information correction module is used for correcting the first position information according to the second position information to obtain the positioning information of the aircraft.

An aircraft comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of aircraft positioning as described above.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of aircraft positioning as described above.

The embodiment of the invention has the following advantages:

according to the method and the device, the first position information acquired in real time is acquired in the flying process of the aircraft, the first terrain data acquired in real time is acquired, the first terrain data is subjected to terrain matching in the preset map data to obtain the second terrain data, the second position information is determined according to the second terrain data, and the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, so that the high-precision positioning of the aircraft is realized.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1a is a flow chart illustrating steps in a method for aircraft positioning according to an embodiment of the present invention;

fig. 1b is a flowchart illustrating steps of a method for positioning a base station according to an embodiment of the present invention;

FIG. 2a is a flow chart illustrating steps in another method for aircraft location determination provided by an embodiment of the present invention;

FIG. 2b is an illustration of an aircraft positioning system in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an aircraft positioning device according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1a, a flowchart illustrating steps of a method for positioning an aircraft according to an embodiment of the present invention is shown, which may specifically include the following steps:

step 101, acquiring first position information acquired in real time in the flying process of an aircraft;

in an embodiment of the present invention, the first location information is location information based on a base station positioning system and/or a deterministic inertial navigation positioning system.

In practical applications, the aircraft may enable monitoring of locations in the air as well as on the ground. And in the aircraft, a positioning system can be deployed, and the aircraft can acquire the self positioning information in real time through the positioning system, so that autonomous navigation is performed through the positioning information.

However, during actual operation, the aircraft is often subjected to electromagnetic interference, or when some low-altitude aircrafts (about 300m-500 m) fly in mountainous areas with complex terrain or urban areas with dense high buildings, the complex terrain environment can also affect the positioning of the aircraft, so that the aircraft cannot be positioned with high precision.

In the flight process of the aircraft, the aircraft can acquire first position information acquired in real time, wherein when no interference or less interference exists in the flight environment of the aircraft, the first position information can be directly used as the positioning information of the aircraft and directly used for navigation of the aircraft.

When the flight environment of the aircraft has serious interference, the first position information can be used as the basic position of the aircraft, and the aircraft positioning is corrected on the basis of the first position information, so that more accurate aircraft positioning information can be obtained.

The positioning system in the aircraft can be a base station positioning system, a combined navigation system formed by the base station positioning system and an inertial navigation system, or other positioning navigation systems.

When the positioning system in the aircraft is a base station positioning system, a plurality of base stations can be in wireless communication with the aircraft, so that ground monitoring personnel can monitor the real-time working state of the aircraft and give out specific control instructions, and therefore the ground personnel can remotely control the aircraft.

In an example, in the base station positioning system, the base station may calculate a yaw angle between the base station and the aircraft through a beamforming technique, so that the aircraft may calculate the first position information of the aircraft through a radio ranging technique in combination with the yaw angle.

Based on the above principle, the obtaining of the first position information acquired in real time in the flight process of the aircraft may be implemented according to the steps shown in fig. 1b, and specifically may include the following steps:

and step 111, the aircraft sends the pilot frame information to at least two base stations in a downlink mode.

And step 112, after receiving the lead frame information from the aircraft, the base station records the accurate time for receiving the lead frame information.

And step 113, the base station transmits the time information and the yaw angle to the aircraft through an uplink data packet.

In step 114, the aircraft determines the time when the plurality of base stations receive the guided frame information, and calculates the receiving time and the receiving time difference of the corresponding base stations, so that the possible position of the aircraft can be calculated according to the geographical position data of the base stations, and the actual position information (i.e. the first position information) of the aircraft can be determined through the yaw angle.

In step 114, the aircraft may calculate the distance between the base station and the aircraft according to the time difference, so as to draw a circle with the base station as a center and the distance as a radius, thereby determining the aircraft position (i.e., the first position information) according to the intersection point and the yaw angle information.

In an example, when the positioning system in the aircraft is a combined navigation system combining a base station positioning system and an inertial navigation system, the preliminary position information may be corrected by the inertial navigation system on the basis of obtaining the preliminary position information by positioning the base station, so as to finally obtain the first position information.

Due to the autonomous navigation characteristic, when part or all frequency points of a wireless channel are interfered under extreme conditions, the base station positioning possibly cannot meet the communication requirement, so that autonomous navigation of the aircraft can be completed according to the cooperation of an inertial navigation system in the aircraft with terrain matching and image matching, and the aircraft can leave an interfered area autonomously.

The base station and the aircraft can be communicated with each other, so that the position information of the aircraft can be determined in the base station based on the wireless communication with the aircraft, and the position information calculated by the aircraft can be fitted to obtain more accurate position information of the aircraft.

102, acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

during the flight process of the aircraft, the aircraft can acquire mapping data on the flight route of the aircraft in real time through high-precision mapping equipment, and first terrain data is generated through a plurality of mapping data, wherein the first terrain data can be real-time earth surface feature images on the flight route.

Meanwhile, map data can be preset in the aircraft, or the aircraft can also acquire associated map data through a base station or other ground communication equipment in real time, wherein the preset map data can be high-precision digital map data, and the digital map data can comprise terrain data and/or image data.

In one example, the map data preset in the aircraft may be updated in real time according to the first location information or the revised location information of the aircraft.

In practical application, the high-precision map data can be directly stored in the aircraft, but the map data is large in size, time delay may occur during matching, in order to reduce the map searching amount and reduce the time delay, the high-precision map data can be preset in the base station or other ground communication equipment, and after the aircraft obtains the first position information, the base station or other communication equipment can determine the position information of the aircraft through real-time positioning with the aircraft, so that part of the map data near the current position of the aircraft can be sent to the aircraft.

During the flight of the aircraft, the base station or other communication equipment can continuously send the latest map data to the aircraft according to the real-time position (the first position information or the corrected positioning information) of the aircraft so as to replace the map data received before the aircraft, so that the aircraft can conveniently perform terrain matching and image matching.

In one example, the terrain features of the region through which the aircraft projects can be made into a high-precision digital map in advance through geographic measurement, space photography, satellite photography or existing earth surface terrain data, and the map is stored in ground communication equipment or equipment on board the aircraft.

When interference exists in the flight environment of the aircraft (for example, a base station positioning system may be interfered by complex terrain to cause inaccurate positioning), the accuracy of the first position information of the aircraft is not high enough, and the first terrain data can be matched in preset map data to obtain second terrain data.

The terrain interference can be removed by carrying out terrain matching on the terrain data acquired by the aircraft, so that the aircraft can keep high-precision positioning in a complex terrain environment.

In an embodiment of the present invention, the acquiring the first terrain data acquired in real time includes:

substep 121, obtaining first altitude information of the aircraft relative to the earth's surface.

A substep 122 of obtaining second altitude information of the aircraft with respect to a reference plane.

In practical application, when the aircraft is in flight, for each position on an aircraft route, height information corresponding to the position can be collected in real time through a surveying instrument (such as a height measuring radar, a barometric altimeter and the like), and the height information can include first height information and second height information.

Specifically, the aircraft can acquire first height information of the aircraft relative to the ground surface through a surveying instrument such as a height finding radar, wherein the first height information is absolute height information of the aircraft, meanwhile, the aircraft can acquire second height information of the aircraft relative to a reference plane (for example, a standard sea level) through a surveying instrument such as a barometric altimeter, and the second height information is relative height information of the aircraft.

Substep 123, determining first terrain data based on said first height information and said second height information.

After the altitude information is obtained, for a real-time position of the aircraft, the absolute altitude and the relative altitude are subtracted to obtain actual altitude data (terrain of the ground surface at the position) of the ground surface projected by the position, and after the aircraft flies for a period of time, a ground surface altitude curve, namely first terrain data, can be drawn from a plurality of ground surface altitude data obtained on a flight path of the aircraft.

In an embodiment of the present invention, the performing terrain matching on the first terrain data in preset map data to obtain second terrain data includes:

substep 131, determining a first region range according to the first position information.

In practical applications, the first position information of the aircraft may correspond to an area range, where the area range may be a circular area with the first position information as a central point and a preset distance as a radius, and the area range may be determined according to the interference degree of the aircraft. When the aircraft is seriously interfered, the preset distance is large, and the area range is wide; when the aircraft is interfered less, the preset distance is smaller, and the area range is narrower.

And a substep 132 of performing terrain matching on the first terrain data within a first area range in preset map data to obtain second terrain data.

After the first area range is determined, the first topographic data may be subjected to topographic matching within the first area range of the preset map data, so as to obtain matched topographic data within the preset map data, and the topographic data is the second topographic data.

It should be noted that, in the embodiment of the present invention, step 101 and step 102 may be performed simultaneously, or may be performed sequentially, where the order of step 101 and step 102 is not limited too much.

And 103, determining second position information according to the second topographic data.

After the second topographic data is determined, the flight path information of the aircraft over a period of time can be determined from the first topographic data, so that the current second position information of the aircraft can be determined from the flight path information.

In an example, the projection point of the aircraft at the current position, namely longitude and latitude coordinate information, can be determined through the track information, and then the three-dimensional space position information of the aircraft can be determined through the altitude information.

And 104, correcting the first position information according to the second position information to obtain the positioning information of the aircraft.

After the second position information is determined, the second position information is the position information determined in the high-precision digital map, so that the first position information can be corrected according to the second position information to obtain the positioning information with higher precision.

In an embodiment of the present invention, before step 104, the method further includes:

and step S141, judging whether the flight distance of the aircraft is greater than a preset distance.

In practical application, the aircraft generally has less interference in a takeoff stage, the positioning information obtained through the base station or the combined navigation system is more accurate, correction is not needed, and the positioning information can be corrected after the aircraft flies to a certain height, so that whether the flying distance of the aircraft is greater than a preset distance or not can be judged after the aircraft is started.

And step S142, executing step 104 when the flying distance is greater than the preset distance.

When the flight distance is greater than the preset distance and the interference on the aircraft is serious, the first position information can be corrected according to the second position information, so that more accurate positioning information can be obtained.

In the embodiment of the invention, in the flying process of the aircraft, first position information acquired in real time is acquired, first terrain data acquired in real time is acquired, terrain matching is carried out on the first terrain data in preset map data to obtain second terrain data, second position information is determined according to the second terrain data, and the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, so that the high-precision positioning of the aircraft is realized.

Referring to fig. 2a, a flowchart illustrating steps of another method for locating an aircraft according to an embodiment of the present invention is shown, which may specifically include the following steps:

step 201, acquiring first position information acquired in real time in the flying process of an aircraft;

step 202, acquiring first topographic data acquired in real time, and carrying out topographic matching on the first topographic data in preset map data to obtain second topographic data;

step 203, acquiring first image data acquired in real time;

in the flying process of the aircraft, the high-definition wide-angle camera carried by the aircraft can be used for shooting the areas around the flying track and the projection area of the aircraft to obtain first image data associated with the landform features.

It should be noted that, in the embodiment of the present invention, step 201, step 202, and step 203 may be performed simultaneously, or may be performed sequentially, and here, the order of step 201, step 202, and step 203 is not limited too much.

Step 204, performing image matching on the first image data in preset map data according to the second topographic data to obtain second image data;

after the first image data is obtained, the first image data can be preliminarily positioned in the preset map data according to the second topographic data, then the first image data can be subjected to image matching in the preset map data, and the second image data can be obtained in the preset map according to the matching result.

In an embodiment of the present invention, step 204 may include:

and a substep S241 of determining a second region range according to the second topographic data.

In practical applications, the second topographic data may determine course information of the aircraft, so that the second area range of the preset map data may be determined according to the course information of the second topographic data in the preset map data.

And a substep S242, performing image matching on the first image data within a second region range of preset map data to obtain second image data.

After the second area range is determined, since the first image data acquired in advance may include the image feature information, and the preset map data may also include the image data, the second image data corresponding to the image feature information may be obtained by performing matching within the second area range according to the image feature information of the first image data.

Wherein the second area range may be an area in the preset map data associated with the current position of the aircraft, the second area range being smaller than the first area range.

The terrain matching can be suitable for flight environments with complex terrain, and the image matching can be suitable for various flight environments of aircrafts. The aircraft can be positioned by terrain matching and image matching, and the positioning accuracy can be improved.

Step 205, determining the position information corresponding to the second image data as second position information.

After the second image data is obtained, specific position information corresponding to the second image data may be determined, and the position information of the specific position information may be determined as the second position information.

Step 206, correcting the first position information according to the second position information.

In the embodiment of the invention, in the flying process of an aircraft, first position information acquired in real time is acquired, first terrain data acquired in real time is acquired, terrain matching is carried out on the first terrain data in preset map data to obtain second terrain data, first image data acquired in real time is acquired according to the second terrain data, image matching is carried out on the first image data in the preset map data according to the second terrain data to obtain second image data, the position information corresponding to the second image data is determined to be second position information, the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, and the high-precision positioning of the aircraft by the terrain matching and the image matching is realized, so that the high-precision positioning of the aircraft is suitable for the positioning of the aircraft in areas with complicated landforms and large surface height differences, meanwhile, the influence of electromagnetic interference on the positioning of the aircraft can be reduced.

The following describes an exemplary positioning and navigation correction process of an aircraft according to an embodiment of the present invention with reference to fig. 2 b:

as shown in fig. 2b, in the aircraft, the base station positioning system and the inertial navigation system constitute a combined navigation system of the aircraft, and the aircraft may further be provided with a surveying and mapping device such as an air pressure altitude measuring instrument, a height measuring radar, a belly-to-ground camera, and the like. The real-time correction of the positioning information of the aircraft in the flight process can comprise the following steps:

and step 210, in the flight process of the aircraft, the integrated navigation system positions and navigates the aircraft, and the aircraft acquires the first position information acquired in real time.

In step 220, the altimeter, altimeter radar, and ventral ground camera may collect real-time mapping data, such as relative altitude (i.e., second altitude data), absolute altitude (i.e., first altitude data), and image data (i.e., first image data), during the flight of the aircraft. The integrated navigation system can preprocess the data (i.e. the second height data) measured by the barometric altitude measurement instrument, and the preprocessing can adopt a barometric inertial filtering technology.

The relative altitude is subtracted by the absolute altitude to obtain the actual terrain profile height of the projected point of the aircraft at the current location, step 230. After a period of flight, the plurality of terrain profile altitudes may form a ground surface altitude profile (i.e., first terrain data) of the projected area of the aircraft.

In step 240, the ground communication base station may store a high-precision digital map, and may send the high-precision map of the current positioning location to the aircraft according to the aircraft positioning information (for example, the wireless communication system transmits the high-precision digital map with a radius of 5 km, with the location of the aircraft as the center, through the uplink communication link from the ground base station to the aircraft).

And step 250, performing terrain matching on the ground surface height change curve in the high-precision map through a terrain matching algorithm to obtain second terrain data.

Step 260, performing image matching on the image information through an image matching algorithm to obtain second image data, and obtaining a relevant matching position (i.e. second position information) after comprehensive matching.

And 270, after the Kalman filtering processing is carried out on the matched position, the navigation state of the combined navigation system is corrected to obtain the positioning information of the aircraft, and the positioning information is output, so that the navigation information is updated by the positioning information.

Step 280, feeding the corrected navigation state back to the terrain matching process, and correcting the current terrain data (i.e. updating the first terrain data) so as to perform next terrain matching.

It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.

Referring to fig. 3, a schematic structural diagram of an aircraft positioning device according to an embodiment of the present invention is shown, which may specifically include the following modules:

the first position information acquisition module 301 is configured to acquire first position information acquired in real time in the flight process of the aircraft;

the second topographic data determining module 302 is configured to obtain first topographic data collected in real time, and perform topographic matching on the first topographic data in preset map data to obtain second topographic data;

a second location information determining module 303, configured to determine second location information according to the second topographic data;

and the first position information correction module 304 is configured to correct the first position information according to the second position information to obtain the positioning information of the aircraft.

In an embodiment of the present invention, the second location information determining module 303 may include:

the first image data acquisition submodule is used for acquiring first image data acquired in real time;

the second image data determining submodule is used for carrying out image matching on the first image data in preset map data according to the second topographic data to obtain second image data;

and the second position information determining submodule is used for determining the position information corresponding to the second image data as second position information.

In an embodiment of the present invention, the second terrain data determining module 302 may include:

the first altitude information acquisition sub-module is used for acquiring first altitude information of the aircraft relative to the ground surface;

the second altitude information acquisition sub-module is used for acquiring second altitude information of the aircraft relative to a reference plane;

and the first terrain data determining submodule is used for determining first terrain data according to the first height information and the second height information.

In an embodiment of the present invention, the second terrain data determining module 302 may include:

the first area range determining submodule is used for determining a first area range according to the first position information;

and the second topographic data determining submodule is used for carrying out topographic matching on the first topographic data within a first area range in preset map data to obtain second topographic data.

In an embodiment of the present invention, the second image data determination sub-module may include:

a second area range determining unit configured to determine a second area range according to the second topographic data;

and the second image data determining unit is used for carrying out image matching on the first image data in a second area range of preset map data to obtain second image data.

In an embodiment of the present invention, the apparatus may include:

the flight distance judging module is used for judging whether the flight distance of the aircraft is greater than a preset distance or not;

and the correction execution module is used for executing the correction of the first position information according to the second position information when the flight distance is greater than a preset distance.

In an embodiment of the present invention, the first location information is location information determined based on a base station positioning system.

In the embodiment of the invention, in the flying process of the aircraft, first position information acquired in real time is acquired, first terrain data acquired in real time is acquired, terrain matching is carried out on the first terrain data in preset map data to obtain second terrain data, second position information is determined according to the second terrain data, and the first position information is corrected according to the second position information to obtain the positioning information of the aircraft, so that the high-precision positioning of the aircraft in a complex electromagnetic environment with electromagnetic interference is realized.

An embodiment of the present invention also provides an aircraft, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program, when executed by the processor, implementing the method for aircraft positioning as described above.

An embodiment of the invention also provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the method for aircraft positioning as described above.

For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The method and the device for positioning the aircraft are described in detail, and the principle and the embodiment of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.