Method for positioning target in building based on assistance of two aircraft

A method for positioning a target in a building based on assistance of two aircrafts, wherein the two aircrafts are respectively denoted as a first aircraft and a second aircraft;

• the first aircraft is provided with a first global navigation satellite system (GNSS) positioning device, a first direction-finding device and a first barometer;
• the second aircraft is provided with a second GNSS positioning device and a second direction-finding device;
• the indoor target carries a positioning tag and a second barometer;
• and the method comprises the following steps:
• allowing the first aircraft and the second aircraft to fly around the building, and sending a signal by the positioning tag;
• obtaining position coordinates A1=(x1, y1, z1) of the first aircraft in real time by the first GNSS positioning device;
• obtaining position coordinates A2=(x2, y2, z2) of the second aircraft in real time by the second GNSS positioning device;
• receiving, by the first direction-finding device, the signal sent by the positioning tag, and measuring a yaw angle in a direction of the signal source as α1;
• according to the position coordinates A1=(x1, y1, z1) of the first aircraft, obtaining projection of a connecting line between the first aircraft and the indoor target on a horizontal plane to be denoted as a first projection line;
• receiving, by the second direction-finding device, the signal sent by the positioning tag, and measuring a yaw angle in a direction of the signal source as α2;
• according to the position coordinates A2=(x2, y2, z2) of the second aircraft, obtaining projection of a connecting line between the second aircraft and the indoor target on the horizontal plane to be denoted as a second projection line;
• assuming that position coordinates of the indoor target are Ad=(xd,yd,zd), calculating an intersection of the first projection line and the second projection line as (xd, yd);
• measuring, by the first barometer, a first barometric pressure at a position of the first aircraft as p1, and measuring, by the second barometer, a second barometric pressure at a position of the indoor target as Pd;
• and
• according to the position coordinates of the first aircraft, a principle that the barometric pressure decreases by 100 Pa for every 9 meters rise, and a difference between the first barometric pressure and the second barometric pressure, obtaining an altitude zd of the indoor target to further obtain the position coordinates of the indoor target.