UAV (Unmanned Aerial Vehicle) controlling method and device and computer readable storage medium

Abstract

The invention discloses a UAV (Unmanned Aerial Vehicle) controlling method and device and a UAV. The method comprises the steps of: determining that the UAV passively enters into an attitude mode, wherein the UAV is in a hovering self-test state after the UAV enters into the attitude mode; detecting whether the drift speed of the UAV is greater than or equal to a preset drift speed threshold valueor not; if yes, generating a virtual nose, wherein the orientation of the virtual nose faces away from a control terminal and is located on the connecting line of the UAV and the control terminal; and controlling the direction of the UAV according to the orientation of the virtual nose and control commands of the control terminal. The method disclosed by the invention has the advantages that whenthe UAV passively enters into the attitude mode and the drift speed of the UAV is greater than or equal to the preset drift speed threshold value, the virtual nose is generated and the target flightdirection of the UAV is controlled according to the orientation of the virtual nose, so that the problem that under the circumstance of urgent danger prevention, a controller cannot take the physicalnose orientation into account and subconsciously gives wrong control commands according to the own direction-sense to avoid the danger is avoided and the safety of the flight is increased.

Description

technical field [0001] The present application relates to, but is not limited to, the field of intelligent control technologies, and in particular relates to a method and device for controlling an unmanned aerial vehicle, and a computer-readable storage medium. Background technique [0002] Unmanned aircraft, referred to as Unmanned Aerial Vehicle (UAV), is an unmanned aircraft controlled by radio remote control equipment and its own program control terminal. It involves sensor technology, communication technology, information processing technology, intelligent control technology and power propulsion technology, etc., and is a product of high-tech content in the information age. [0003] The simplification and intelligence of operation and use have led to an increasing popularity of consumer drones. At present, the more common application scenarios of consumer drones are mainly aerial photography. Since these consumer drones are mostly rotorcraft , its control characteristi...

AI Technical Summary

Problems solved by technology

[0003] The simplification and intelligence of operation and use have led to an increasing popularity of consumer drones. At present, the more common application scenarios of consumer drones are mainly aerial photography. Since these consumer drones are mostly rotorcraft , its control characteristics and GPS (Global Positioning System, GPS) signal reception characteristics all determine that these UAV products are best to fly in a wide open area without obstruction and a good GPS signal, but in fact, in tall buildings It is also possible to fly near objects or encounter poor GPS signals during flight

Tall buildings will affect the quality of GPS signals nearby, and when the GPS signal quality is not enough to support the stable positioning of the UAV and enters the attitude mode, the UAV is prone to position drift, and then collides with obstacles from a height. fall everywhere

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