Cluster unmanned aerial vehicle numbering method and terminal
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A drone and numbering technology, applied in the field of drones, can solve the problems of tediousness and heavy workload, and achieve the effect of high numbering efficiency
Active Publication Date: 2020-08-18
SHENZHEN HIGHGREAT TECH DEV CO LTD
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In the existing technology, the method of manual numbering is adopted, but in the formation of
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[0082] Example one
[0083] Please refer to figure 1 , The first embodiment of the present invention is a numbering method of cluster drones, which includes the following steps:
[0084] S1. Place drones at preset intervals according to the preset cluster formation map, so that the heading angles of all drones are consistent.
[0085] The UAV used in this embodiment is an RTK differential positioning UAV. Before placing the UAV, the UAV needs to be powered on. The cluster formation diagram can be designed as required. For example, it can be designed as a rectangle and preset The spacing can be set as required, for example, it can be 1 m. In addition, before step S1, the total number of drones needs to be obtained. According to the total number, the number of rows and columns of the rectangular formation chart can be designed, which is also conducive to the subsequent judgment of the completion of numbering.
[0086] S2. Select a reference drone, and obtain the GPS coordinates and hea...
Example Embodiment
[0109] Example two
[0110] Please refer to image 3 , The second embodiment of the present invention is a numbering terminal 100 for cluster drones, which corresponds to the method of the first embodiment, and includes a memory 1, a processor 2, and is stored on the memory 1 and can be stored on the processor 2. When the processor 2 executes the computer program, the following steps are implemented:
[0111] Place drones at preset intervals according to the preset cluster formation map, so that the heading angles of all drones are consistent;
[0112] Select a reference drone, and obtain the GPS coordinates and heading angle of the reference drone;
[0113] Using the reference drone as the origin, establishing a simulated rectangular coordinate system in which the Y axis overlaps the heading angle of the reference drone according to the preset distance;
[0114] Obtain the GPS coordinates of other drones except the reference drone;
[0115] Calculate the azimuth angle of other drones ...
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Abstract
The invention discloses a cluster unmanned aerial vehicle numbering method and a terminal. The method comprises the following steps: placing unmanned aerial vehicles; acquiring a GPS coordinate and acourse angle of a reference unmanned aerial vehicle; taking the reference unmanned aerial vehicle as an original point, and establishing a simulation rectangular coordinate system of which the Y axisis overlapped with the course angle of the reference unmanned aerial vehicle; according to the GPS coordinates of the other unmanned aerial vehicles and the GPS coordinates of the reference unmanned aerial vehicle, calculating azimuth angles of the other unmanned aerial vehicles and relative distances relative to the reference unmanned aerial vehicle; calculating relative included angles of otherunmanned aerial vehicles relative to the reference unmanned aerial vehicle according to the azimuth angle and the course angle; calculating actual coordinates of other unmanned aerial vehicles relative to the reference unmanned aerial vehicle according to the relative distance and the relative included angle; comparing the actual coordinates of other unmanned aerial vehicles with the coordinate values in the simulation rectangular coordinate system, and numbering the corresponding unmanned aerial vehicles according to the comparison result. The unmanned aerial vehicle can be numbered automatically and quickly, and the efficiency is high.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a numbering method and terminal of cluster unmanned aerial vehicles. Background technique [0002] In the UAV swarm performance, because it is necessary to know and debug each UAV in real time, it is necessary to number each UAV, so as to find and solve problems in time. In the prior art, the method of manual numbering is adopted, but in the formation of hundreds or thousands of UAVs, this method is not only a huge workload but also very cumbersome. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a numbering method and terminal for cluster drones, which can automatically and quickly complete the numbering of drones. [0004] In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is: [0005] A method for numbering cluster drones, c...
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