Control method and system based on self-positioning helicopter field navigation aid lamp and medium

Abstract

The invention discloses a control method and system based on a self-positioning helicopter field navigation aid lamp and a medium, and relates to the technical field of aircraft landing auxiliary devices.The method comprises the steps that environment information, unmanned aerial vehicle state information and navigation aid lamp layout information are obtained, and initial guiding parameters are determined; calculating a visual guidance signal parameter based on the position condition of the unmanned aerial vehicle relative to each navigation aid lamp and the initial guidance parameter; determining a navigation aid lamp control scheme according to the visual guidance signal parameters and the initial guidance parameters, and sending a lighting starting instruction to a plurality of corresponding navigation aid lamps; acquiring environment feedback information from each navigation aid lamp area, and calculating an environment difference value; if the environment difference value exceeds a preset environment change threshold range, triggering an environment adaptability adjustment instruction; and calculating corresponding navigation-aid lamp adjusting parameters and sending an illumination adjusting instruction to the corresponding navigation-aid lamp area. According to the invention, the safety and reliability of the unmanned aerial vehicle under a complex or emergency landing condition are improved.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft landing assistance devices, and in particular to a control method, system and medium based on self-positioning helicopter airport navigation lights. Background Art

[0002] With the application of unmanned aerial vehicles (UAVs) in logistics distribution, agricultural monitoring and other fields, the safety and reliability of their operation have attracted attention. However, in actual operations, UAVs may encounter emergencies such as navigation system failure or GPS signal loss, which increases the difficulty and risk of safe landing.

[0003] At present, traditional helicopter airport navigation light control systems are mainly designed for manned aircraft, which usually rely on stable GPS signals and navigation data to provide guidance. However, due to the low flight altitude, complex flight path and higher requirements for environmental adaptability of unmanned aircraft, traditional navigation light control systems often cannot meet their special emergency landing needs; for example, in low light environments or severe weather conditions, existing navigation lights may not provide sufficient visual guidance information.

[0004] Currently, unmanned aerial vehicles lack safety and reliability in complex or emergency landing situations. Specifically, when faced with emergencies such as navigation system failure and GPS signal loss, there is a lack of effective assisted landing methods, so improvements are urgently needed. Summary of the invention

[0005] In order to improve the safety and reliability of unmanned aerial vehicles in complex or emergency landing situations, the present application provides a control method, system and medium based on self-positioning helicopter airport navigation lights.

[0006] In the first aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A control method based on self-positioning helicopter airport navigation lights, comprising: Acquire environmental information, drone status information, and navigation light layout information, and determine initial guidance parameters based on the environmental information, drone status information, and navigation light layout information; the initial guidance parameters include light brightness level, color mode, and working status of direction indicator lights; Calculate visual guidance signal parameters for each navigation light area based on the position of the UAV relative to each navigation light and the initial guidance parameters; Determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; Obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction; Based on the environmental adaptability adjustment instruction, the corresponding navigation light adjustment parameters are calculated and the lighting adjustment instruction is sent to the corresponding navigation light area.

[0007] By adopting the above technical scheme, environmental information includes light intensity and weather conditions; UAV status information includes landing requirements, position coordinates, flight altitude and speed; navigation light layout information includes the area where each navigation light is located and its relative position; the position status of the UAV relative to each navigation light includes distance and angle; visual guidance signal parameters include but are not limited to the luminous intensity of the LED in each area, the color change pattern, and the opening sequence of the direction indicator light; specifically, in order to improve the visual guidance auxiliary role of the self-positioning helicopter airport navigation lights and provide effective assisted landing means to meet the emergency landing needs of UAVs, this application takes into account the characteristics of the helicopter navigation light control system that includes many navigation lights in multiple areas, provides a helicopter airport navigation light detailed control method and real-time monitoring of the navigation light guidance effect, and is based on precise adjustment according to the specific situation and environmental conditions of the UAV, and dynamic adjustment through environmental adaptability adjustment instructions. Specifically, first obtain environmental information, UAV status information and navigation lights. The basic comprehensive information such as layout information is then calculated, and the visual guidance signal parameters of each navigation light area are calculated. Taking into account that the navigation lights are distributed in multiple areas, the coordination between different areas is ensured to provide the best guidance effect. At the same time, according to the current real-time position of the UAV, several navigation lights in the corresponding area are self-positioned and turned on for light guidance, so that all the navigation lights of the helicopter airport work according to the predetermined navigation light control plan. At the same time, in order to realize the refined management of the multi-area navigation light control system and improve the lighting effect and control precision of the navigation lights, this application will also obtain the environmental feedback information of each navigation light area in real time and calculate the environmental difference value. If it is found that the environmental difference value of any area exceeds the preset environmental change threshold range, the corresponding environmental adaptability adjustment instruction is triggered, and then according to the environmental adaptability adjustment instruction, the specific navigation light adjustment parameters are calculated for the affected navigation light area, so as to further optimize the lighting conditions within the emergency parking range of the UAV, so as to provide continuous and effective visual guidance.

[0008] In a preferred example of the present application, the environmental information, the drone status information and the navigation light layout information are obtained, and the initial guidance parameters are determined according to the environmental information, the drone status information and the navigation light layout information, specifically including: extracting current light intensity and weather conditions from the environmental information; Determine the light brightness level of each navigation light area according to the position coordinates, flight altitude and speed in the drone status information and the relative positions of each navigation light area in the navigation light layout information; Determine the working status of the color mode and the direction indicator light according to the environmental information and the drone status information; The light brightness level, color mode and working state of the direction indicator light are associated to obtain the initial guidance parameters.

[0009] By adopting the above technical solution, the working parameters of the navigation lights are dynamically adjusted based on different environmental parameters. For example, the light brightness level is increased in low light or bad weather conditions to ensure that the drone can clearly identify the navigation lights, so as to improve the environmental adaptability of the helicopter airport navigation lights; in the event of an emergency landing of the drone, in order to improve the safety and reliability of the unmanned aerial vehicle in complex or emergency landing situations, the present application is based on the personalized configuration of the specific position and flight status of the drone, to ensure that at different distances and angles, the navigation lights in each area can provide the best visual guidance effect, thereby improving the reliability and adaptability of the helicopter airport navigation light control system; further, by dynamically adjusting the color mode (such as using high-contrast colors in emergency situations) and the working status of the direction indicator light (such as strengthening indications in specific directions), it is possible to provide the drone with clearer landing guidance in complex environments and reduce the risk of misjudgment.

[0010] In a preferred example of the present application: the visual guidance signal parameters are calculated for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters, specifically including: Calculate the LED luminous intensity in each navigation light area based on the relative distance and angle between the drone and each navigation light area; Determine a color change pattern of each navigation light area according to the relative distance and angle, and the color pattern; According to the relative distance and angle, as well as the working state of the direction indicator light, and in combination with the emergency landing speed of the UAV, determining the order and speed of turning on the direction indicator lights; The LED luminous intensity, color change pattern, turn-on sequence and turn-on speed are associated to obtain the visual guidance signal parameters.

[0011] By adopting the above technical solution, the luminous intensity of several corresponding navigation light areas is dynamically adjusted according to the specific emergency landing position of the UAV to generate accurate visual guidance signals; further, based on the emergency landing of the UAV in the landing area of ​​the helicopter airport, the color mode is adjusted in time according to the different stages of the UAV's approach, and a flexible color change mode is used to provide the UAV with more intuitive guidance information. By calculating and adjusting the opening sequence and opening speed of the direction indicator lights, it can respond quickly in the event of an emergency landing of the UAV and provide the best visual guidance.

[0012] In a preferred example of the present application, the environmental feedback information from each navigation light area is obtained, the environmental feedback information is compared with the set value in the initial guidance parameter, and the environmental difference value is calculated; if the environmental difference value exceeds the preset environmental change threshold range, the environmental adaptability adjustment instruction is triggered, specifically including: According to the lighting start instruction, environmental feedback information of each navigation light area is obtained to obtain zone environmental feedback information; Obtaining environmental change completion information, and triggering a drone position update instruction according to the environmental change completion information; Obtaining the drone position update result information, and obtaining the current comprehensive status information of the specified location based on the drone position update result information and the partition environment feedback information; Calculate the environmental difference value according to the current comprehensive state information and the set value in the initial guidance parameter in combination with the emergency landing speed of the UAV; The environmental difference value is compared with a preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, an environmental adaptability adjustment instruction is triggered to the corresponding navigation light control terminal.

[0013] By adopting the above technical solution, based on the actual environmental conditions of each navigation light area monitored in real time, the environmental changes are monitored. When the environment changes, the navigation light control system will automatically trigger the drone position update command to obtain the latest drone status information and the drone's current position, flight altitude, and speed; then integrate the drone's position information and the environmental feedback information of each navigation light area, and comprehensively evaluate the current comprehensive status information of the drone's emergency landing position (i.e., the designated position) to more accurately determine whether the navigation light control scheme needs to be further adjusted, that is, by comparing the actual environmental status with the preset initial guidance parameters, and combining the drone's emergency landing speed, to accurately calculate the environmental difference value, not only considering static environmental factors, but also integrating the impact of dynamic flight status, thereby improving the comprehensiveness and accuracy of the analysis of the light guidance effect of the navigation light.

[0014] In a preferred example of the present application, the calculation of the corresponding navigation light adjustment parameters based on the environmental adaptability adjustment instruction and the sending of the lighting adjustment instruction to the corresponding navigation light area specifically include: According to the environmental adaptability adjustment instruction, the navigation light adjustment parameter information is obtained, wherein the navigation light adjustment parameter information includes the LED luminous intensity adjustment value, the color mode adjustment value and the direction indicator light working state adjustment value in each navigation light area; The LED luminous intensity adjustment value is compared with a preset brightness threshold. If the LED luminous intensity adjustment value is less than the preset brightness threshold, a lighting adjustment instruction is triggered according to the navigation light adjustment parameter information and the emergency landing speed of the UAV; If the LED luminous intensity adjustment value is greater than a preset brightness threshold, a secondary adjustment instruction is triggered, and secondary adjustment parameter information is obtained according to the secondary adjustment instruction; According to the secondary adjustment parameter information, a lighting adjustment instruction is triggered.

[0015] By adopting the above technical solution, detailed adjustment parameters of the navigation lights are dynamically generated according to specific environmental changes. By setting the brightness threshold, the light brightness can be quickly increased when the lighting conditions are dark, ensuring that the navigation lights can still work effectively under low light or bad weather conditions, and monitoring whether the current light brightness effect meets the preset light control effect. Since the navigation lights are in a state of operation for a long time, the light brightness control effect may deteriorate due to light drift caused by the LED lights in the navigation lights or the influence of temperature environment, so by setting a secondary monitoring and adjustment mechanism, when the initial adjustment fails to achieve the expected effect, the navigation light control system will automatically trigger the secondary adjustment command. The multi-level adjustment mechanism ensures that even in extreme cases, the navigation lights can gradually optimize their performance and provide continuous and reliable visual guidance.

[0016] In a preferred example of the present application: before obtaining the environmental information, the drone status information and the navigation light layout information, and determining the initial guidance parameters according to the environmental information, the drone status information and the navigation light layout information, the method further includes: Obtaining the installation information and design speed of the navigation light system; wherein the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the navigation light recognition range, and the distance between the navigation light recognition range and the landing area; the design speed includes the brightness design speed of the navigation light, the first design forced landing speed of the UAV, and the second design forced landing speed of the UAV; Determine a first predicted forced landing speed of the UAV when it enters the identification range of the navigation light according to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light and the distance of the identification range of the navigation light; Determine the second predicted forced landing speed of the UAV when it passes through the landing area according to the installation type of the navigation light, the second designed broadcast speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area; Generate a navigation light turn-on speed comparison table for adjusting the navigation light turn-on speed according to the navigation light brightness design speed, the first predicted forced landing speed, and the second predicted forced landing speed; A reference range of the navigation light turning on speed change representing the navigation light turning on speed change threshold is obtained, and a navigation light turning on speed control model is generated according to the reference range of the navigation light turning on speed change and the navigation light turning on speed comparison table. The navigation light turning on speed control model is used to adjust the turning on speed of the navigation light.

[0017] By adopting the above technical solution, based on the obtained detailed installation information and design speed parameters, the optimal working strategy, namely the initial guidance parameters and the navigation light control scheme, is formulated according to the actual deployment situation; then, through accurate forced landing speed prediction, the first predicted forced landing speed when the UAV enters the navigation light recognition range and the second predicted forced landing speed when the UAV passes through the landing area are estimated in advance to optimize the control of the opening speed of several navigation light control areas; by generating a navigation light opening speed comparison table, the opening speed of the navigation light is dynamically adjusted in time according to different forced landing speeds, ensuring the best visual guidance during the entire landing process, so as to facilitate the subsequent real-time adjustment of the opening speed of the navigation light according to the speed changes in actual operation.

[0018] In a preferred example of the present application, the navigation light opening speed comparison table for adjusting the navigation light opening speed is generated according to the navigation light brightness design speed, the first predicted forced landing speed and the second predicted forced landing speed, specifically including: Obtaining a predicted landing time according to the distance between the navigation light recognition range and the landing area, the first predicted forced landing speed, and the second predicted forced landing speed; acquiring a designed landing time according to the first designed forced landing speed and the second designed forced landing speed; According to the navigation light brightness design speed, the predicted landing time, and the designed landing time, the predicted turning-on speed of the navigation light is obtained; Calculating a ratio of the first predicted forced landing speed to the second predicted forced landing speed to obtain a predicted forced landing speed ratio for predicting a second actual forced landing speed; Calculate the landing time difference between the predicted landing time and the designed landing time, and calculate the turning-on speed difference between the predicted turning-on speed of the navigation light and the designed brightness speed of the navigation light; According to the landing time difference and the opening speed difference, a predicted opening speed-time correspondence relationship for determining an actual opening speed of the navigation light is obtained; According to the predicted forced landing speed ratio and the predicted opening speed time correspondence, a navigation light opening speed comparison table for comparing and adjusting the navigation light opening speed is generated.

[0019] By adopting the above technical solution, the predicted landing time can be accurately calculated to plan the working mode of the navigation lights in advance and ensure that sufficient lighting support is provided during critical periods; by comparing the actual predicted landing time with the designed landing time, it is helpful to evaluate whether the current operation meets expectations and make timely adjustments; further, the predicted opening speed of the navigation lights is scientifically calculated to ensure that appropriate light intensity is provided at different stages to avoid excessive or insufficient lighting; through a detailed analysis of the difference between landing time and opening speed, the navigation light control system can more accurately judge the current control operation deviation; the predicted opening speed-time correspondence is conducive to dynamically adjusting the opening speed of the navigation lights in different time periods; the speed comparison table finally generated provides a detailed operating guide for the system.

[0020] In the second aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A control system based on self-positioning helicopter airport navigation lights, comprising: a control method for executing the above-mentioned control method based on self-positioning helicopter airport navigation lights, the system comprising: Information acquisition module, used to obtain environmental information, drone status information and navigation light layout information; A guidance parameter determination module is used to determine initial guidance parameters according to the environmental information, the drone state information and the navigation light layout information; and calculate visual guidance signal parameters for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters; A control scheme determination module, used to determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; The lighting status monitoring module is used to obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction; The adaptive adjustment module is used to calculate the corresponding navigation light adjustment parameters based on the environmental adaptive adjustment instruction and send the lighting adjustment instruction to the corresponding navigation light area.

[0021] In the third aspect, the invention objective of this application is achieved by adopting the following technical solutions: A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned control method based on self-positioning helicopter airport navigation lights are implemented.

[0022] In a fourth aspect, the invention objective of the present application is achieved by adopting the following technical solutions: A computer program product, when the computer program product is run on a cash register system, enables the cash register system to execute the control method based on the self-positioning helicopter airport navigation light as described above.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. By developing a detailed navigation light control plan and quickly sending a lighting start-up command, the navigation lights can be activated in a short time; the environmental feedback information of each navigation light area is monitored in real time, and the environmental adaptability adjustment command is triggered when the environmental change exceeds the preset threshold. The navigation light control system can respond quickly to ensure that the navigation lights are always in the best working condition; 2. By accurately predicting the forced landing speed and landing time, the system can prepare before the drone enters the identification range of the navigation lights, ensuring rapid response and providing the best visual guidance; according to the actual needs of different stages, the system can dynamically adjust the opening speed and brightness of the navigation lights to adapt to various complex landing scenarios and improve the overall adaptability; 3. Through multi-level speed prediction, time difference calculation and opening speed adjustment, the system can provide strong visual support at critical moments, reduce risks caused by environmental changes, and ensure the safe landing of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a control method based on self-positioning helicopter airport navigation lights in one embodiment of the present application; Figure 2 This is a flow chart before step S1 in a control method based on self-positioning helicopter airport navigation lights in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The present application is further described in detail below in conjunction with the accompanying drawings.

[0026] In one embodiment, if Figure 1 As shown, the present application discloses a control method based on self-positioning helicopter airport navigation lights, which specifically includes the following steps: S1: Obtain environmental information, UAV status information and navigation light layout information, and determine initial guidance parameters based on the environmental information, UAV status information and navigation light layout information; the initial guidance parameters include light brightness level, color mode, and working status of the direction indicator light.

[0027] In this embodiment, environmental information includes light intensity, weather conditions (such as sunny, rainy, foggy, etc.), and wind speed; UAV status information includes landing requirements, position coordinates, flight altitude and flight speed; navigation light layout information includes the area where each navigation light is located, relative position, installation height, and horizontal height. In order to facilitate the distinction between the numerous navigation light areas and navigation lights of the helicopter airport, each navigation light can be associated with a navigation light identifier and an area identifier, such as using area A, area B, and area C to distinguish the areas, and using information codes to distinguish the navigation lights; the position status of the UAV relative to each navigation light includes distance and angle; the initial guidance parameters include light brightness level, color mode, and the working status of the direction indicator light.

[0028] Specifically, current environmental information is obtained through sensors or external systems, such as light intensity obtained by a light sensor, weather conditions provided by a weather station, and the status information of the UAV is obtained from the flight control system of the UAV; the light brightness level is adjusted according to the light intensity in the environmental information; a suitable color mode is selected according to weather conditions, such as using high-contrast colors in low-light conditions; the working status of the direction indicator light is set according to the flight direction of the UAV, and the calculated light brightness level, color mode, and working status of the direction indicator light are combined into initial guidance parameters.

[0029] Furthermore, step S1 specifically includes the following steps: S11: Extract current light intensity and weather conditions from environmental information.

[0030] Specifically, the environmental information includes external condition data related to the operation of the navigation lights; the light intensity refers to the brightness level of the light in the current environment.

[0031] S12: Determine the light brightness level of each navigation light area according to the position coordinates, flight altitude and speed in the drone status information and the relative positions of each navigation light area in the navigation light layout information.

[0032] Specifically, based on the flight parameters of the current emergency landing drone, the drone status information is obtained, such as the speed and direction when approaching the landing area, and then the light brightness levels of several navigation light areas in the relevant area are dynamically adjusted according to the current status of the drone and the layout of the navigation lights.

[0033] S13: Determine the working status of the color mode and the direction indicator light according to the environmental information and the drone status information.

[0034] Specifically, the color mode refers to the color configuration of the navigation light. Multiple color modes are pre-defined to suit different environments and flight conditions; for example, when visibility conditions are poor in rain and fog, switch to cold colors; the working status of the direction indicator light refers to a specific light mode used to indicate the landing direction of the drone, which can be turned on or off according to actual conditions.

[0035] S14: Associating the light brightness level, color mode, and working status of the direction indicator light to obtain initial guidance parameters.

[0036] S2: Based on the position of the UAV relative to each navigation light and the initial guidance parameters, the visual guidance signal parameters are calculated for each navigation light area.

[0037] In this embodiment, the visual guidance signal parameters include but are not limited to the luminous intensity of the LED in each area, the color change pattern, and the opening sequence of the direction indicator lights.

[0038] Specifically, step S2 specifically includes: S21: Calculate the LED luminous intensity in each navigation light area according to the relative distance and angle between the drone and each navigation light area.

[0039] S22: Determine a color change mode of each navigation light area according to the relative distance and angle, and the color mode.

[0040] Specifically, color change mode refers to the color configuration that is dynamically adjusted according to the status of the drone and environmental conditions to enhance the visual guidance effect; the color mode is a predefined group of color settings used for different flight phases or environmental conditions of the drone. The color mode can be set through different colors and color change frequencies, such as increasing contrast in low-light conditions, or using eye-catching color combinations in emergencies. In actual application, multiple color modes and corresponding color adjustment strategies can be pre-defined.

[0041] S23: Determine the order and speed of turning on the direction indicator lights according to the relative distance and angle, the working state of the direction indicator lights, and the emergency landing speed of the UAV.

[0042] Specifically, the working status of the direction indicator light refers to whether the direction indicator light is turned on and its specific display mode; according to the status and flight path of the drone, the opening order and speed of the direction indicator light are dynamically adjusted. For example, the flashing frequency of the indicator light is gradually increased when approaching the landing point to provide clear landing guidance.

[0043] S24: Associating the LED luminous intensity, the color change pattern, the turn-on sequence and the turn-on speed of the direction indicator lights to obtain visual guidance signal parameters.

[0044] Specifically, the visual guidance signal parameters are a complete set of navigation light operating parameters generated by integrating all relevant factors that control the navigation lights and affect the lighting effects of the navigation lights, including LED luminous intensity, color change mode, and the order and speed of turning on the direction indicator lights.

[0045] S3: Determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to the corresponding navigation lights based on the navigation light control scheme.

[0046] In this embodiment, the navigation light control scheme is a specific operation guide formulated based on the visual guidance signal parameters and the initial guidance parameters; the lighting start instruction is a specific operation command used to activate the navigation light.

[0047] S4: Obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction.

[0048] In this embodiment, the environmental difference value refers to the difference between the actual environmental information and the initial setting value; the environmental change threshold range is the allowable environmental change range, and adjustments must be made if the environmental change threshold range is exceeded.

[0049] Specifically, step S4 includes: S41: According to the lighting start instruction, environmental feedback information of each navigation light area is obtained to obtain partition environmental feedback information.

[0050] Specifically, the lighting start instruction refers to a specific operation command generated according to the control parameters of the navigation light control scheme, which is used to activate the navigation lights. The zoned environmental feedback information refers to the actual environmental data collected by the sensors in each navigation light area. In order to facilitate the detailed analysis of the landing area of ​​a helicopter airport with a larger area, the present application performs one-to-one zone differentiation and zone identification based on each different navigation light area to obtain the zoned environmental feedback information corresponding to each navigation light area. For easy distinction, the zoned environmental feedback information can be associated with the corresponding unique zone location identifier.

[0051] In this embodiment, a lighting start instruction is sent to each navigation light area to activate the navigation light control system. The sensors in the navigation light area start working to collect current environmental information in real time. The collected environmental information is sorted and classified to form partitioned environmental feedback information.

[0052] S42: Obtaining the environment change completion information, and triggering the drone position update instruction according to the environment change completion information.

[0053] Specifically, the environmental change end information refers to the information that the current environmental change has stabilized, which may come from sensors or external systems; the drone position update instruction is a command used to update the drone's current position coordinates and status information.

[0054] S43: Obtain the drone position update result information, and obtain the current comprehensive status information of the specified location based on the drone position update result information and the partition environment feedback information.

[0055] Specifically, the drone position update result information refers to the latest position coordinates and status information of the drone after update; the current comprehensive status information refers to the comprehensive evaluation result obtained by combining the drone position and environmental feedback information.

[0056] S44: Calculate the environmental difference value based on the current comprehensive state information and the set value in the initial guidance parameter, combined with the emergency landing speed of the UAV.

[0057] Specifically, the environmental difference value refers to the degree of difference between the actual environmental state and the initial guidance parameter setting value; the emergency landing speed refers to the flight speed of the UAV in an emergency situation, which affects the demand and effect of visual guidance.

[0058] For example, suppose the navigation light areas A, B, and C are located at different locations on the drone's landing path: Area A: Light intensity is 500 lux and weather conditions are light fog.

[0059] Area B: Light intensity is 3000 lux and weather conditions are moderate fog.

[0060] Area C: Light intensity is 600 lux and weather conditions are moderate fog.

[0061] Partition environment feedback information: Area A: Light intensity is 500 lux, and the recommended brightness is adjusted to 75%.

[0062] Area B: Light intensity is 300 lux, and the recommended brightness is adjusted to 90%.

[0063] Area C: Light intensity 600 lux, recommended brightness adjustment to 70%.

[0064] Initial boot parameter settings: Light intensity adaptation brightness: 80%; Color mode: high contrast mode; Direction indicator flashing frequency: 2 times / second.

[0065] Based on the drone position update command, the current position of the drone is obtained: it is 200 meters away from the landing point, the flight altitude is 50 meters, and the flight speed is 10m / s.

[0066] Current comprehensive status information: Area A: Brightness 75%, color mode high contrast, direction indicator flashing frequency 2 times / second.

[0067] Area B: Brightness 85%, color mode high contrast, direction indicator flashing frequency 2 times / second.

[0068] Area C: Brightness 70%, color mode high contrast, direction indicator flashing frequency 2 times / second.

[0069] Combining the new position of the drone and the partition environment feedback information, the calculation result is: 200 meters from the landing point, stronger visual guidance is needed.

[0070] The light intensity in area B has improved, but higher brightness is still required.

[0071] S45: Compare the environmental difference value with the preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction to the corresponding navigation light control terminal.

[0072] For example, the preset environmental change threshold range is 5%, and the environmental difference value calculation result is: Area A: brightness difference = 80%-75% = 5%; Area B: brightness difference = 80%-85% = -5%; Area C: Brightness difference = 80% - 70% = 10%.

[0073] Comparison results: Area A: brightness difference 5% (within the threshold range); Region B: brightness difference -5% (within the threshold range); Region C: Brightness difference 10% (outside the threshold range).

[0074] Triggering environmental adaptability adjustment instructions: Area C: Since the brightness difference exceeds the threshold range, the environmental adaptability adjustment instruction is triggered to adjust the brightness back to 80%.

[0075] S5: Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation light adjustment parameters and send the lighting adjustment instruction to the corresponding navigation light area.

[0076] Specifically, the navigation light adjustment parameters are new working parameters calculated according to the environmental adaptability adjustment instructions; the lighting adjustment instructions are specific commands for adjusting the working state of the navigation light.

[0077] In this embodiment, step S5 further includes: S51: According to the environmental adaptability adjustment instruction, obtain the navigation light adjustment parameter information, wherein the navigation light adjustment parameter information includes the LED luminous intensity adjustment value, the color mode adjustment value and the direction indicator light working state adjustment value in each navigation light area.

[0078] Specifically, the color mode adjustment values ​​include the adjustment of color combinations, the adjustment of color change frequency and the adjustment of color contrast, such as switching colors once a second, or keeping a certain color unchanged for a specific period of time; the direction indicator working status adjustment values ​​include on / off status, flashing mode, brightness level (80% brightness to avoid glare caused by excessive brightness) and sequence control (such as lighting up the indicator lights in sequence from the landing point to the outside to guide the drone to land correctly).

[0079] S52: Compare the LED luminous intensity adjustment value with the preset brightness threshold. If the LED luminous intensity adjustment value is less than the preset brightness threshold, trigger the lighting adjustment instruction according to the navigation light adjustment parameter information and the emergency landing speed of the UAV.

[0080] Specifically, the brightness threshold is an interval value. If the LED luminous intensity adjustment value is less than the preset brightness threshold, it is judged that when the navigation light is adjusted according to the navigation light adjustment parameter information, the navigation light will not produce light decay or temperature increase. At this time, the junction temperature of the LED chip will not be too high, and the heat generated by the LED lamp beads will not be too high.

[0081] S53: If the LED luminous intensity adjustment value is greater than the preset brightness threshold, a secondary adjustment instruction is triggered, and secondary adjustment parameter information is obtained according to the secondary adjustment instruction.

[0082] Specifically, the secondary adjustment parameter information refers to the parameter information of the navigation light adjustment information after adjustment; if the LED luminous intensity adjustment value is greater than the preset brightness threshold, the current luminous intensity is too high, and the junction temperature of the LED chip may be too high, which is not conducive to the service life maintenance of the navigation light, and long-term use will affect the lighting effect of the navigation light; at this time, the secondary adjustment instruction is triggered, and the secondary adjustment parameter information is obtained after adjustment.

[0083] S54: triggering a lighting adjustment instruction according to the secondary adjustment parameter information.

[0084] Specifically, the specific operation command generated based on the secondary adjustment parameter is used to further adjust the working state of the navigation light.

[0085] In one embodiment, if Figure 2 As shown, before step S1, a control method based on self-positioning helicopter airport navigation lights also includes: S101: Obtain the installation information and design speed of the navigation light system; wherein the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the navigation light recognition range, and the distance between the navigation light recognition range and the landing area; the design speed includes the navigation light brightness design speed, the first design forced landing speed of the UAV, and the second design forced landing speed of the UAV.

[0086] Specifically, the installation information of the navigation light system refers to the information that describes the specific installation location and layout of the navigation lights; the installation height of the navigation lights is the height of the navigation lights relative to the ground; the horizontal angle of the navigation lights is the angle of the navigation lights relative to the horizontal plane, which affects the coverage range of the lights; the distance of the navigation light recognition range refers to the maximum distance at which the navigation lights can effectively identify the drone; the distance between the navigation light recognition range and the landing area refers to the distance from the starting point of the navigation light recognition range to the end point of the landing area; the design speed is the speed reference value used to calculate and adjust the working parameters of the navigation lights; the navigation light brightness design speed is the navigation light brightness standard set based on different flight speeds; the first design forced landing speed of the drone is the expected speed of the drone when it enters the navigation light recognition range; the second design forced landing speed of the drone is the expected speed of the drone when it passes through the landing area.

[0087] S102: Determine a first predicted forced landing speed of the UAV when the UAV enters the identification range of the navigation light according to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance of the identification range of the navigation light.

[0088] Specifically, the influence of factors such as wind speed and terrain on the flight speed is taken into account, and the first predicted forced landing speed when the UAV enters the identification range of the navigation light is calculated.

[0089] S103: Determine a second predicted forced landing speed of the UAV when it passes through the landing area according to the installation type of the navigation light, the second designed broadcast speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area.

[0090] Specifically, the deceleration strategy of the UAV, weather conditions and other factors are taken into consideration; and a second predicted forced landing speed of the UAV when passing through the landing area is calculated.

[0091] S104: Generate a navigation light turn-on speed comparison table for adjusting the navigation light turn-on speed according to the navigation light brightness design speed, the first predicted forced landing speed, and the second predicted forced landing speed.

[0092] Specifically, step S104 includes: S1041: Obtain a predicted landing time according to the distance between the navigation light recognition range and the landing area, the first predicted forced landing speed, and the second predicted forced landing speed.

[0093] Specifically, the distance between the navigation light recognition range and the landing area refers to the distance from when the drone enters the navigation light recognition range to when it reaches the landing area.

[0094] S1042: Obtain a designed landing time according to the first designed forced landing speed and the second designed forced landing speed.

[0095] Specifically, the first design forced landing speed is the speed at which the UAV enters the identification range of the navigation lights under the design standard; the second design forced landing speed is the speed at which the UAV passes through the landing area under the design standard; and the design landing time is the expected landing time calculated based on the design speed.

[0096] Assumptions: The first design forced landing speed = 10m / s; the second design forced landing speed = 5m / s.

[0097] Design landing time calculation: The time from entering the identification range to the landing area = 500 meters / 10m / s=50 seconds.

[0098] Assuming that the deceleration process in the landing area requires additional time (such as 15 seconds), the total designed landing time = 50 seconds + 15 seconds = 65 seconds.

[0099] S1043: Obtain the predicted turning-on speed of the navigation light according to the brightness design speed of the navigation light, the predicted landing time and the designed landing time.

[0100] Specifically, the design speed of the navigation light brightness refers to the brightness standard of the navigation light set based on different flight speeds; the predicted turning-on speed of the navigation light refers to the speed at which the navigation light should be turned on, calculated based on the predicted landing time and the designed landing time.

[0101] Assumptions: The design speed of the navigation light brightness = 80%.

[0102] Predicted landing time = 65.56 seconds.

[0103] Design landing time = 65 seconds.

[0104] Calculation of predicted speed of turning on the navigation lights: If the predicted falling time is slightly longer than the designed falling time, the brightness design speed can be appropriately reduced (such as 78%).

[0105] S1044: Calculate the ratio of the first predicted forced landing speed to the second predicted forced landing speed to obtain a predicted forced landing speed ratio for predicting the second actual forced landing speed.

[0106] S1045: Calculate the landing time difference between the predicted landing time and the designed landing time, and calculate the opening speed difference between the predicted opening speed of the navigation lights and the brightness design speed of the navigation lights.

[0107] Specifically, the landing time difference refers to the difference between the predicted landing time and the designed landing time; the opening speed difference refers to the difference between the predicted opening speed of the navigation lights and the designed speed of the brightness of the navigation lights.

[0108] S1046: Obtaining a predicted turn-on speed-time correspondence for determining an actual turn-on speed of the navigation light according to the landing time difference and the turn-on speed difference.

[0109] Specifically, a predicted opening speed-time correspondence is established according to the landing time difference and the opening speed difference; for example, if the landing time difference is positive, the opening speed may need to be increased; otherwise, the opening speed may need to be reduced.

[0110] S1047: Generate a navigation light opening speed comparison table for adjusting the navigation light opening speed according to the predicted forced landing speed ratio and the predicted opening speed time correspondence.

[0111] Specifically, the navigation light opening speed comparison table refers to a standard reference table of navigation light opening speeds under different corresponding relationships between predicted forced landing speeds and predicted opening speed times.

[0112] S105: Obtain a reference range of the navigation light turning on speed change representing the navigation light turning on speed change threshold, and generate a navigation light turning on speed control model according to the reference range of the navigation light turning on speed change and the navigation light turning on speed comparison table. The navigation light turning on speed control model is used to adjust the turning on speed of the navigation light.

[0113] In this embodiment, the navigation light turning on speed comparison table is a standard reference table containing the corresponding navigation light turning on speeds under different predicted forced landing speeds; the navigation light turning on speed change reference range refers to the allowable range of change of the navigation light turning on speed, and adjustments must be made beyond this range; the navigation light turning on speed control model refers to an adjustment model generated based on the navigation light turning on speed comparison table and the change reference range, which is used to dynamically adjust the navigation light turning on speed.

[0114] Assume that in a specific scenario, the installation information of the navigation light system is as follows: Installation height of navigation lights: 5 meters; Horizontal angle of navigation lights: 15 degrees; Distance of navigation light identification range: 500 meters; The distance between the navigation light identification range and the landing area: 100 meters; The design speeds are as follows: The first design landing speed of the UAV is 10m / s.

[0115] The second design landing speed of the UAV is 5m / s.

[0116] Assume that the prediction model obtains a first predicted forced landing speed of 9 m / s. The prediction model obtains a second predicted forced landing speed of 6 m / s.

[0117] The contents of the navigation light opening speed comparison table include: 9m / s: 75% brightness.

[0118] 6m / s: 60% brightness.

[0119] The reference range of the navigation light opening speed change is set to ±10%, that is, the allowable brightness change range is ±5%. At this time, the navigation light opening speed control model generates corresponding adjustment instructions, such as adjusting the brightness to 75% (for the first predicted forced landing speed) and 60% (for the second predicted forced landing speed).

[0120] It should be understood that the serial numbers of the steps in the above embodiments do not imply a sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0121] In one embodiment, a control system based on self-positioning helicopter airport navigation lights is provided. The control system based on self-positioning helicopter airport navigation lights corresponds to a control method based on self-positioning helicopter airport navigation lights in the above embodiment.

[0122] A control system based on self-positioning helicopter airport navigation lights includes an information acquisition module, a guidance parameter determination module, a control scheme determination module, a lighting status monitoring module and an adaptive adjustment module. The detailed description of each functional module is as follows: Information acquisition module, used to obtain environmental information, drone status information and navigation light layout information; The guidance parameter determination module is used to determine the initial guidance parameters according to the environmental information, the UAV status information and the navigation light layout information; based on the position of the UAV relative to each navigation light and the initial guidance parameters, the visual guidance signal parameters are calculated for each navigation light area; A control scheme determination module is used to determine the navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to the corresponding navigation lights based on the navigation light control scheme; The lighting status monitoring module is used to obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, the environmental adaptability adjustment instruction is triggered; The adaptive adjustment module is used to calculate the corresponding navigation light adjustment parameters based on the environmental adaptive adjustment instructions and send the lighting adjustment instructions to the corresponding navigation light area.

[0123] For the specific limitations of the control system based on self-positioning helicopter airport navigation lights, please refer to the limitations of a control method based on self-positioning helicopter airport navigation lights in the above text, which will not be repeated here; each module in the above-mentioned control system based on self-positioning helicopter airport navigation lights can be fully or partially implemented by software, hardware and their combination; each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: S1: Obtain environmental information, drone status information and navigation light layout information, and determine initial guidance parameters based on the environmental information, drone status information and navigation light layout information; the initial guidance parameters include light brightness level, color mode, and working status of the direction indicator light; S2: Calculate visual guidance signal parameters for each navigation light area based on the position of the UAV relative to each navigation light and the initial guidance parameters; S3: determining a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and sending a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; S4: Obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction; S5: Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation light adjustment parameters and send the lighting adjustment instruction to the corresponding navigation light area.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0126] In one embodiment, in particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication module, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the present invention are performed.

[0127] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0128] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the features thereof may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method based on self-positioning helicopter airport navigation lights, characterized in that: include: Obtaining environmental information, UAV status information, and navigation light layout information, and determining initial guidance parameters based on the environmental information, UAV status information, and navigation light layout information; The initial guidance parameters include light brightness level, color mode, and working status of the direction indicator lights; Calculate visual guidance signal parameters for each navigation light area based on the position of the UAV relative to each navigation light and the initial guidance parameters; Determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; Obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction; Based on the environmental adaptability adjustment instruction, the corresponding navigation light adjustment parameters are calculated and the lighting adjustment instruction is sent to the corresponding navigation light area.

2. A control method based on self-positioning helicopter airport navigation lights according to claim 1, characterized in that: The acquiring of environmental information, UAV status information and navigation light layout information, and determining initial guidance parameters according to the environmental information, UAV status information and navigation light layout information, specifically includes: extracting current light intensity and weather conditions from the environmental information; Determine the light brightness level of each navigation light area according to the position coordinates, flight altitude and speed in the drone status information and the relative positions of each navigation light area in the navigation light layout information; Determine the working status of the color mode and the direction indicator light according to the environmental information and the drone status information; The light brightness level, color mode and working state of the direction indicator light are associated to obtain the initial guidance parameters.

3. A control method based on self-positioning helicopter airport navigation lights according to claim 2, characterized in that: The calculating of visual guidance signal parameters for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters specifically includes: Calculate the LED luminous intensity in each navigation light area based on the relative distance and angle between the drone and each navigation light area; Determine a color change pattern of each navigation light area according to the relative distance and angle, and the color pattern; According to the relative distance and angle, as well as the working state of the direction indicator light, and in combination with the emergency landing speed of the UAV, determining the order and speed of turning on the direction indicator lights; The LED luminous intensity, color change pattern, turn-on sequence and turn-on speed are associated to obtain the visual guidance signal parameters.

4. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: The step of obtaining environmental feedback information from each navigation light area, comparing the environmental feedback information with the set value in the initial guidance parameter, and calculating an environmental difference value; if the environmental difference value exceeds a preset environmental change threshold range, triggering an environmental adaptability adjustment instruction specifically includes: According to the lighting start instruction, environmental feedback information of each navigation light area is obtained to obtain zone environmental feedback information; Obtaining environmental change completion information, and triggering a drone position update instruction according to the environmental change completion information; Obtaining the drone position update result information, and obtaining the current comprehensive status information of the specified location based on the drone position update result information and the partition environment feedback information; Calculate the environmental difference value according to the current comprehensive state information and the set value in the initial guidance parameter in combination with the emergency landing speed of the UAV; The environmental difference value is compared with a preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, an environmental adaptability adjustment instruction is triggered to the corresponding navigation light control terminal.

5. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: The step of calculating corresponding navigation light adjustment parameters based on the environmental adaptability adjustment instruction and sending the lighting adjustment instruction to the corresponding navigation light area specifically includes: According to the environmental adaptability adjustment instruction, the navigation light adjustment parameter information is obtained, wherein the navigation light adjustment parameter information includes the LED luminous intensity adjustment value, the color mode adjustment value and the direction indicator light working state adjustment value in each navigation light area; The LED luminous intensity adjustment value is compared with a preset brightness threshold. If the LED luminous intensity adjustment value is less than the preset brightness threshold, a lighting adjustment instruction is triggered according to the navigation light adjustment parameter information and the emergency landing speed of the UAV; If the LED luminous intensity adjustment value is greater than a preset brightness threshold, a secondary adjustment instruction is triggered, and secondary adjustment parameter information is obtained according to the secondary adjustment instruction; According to the secondary adjustment parameter information, a lighting adjustment instruction is triggered.

6. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: Before obtaining the environmental information, the UAV state information and the navigation light layout information, and determining the initial guidance parameters according to the environmental information, the UAV state information and the navigation light layout information, the method further includes: Obtaining the installation information and design speed of the navigation light system; wherein the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the navigation light recognition range, and the distance between the navigation light recognition range and the landing area; the design speed includes the brightness design speed of the navigation light, the first design forced landing speed of the UAV, and the second design forced landing speed of the UAV; Determine a first predicted forced landing speed of the UAV when it enters the identification range of the navigation light according to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light and the distance of the identification range of the navigation light; Determine the second predicted forced landing speed of the UAV when it passes through the landing area according to the installation type of the navigation light, the second designed broadcast speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area; Generate a navigation light turn-on speed comparison table for adjusting the navigation light turn-on speed according to the navigation light brightness design speed, the first predicted forced landing speed, and the second predicted forced landing speed; A reference range of the navigation light turning on speed change representing the navigation light turning on speed change threshold is obtained, and a navigation light turning on speed control model is generated according to the reference range of the navigation light turning on speed change and the navigation light turning on speed comparison table. The navigation light turning on speed control model is used to adjust the turning on speed of the navigation light.

7. A control method based on self-positioning helicopter airport navigation lights according to claim 6, characterized in that: The generating, according to the navigation light brightness design speed, the first predicted forced landing speed and the second predicted forced landing speed, a navigation light opening speed comparison table for adjusting the navigation light opening speed specifically includes: Obtaining a predicted landing time according to the distance between the navigation light recognition range and the landing area, the first predicted forced landing speed, and the second predicted forced landing speed; acquiring a designed landing time according to the first designed forced landing speed and the second designed forced landing speed; According to the navigation light brightness design speed, the predicted landing time, and the designed landing time, the predicted turning-on speed of the navigation light is obtained; Calculating a ratio of the first predicted forced landing speed to the second predicted forced landing speed to obtain a predicted forced landing speed ratio for predicting a second actual forced landing speed; Calculate the landing time difference between the predicted landing time and the designed landing time, and calculate the turning-on speed difference between the predicted turning-on speed of the navigation light and the designed brightness speed of the navigation light; According to the landing time difference and the opening speed difference, a predicted opening speed-time correspondence relationship for determining an actual opening speed of the navigation light is obtained; According to the predicted forced landing speed ratio and the predicted opening speed time correspondence, a navigation light opening speed comparison table for comparing and adjusting the navigation light opening speed is generated.

8. A control system based on self-positioning helicopter airport navigation lights, characterized in that: The system is used to execute a control method based on a self-positioning helicopter airport navigation light according to any one of claims 1 to 7, and comprises: Information acquisition module, used to obtain environmental information, drone status information and navigation light layout information; A guidance parameter determination module is used to determine initial guidance parameters according to the environmental information, the drone state information and the navigation light layout information; and calculate visual guidance signal parameters for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters; A control scheme determination module, used to determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; The lighting status monitoring module is used to obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction; The adaptive adjustment module is used to calculate the corresponding navigation light adjustment parameters based on the environmental adaptive adjustment instruction and send the lighting adjustment instruction to the corresponding navigation light area.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a control method based on self-positioning helicopter airport navigation lights as described in any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that When the computer program product is run on a cash register system, the cash register system executes a control method based on a self-positioning helicopter airport navigation light as claimed in any one of claims 1 to 7.

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