Airborne fireworks dynamic trajectory control method based on gun-launched coaxial rotor unmanned aerial vehicle

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) control technology and discloses a method for dynamic trajectory control of aerial fireworks based on a cannon-launched coaxial rotor UAV. The system includes: collecting flight and environmental parameters from UAV launch to fireworks ignition; analyzing trajectory deviation characterization values ​​and comparing them with a preset trajectory deviation characterization threshold to determine the UAV's flight status; if the flight trajectory meets the standards, collecting the trajectory and firing parameters after fireworks ignition; analyzing the UAV trajectory dynamic adaptation characterization values; comparing the differences to determine adaptability; if unqualified, formulating a UAV flight adjustment strategy; and further correcting the preset trajectory deviation characterization threshold based on the flight adjustment strategy. This invention achieves precise adaptation between the UAV trajectory and fireworks firing by collecting parameters in stages, quantitatively analyzing characterization values, dynamically comparing thresholds, and optimizing adjustments. This improves flight stability, the visual appeal and safety of fireworks displays, adapts to different scenario requirements, and facilitates engineering applications.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, to a method for controlling the dynamic trajectory of aerial fireworks based on a gun-launched coaxial rotor UAV. Background Technology

[0002] With the rapid integration of drone technology and low-altitude cultural and tourism performances, artillery-launched coaxial rotor drones have been widely used in aerial fireworks displays due to their advantages such as fast launch response, stable hovering, and flexible maneuverability. However, post-launch disturbances, airflow changes, and interference from the high temperature and strong light brought by fireworks can cause the drone's trajectory to deviate from the preset path, making it difficult to ensure that the timing of the fireworks display is accurately matched with the flight trajectory. Existing controls mostly rely on preset programs and lack a dynamic adaptation mechanism for the entire process of launch, flight, and fireworks display, making it difficult to guarantee trajectory stability and performance effects.

[0003] Traditional drone fireworks display control methods generally have significant flaws. Most of them only use fixed trajectory control and do not distinguish between the two key stages of launch and ignition. They cannot comprehensively evaluate trajectory deviation by considering flight status and complex environmental parameters. During the fireworks display stage, trajectory parameters are not linked with the display characteristics. Adaptation judgment relies on human experience, with fixed thresholds and blind adjustments. This easily leads to problems such as trajectory deviation, adaptation mismatch, and repeated adjustments, which not only affect the viewing experience but also pose flight safety hazards.

[0004] Therefore, it is necessary to design a dynamic trajectory control method for aerial fireworks based on artillery-launched coaxial rotor UAVs to solve the problems of non-dynamic trajectory control, fixed thresholds, inaccurate adaptation judgment, lack of adjustment basis, and insufficient performance stability and safety in the existing technology. Summary of the Invention

[0005] In view of this, the present invention proposes a dynamic trajectory control method for aerial fireworks based on a cannon-launched coaxial rotor UAV, in order to solve the problems of non-dynamic trajectory control, fixed threshold, inaccurate adaptation judgment, lack of basis for adjustment, and insufficient performance stability and safety in the prior art.

[0006] This invention proposes a method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV, including: Collect flight status and environmental parameters of the artillery-launched coaxial rotor UAV from launch to ignition of fireworks. The trajectory deviation characterization value is analyzed based on the flight state parameters and environmental parameters. Based on the comparison between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold, it is determined whether the UAV flight status meets the flight trajectory control standard. In response to the drone's flight status conforming to the flight trajectory control standard, the drone's flight trajectory parameters and the fireworks display parameters are collected after the fireworks are ignited; Based on the flight trajectory parameters and fireworks display parameters, analyze the dynamic adaptation characterization value of the UAV trajectory; The difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold is used to determine whether the UAV meets the fireworks trajectory control standard. In response to the fact that the drone does not meet the fireworks trajectory control standard, the flight adjustment strategy of the current drone is determined based on the difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold. The flight status parameters include flight speed, flight status angle, and hovering accuracy; The environmental parameters include wind speed, wind direction, and air density; The flight trajectory parameters include trajectory offset and trajectory curvature; The parameters for fireworks display include display duration, display intensity, and flame diffusion range.

[0007] Furthermore, the process of analyzing the trajectory deviation characterization value based on the aforementioned flight state parameters and environmental parameters includes: The ratio of each parameter in the flight status parameters to the corresponding preset flight parameter threshold is used as the initial flight index coefficient of each flight status parameter. The ratio of each environmental parameter to its corresponding preset environmental parameter threshold is used as the initial environmental index coefficient for each environmental parameter. Based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios, the trajectory deviation characterization value is calculated.

[0008] Furthermore, the process of calculating the trajectory deviation characterization value based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios includes: The initial flight index coefficients are compared with the preset flight index weight relationship table. The weight ratio of each initial flight index coefficient is determined according to the comparison result, and the total weight ratio of each initial flight index coefficient is used as the first weight value. The complementary value of the first weight value is used as the total weight ratio of each initial environmental index coefficient, and the total weight ratio of each initial environmental index coefficient is used as the second weight value. The weight percentage of each initial environmental index coefficient is calculated based on the second weight value and the preset proportion of each environmental parameter. The product of each initial flight index coefficient and each initial environmental index coefficient with its corresponding weight percentage is used as the final flight index coefficient of each flight state parameter and the final environmental index coefficient of each environmental parameter. The final flight index coefficients of each flight state parameter and the sum of the final environmental index coefficients of each environmental parameter are calculated and used as the trajectory deviation characterization value.

[0009] Furthermore, determining whether the UAV flight state conforms to the flight trajectory control standard based on the comparison result between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: If the trajectory deviation characterization value is less than or equal to the preset trajectory deviation characterization threshold, then the UAV flight status is determined to meet the flight trajectory control standard. If the trajectory deviation characterization value is greater than the preset trajectory deviation characterization threshold, it is determined that the UAV's flight state does not meet the flight trajectory control standard, and the UAV's flight state parameters are adjusted based on the flight trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold.

[0010] Furthermore, adjusting the UAV flight state parameters based on the trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: The trajectory difference is compared with a first preset trajectory difference and a second preset trajectory difference, and the adjustment value of the UAV flight state parameter is determined based on the comparison result; wherein, the first preset trajectory difference is less than the second preset trajectory difference; When the trajectory difference is less than or equal to the first preset trajectory difference, the adjustment value is determined to be the first adjustment value; When the trajectory difference is greater than the first preset trajectory difference and less than or equal to the second preset trajectory difference, the adjustment value is determined to be the second adjustment value; When the adjustment value is greater than the second preset trajectory difference, the adjustment value is determined to be the third adjustment value.

[0011] Furthermore, the analysis of the UAV trajectory dynamic adaptation characterization value based on the flight trajectory parameters and fireworks display parameters includes: The trajectory offset and trajectory curvature in the flight trajectory parameters are compared with the corresponding preset trajectory parameter thresholds, and the adaptation coefficient of each flight trajectory parameter is determined based on the comparison results. The duration, intensity, and flame diffusion range of the fireworks display parameters are compared with the corresponding preset display parameter thresholds, and the adaptation coefficient of each fireworks display parameter is determined based on the comparison results. The product of trajectory offset, trajectory curvature, ignition duration, ignition intensity, and flame diffusion range with the corresponding adaptation coefficient is calculated, and the average value is obtained to obtain the trajectory dynamic adaptation characterization value.

[0012] Furthermore, the process of determining whether the UAV meets the fireworks trajectory control standard based on the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: Calculate the absolute value of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold; If the absolute value of the difference is less than or equal to a preset difference threshold, then the drone is determined to meet the fireworks trajectory control standard. If the absolute value of the difference is greater than the preset difference threshold, it is determined that the drone does not meet the fireworks trajectory control standard.

[0013] Furthermore, in response to the drone not conforming to the fireworks trajectory control standard, the flight adjustment strategy for the current drone is determined based on the difference result, including: Based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold, the deviation adjustment direction of the current UAV flight state parameters is determined. Based on the absolute value of the difference and the preset flight parameter adjustment mapping table, the adjustment range of the flight status adjustment parameter is determined.

[0014] Furthermore, determining the deviation adjustment direction of the UAV flight state parameters based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: If the difference is negative, then it is determined that the value of the current UAV flight status parameter should be increased; If the difference is positive, then it is determined that the value of the current UAV flight status parameter should be reduced.

[0015] Furthermore, it also includes adjusting the preset trajectory deviation characterization threshold based on the flight adjustment strategy after determining the current flight adjustment strategy of the UAV; Obtain the deviation adjustment direction and adjustment magnitude of the flight state parameters in the flight adjustment strategy; The adjustment range benchmark value corresponding to the preset trajectory deviation characterization threshold is determined based on the flight state parameter adjustment range and the preset adjustment range mapping relationship; The preset trajectory deviation characterization threshold is corrected by combining the deviation adjustment direction and adjustment amplitude reference value, and the corrected preset trajectory deviation characterization threshold is used as the final preset trajectory deviation characterization threshold.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: The dynamic trajectory control method for aerial fireworks based on a cannon-launched coaxial rotor UAV provided by this invention collects flight status parameters, environmental parameters, flight trajectory parameters, and fireworks display parameters of the cannon-launched coaxial rotor UAV in stages. First, before the fireworks are ignited, the trajectory deviation characterization value is analyzed to determine whether the flight status meets the standards. Then, after ignition, the trajectory dynamic adaptation characterization value is calculated by combining the trajectory and display parameters. Based on the difference result, it is determined whether it meets the fireworks trajectory control standards. If it does not meet the standards, a flight adjustment strategy is determined based on the positive and negative values ​​and absolute values ​​of the difference. This achieves full-process, multi-dimensional, and quantitative dynamic trajectory control. This method can effectively resist environmental interference such as wind speed, wind direction, and air density, improve the trajectory accuracy and hovering stability throughout the entire process from launch to display, and ensure a high degree of matching between the UAV flight trajectory and the timing, intensity, and diffusion range of the fireworks display. This significantly improves the consistency, visual appeal, and safety of aerial fireworks performances. At the same time, the control logic is clear and highly adaptable, making it suitable for various cannon-launched coaxial rotor UAV fireworks performance scenarios. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart of a method for controlling the dynamic trajectory of aerial fireworks based on a gun-launched coaxial rotor UAV, provided in an embodiment of the present invention; Figure 2 The flowchart illustrates the determination process of the aerial fireworks dynamic trajectory control method based on a gun-launched coaxial rotor UAV provided in this embodiment of the invention. Detailed Implementation

[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] See Figure 1-2 As shown in some embodiments of this application, this embodiment provides a method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV, including the following steps: S100: Collect flight status and environmental parameters of the artillery-launched coaxial rotor UAV from launch to ignition of fireworks; It is worth noting that the flight status parameters include flight speed, flight status angle, and hovering accuracy; The environmental parameters include wind speed, wind direction, and air density.

[0020] It is worth noting that after the drone is launched by the gun-launching device, it immediately activates its onboard sensors (speed sensor, attitude sensor, GPS positioning sensor, wind speed sensor, wind direction sensor, and air density sensor) to begin collecting flight status parameters and environmental parameters.

[0021] S200: Analyze the trajectory deviation characterization value based on the flight state parameters and environmental parameters; Specifically, the process of analyzing trajectory deviation characterization values ​​based on the aforementioned flight state parameters and environmental parameters includes: The ratio of each parameter in the flight status parameters to the corresponding preset flight parameter threshold is used as the initial flight index coefficient of each flight status parameter. The ratio of each environmental parameter to its corresponding preset environmental parameter threshold is used as the initial environmental index coefficient for each environmental parameter. Based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios, the trajectory deviation characterization value is calculated.

[0022] It is worth noting that the preset flight parameter thresholds are specifically set as follows: flight speed 10 m / s, pitch angle 0° (reference attitude), roll angle 0° (reference attitude), and hovering accuracy 3 cm. The preset environmental parameter thresholds are specifically set as follows: wind speed 4 m / s, wind direction 0° (due north, reference wind direction), and air density 1.2 kg / m³. 3 (Standard atmospheric density).

[0023] It is worth noting that when calculating the initial flight index coefficients: for flight speed, hovering accuracy, and wind speed and air density, the actual value is calculated as the ratio of its value to the corresponding preset parameter threshold. For example, if the preset flight speed threshold is 10 m / s, and the actual collected flight speed is 12 m / s, then the initial index coefficient for flight speed = If the actual flight speed is 8 m / s, then the initial index coefficient of the flight speed = The preset wind speed threshold is 4 m / s. If the actual collected wind speed is 6 m / s, then the initial environmental index coefficient for wind speed is = .

[0024] It is worth noting that for pitch angle, roll angle, and wind direction, the baseline value for the deviation angle of the flight state angle is set to 2, and the baseline value for the deviation angle of the wind direction is 22.5°. When calculating the index coefficients, the ratio of the actual deviation angle to the baseline value of the deviation angle is calculated. For example, if the actual flight pitch angle is 1° and the actual deviation angle is 1°, then the initial index coefficient for the flight pitch angle = The actual wind direction deviation angle is 27°, and the baseline value for the wind direction deviation angle is 22.5°. Therefore, the initial index coefficient for wind direction is = .

[0025] Understandably, the above calculations transform flight state parameters and environmental parameters of different dimensions into dimensionless initial index coefficients, facilitating subsequent weighted fusion calculations.

[0026] Specifically, the process of calculating the trajectory deviation characterization value based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios includes: The initial flight index coefficients are compared with the preset flight index weight relationship table. The weight ratio of each initial flight index coefficient is determined according to the comparison result, and the total weight ratio of each initial flight index coefficient is used as the first weight value. The complementary value of the first weight value is used as the total weight ratio of each initial environmental index coefficient, and the total weight ratio of each initial environmental index coefficient is used as the second weight value. The weight percentage of each initial environmental index coefficient is calculated based on the second weight value and the preset proportion of each environmental parameter. The product of each initial flight index coefficient and each initial environmental index coefficient with its corresponding weight percentage is used as the final flight index coefficient of each flight state parameter and the final environmental index coefficient of each environmental parameter. The final flight index coefficients of each flight state parameter and the sum of the final environmental index coefficients of each environmental parameter are calculated and used as the trajectory deviation characterization value.

[0027] It is worth noting that the initial flight index coefficient and the initial environmental index coefficient are used to quantify the degree of deviation of flight state parameters and the degree of interference of environmental parameters on UAV flight, respectively. The core is the "degree of deviation from 1". 1 represents that the actual value is completely consistent with the preset threshold (no deviation). The farther the deviation from 1, the more serious the deviation or interference. It is worth noting that the preset flight coefficient weight relationship table is a pre-set reference table used to determine the weight ratio of each initial flight index coefficient. According to the size of the initial flight index coefficient (i.e. the degree of deviation of the flight state parameters), the corresponding weight is assigned. The greater the degree of deviation, the higher the weight ratio, ensuring that the flight parameters with large deviations are corrected in a focused manner.

[0028] It is worth noting that the first weight value is the total weight ratio of each initial flight index coefficient, reflecting the influence weight of flight state parameters on trajectory deviation; the second weight value is the total weight ratio of each initial environmental index coefficient, which is the complementary value of the first weight value (i.e., 1 - first weight value = second weight value), reflecting the influence weight of environmental parameters on trajectory deviation.

[0029] In this embodiment, the trajectory deviation characterization value is obtained by determining the weight ratio of each initial index coefficient and calculating it in a weighted manner. The specific process is as follows: The specific weight allocation rules for the preset flight coefficient weight relationship table are as follows: Small deviation (initial flight index coefficient 0.8~1.2): This level indicates that the actual value of the flight parameter deviates little from the preset threshold. The weight allocation is as follows: flight speed weight 0.2, flight state angle weight 0.35, hovering accuracy weight 0.15, among which the flight state angle weight has the highest weight, giving priority to ensuring the calibration of flight attitude.

[0030] Medium deviation (initial flight index coefficient 0.6~0.8 or 1.2~1.4): This level indicates that the actual value of the flight parameter deviates moderately from the preset threshold (0.6~0.8 corresponds to the actual value being lower than the preset threshold, and 1.2~1.4 corresponds to the actual value being higher than the preset threshold). The weight allocation is as follows: flight speed weight 0.15, flight state angle weight 0.3, hovering accuracy weight 0.1. The weight of the flight state angle is further increased to focus on correcting flight attitude deviation.

[0031] Large deviation (initial flight index coefficient <0.6 or >1.4): This level indicates that the actual value of the flight parameter deviates significantly from the preset threshold (<0.6 corresponds to the actual value being much lower than the preset threshold, and >1.4 corresponds to the actual value being much higher than the preset threshold). The weight allocation is as follows: flight speed weight 0.1, flight state angle weight 0.25, hovering accuracy weight 0.05, with the weight of increasing flight speed taking into account the synchronous correction of flight attitude and flight speed.

[0032] For example, if the initial flight index coefficient for flight speed is 1.2 (small deviation), the initial flight index coefficient for flight state angle is 0.7 (medium deviation), and the initial flight index coefficient for hovering accuracy is 1.1 (small deviation), then, according to the rules of the preset flight coefficient weighting table, the weight percentage for flight speed is 0.2 (corresponding to small deviation), the weight percentage for flight state angle is 0.3 (corresponding to medium deviation), and the weight percentage for hovering accuracy is 0.15 (corresponding to small deviation). The sum of these three is 0.2 + 0.3 + 0.15 = 0.65, meaning the first weight value is 0.65, and the second weight value is 0.35. Subsequently, based on the second weight value and the preset proportions of each environmental parameter, the weight percentages of each initial environmental index coefficient are allocated. In this embodiment, the preset ratio of each environmental parameter is: wind speed: wind direction: air density = 5:3:2. Therefore, the weight ratio of each environmental parameter is: wind speed weight ratio is 0.175, wind direction weight ratio is 0.105, air density weight ratio is 0.07, and the sum of the three is 0.35, which is equal to the second weight value.

[0033] Calculate the final index coefficients: Multiply each initial flight index coefficient and each initial environmental index coefficient by its corresponding weight percentage to obtain the final index coefficients for each parameter.

[0034] Calculate the trajectory deviation characterization value: Add all the final flight index coefficients and the final environmental index coefficients to obtain the trajectory deviation characterization value.

[0035] For example, if the final flight index coefficients are 0.18 (flight speed), 0.245 (flight state angle), and 0.165 (hovering accuracy), and the final environmental index coefficients are 0.3 (wind speed), 0.108 (wind direction), and 0.088 (air density), then the trajectory deviation representation value = 0.18 + 0.245 + 0.165 + 0.3 + 0.108 + 0.088 = 1.088.

[0036] S300: Determine whether the UAV flight status meets the flight trajectory control standard based on the comparison result between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold; Specifically, determining whether the UAV flight state conforms to the flight trajectory control standard based on the comparison result between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: If the trajectory deviation characterization value is less than or equal to the preset trajectory deviation characterization threshold, then the UAV flight status is determined to meet the flight trajectory control standard. If the trajectory deviation characterization value is greater than the preset trajectory deviation characterization threshold, it is determined that the UAV's flight state does not meet the flight trajectory control standard, and the UAV's flight state parameters are adjusted based on the flight trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold.

[0037] It is worth noting that the trajectory deviation characterization value is a quantified value obtained by weighting the flight state parameters and environmental parameters from the time the drone fires the cannon until the fireworks ignite. It is used to characterize the degree of deviation between the drone's flight state and the preset flight standard, with a value range of 0 to 10 (the larger the value, the more severe the deviation). The preset trajectory deviation characterization threshold is a preset critical value used to determine whether the drone's flight state meets the flight trajectory control standard. In this scheme, it is preset to 3 (which can be adjusted according to actual performance needs). When the trajectory deviation characterization value is ≤3, the flight state is determined to meet the standard; when the trajectory deviation characterization value is >3, the flight state is determined to not meet the standard, and attitude adjustment is required. Based on the difference between the trajectory deviation characterization value and the preset threshold, the drone's flight state parameters (such as flight speed and flight state angle) are adjusted. After the adjustment is completed, the parameters are re-collected and the trajectory deviation characterization value is recalculated until it meets the standard before proceeding to step S400.

[0038] Specifically, adjusting the UAV flight state parameters based on the trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: The trajectory difference is compared with a first preset trajectory difference and a second preset trajectory difference, and the adjustment value of the UAV flight state parameter is determined based on the comparison result; wherein, the first preset trajectory difference is less than the second preset trajectory difference; When the trajectory difference is less than or equal to the first preset trajectory difference, the adjustment value is determined to be the first adjustment value; When the trajectory difference is greater than the first preset trajectory difference and less than or equal to the second preset trajectory difference, the adjustment value is determined to be the second adjustment value; When the adjustment value is greater than the second preset trajectory difference, the adjustment value is determined to be the third adjustment value.

[0039] It is worth noting that the first preset trajectory difference is 1, and the second preset trajectory difference is 3.

[0040] In this embodiment, the specific process of adjusting the UAV flight status parameters is as follows: Calculate the trajectory difference (Δ1): First, calculate the difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold. The formula is: Δ1 = trajectory deviation characterization value (X) - preset trajectory deviation characterization threshold (X0=3). Calculate only when X>3, Δ1>0.

[0041] Example: If X=4.2, X0=3, then Δ1=4.2-3=1.2; if X=6.5, X0=3, then Δ1=6.5-3=3.5; if X=3.8, X0=3, then Δ1=3.8-3=0.8.

[0042] Track difference hierarchical comparison: Level 1 (Slight Deviation): When Δ1 ≤ the first preset trajectory difference, the adjustment value is determined to be the first adjustment value; For example, Δ1=0.8≤1 corresponds to the first adjustment value: flight speed ±0.3m / s, flight state angle ±0.5°, hovering accuracy ±0.5cm; Level 2 (Moderate Deviation): When Δ1-1 < First preset trajectory difference ≤ Second preset trajectory difference, the adjustment value is determined to be the second adjustment value; For example, Δ1 = 1.2 (1 < 1.2 ≤ 3), corresponding to the second adjustment values: flight speed ±0.8 m / s, flight state angle ±1.5°, hovering accuracy ±1.0 cm; Level 3 (Severe Deviation): When Δ1 > the second preset trajectory difference, the adjustment value is determined to be the third adjustment value; For example, Δ1=3.5>3, corresponding to the third adjustment value: flight speed ±1.5m / s, flight state angle ±3.0°, hovering accuracy ±1.5cm; Determine the positive or negative direction of the adjustment value: Combining the initial flight index coefficients of each flight state parameter in step S200 above, determine the direction of parameter deviation, and then determine the positive or negative direction of the adjustment value. The core logic is as follows: If the initial flight index coefficient is greater than 1 (actual parameter value is greater than the preset threshold), the adjustment value is negative, and the actual parameter value is reduced to be close to the preset threshold. If the initial flight index coefficient is less than 1 (actual parameter value is less than the preset threshold), the adjustment value is positive, and the actual parameter value is increased to make it closer to the preset threshold. For example: the preset threshold for flight speed is 10m / s, the actual speed is 10.6m / s, the initial coefficient = 10.6 / 10 = 1.06 > 1, the adjustment value is negative (such as the first adjustment value -0.3m / s), the adjusted flight speed = 10.6 - 0.3 = 10.3m / s, which is close to the preset threshold.

[0043] Perform flight status parameter adjustment: Send the determined adjustment values ​​(including positive and negative values) to the UAV flight control system to synchronously adjust the flight speed, flight status angle, and hovering accuracy. During the adjustment process, keep collecting parameters (period 100ms) and monitor parameter changes in real time.

[0044] Adjustment effect verification: After adjustment, the flight status parameters and environmental parameters of the UAV are collected again, the S200 step above is repeated, the trajectory deviation characterization value X is recalculated, and compared with the preset threshold X0=3 again: If the recalculated X ≤ 3, it means the adjustment is qualified, the drone's flight status meets the standard, and proceed to the next process; If the recalculated X>3, it indicates insufficient adjustment. Repeat the adjustment and recalculate the trajectory difference, determine the adjustment value and adjust until X≤3.

[0045] S400: In response to the drone's flight status conforming to the flight trajectory control standard, it collects the drone's flight trajectory parameters and the fireworks display parameters after the fireworks are ignited; It is worth noting that the flight trajectory parameters include trajectory offset and trajectory curvature, which are used to characterize the degree of matching between the actual flight trajectory of the UAV and the preset trajectory. The parameters for fireworks display, including display duration, intensity, and flame diffusion range, directly affect the adaptation requirements of drone flight trajectories and flight safety.

[0046] Understandably, the core objective after the cannon firing and before the fireworks ignite is to "calibrate the flight status." During this phase, the drone has just completed the cannon firing and is susceptible to flight instability due to the impact of the firing. It is also prone to trajectory deviations due to interference from external environmental parameters (wind speed, wind direction, etc.). Therefore, this phase involves collecting flight status parameters and environmental parameters, calculating trajectory deviation values, and comparing them with preset thresholds to determine if the flight status meets the standards. This ensures that the drone is in the preset flight status when the fireworks ignite, laying the foundation for subsequent trajectory control.

[0047] The core objective after the fireworks are ignited is "dynamic adaptation to the fireworks display." During this stage, the fireworks display will interfere with the drone's flight, and the drone's flight trajectory needs to match the fireworks display effect (e.g., when fireworks are densely distributed, the drone needs to fly smoothly; when fireworks are dynamically distributed, the drone needs to fly along a curved trajectory). Therefore, this stage involves collecting flight trajectory parameters and fireworks display parameters, calculating the dynamic adaptation characteristic value of the trajectory, comparing it with a preset threshold to determine if the adaptation is satisfactory. If it is not satisfactory, a flight adjustment strategy is formulated to achieve dynamic adaptation between the trajectory and the fireworks display.

[0048] S500: Analyze the dynamic adaptation characterization value of the UAV trajectory based on the flight trajectory parameters and fireworks display parameters; Specifically, the analysis of the UAV trajectory dynamic adaptation characterization value based on the flight trajectory parameters and fireworks display parameters includes: The trajectory offset and trajectory curvature in the flight trajectory parameters are compared with the corresponding preset trajectory parameter thresholds, and the adaptation coefficient of each flight trajectory parameter is determined based on the comparison results. The duration, intensity, and flame diffusion range of the fireworks display parameters are compared with the corresponding preset display parameter thresholds, and the adaptation coefficient of each fireworks display parameter is determined based on the comparison results. The product of trajectory offset, trajectory curvature, ignition duration, ignition intensity, and flame diffusion range with the corresponding adaptation coefficient is calculated, and the average value is obtained to obtain the trajectory dynamic adaptation characterization value.

[0049] It is worth noting that the preset firing parameter thresholds are preset benchmark values ​​used to compare the firing parameters (firing duration, firing intensity, and flame diffusion range) of fireworks. They are set according to the fireworks model and are the core benchmark for determining the fireworks firing parameter adaptation coefficient. The specific settings are as follows (consistent with the parameters in the previous embodiment): Preset firing duration threshold: 8s for dynamic fireworks, 5s for static fireworks; Preset firing intensity threshold: 1500W for dynamic fireworks, 800W for static fireworks; Preset flame diffusion range threshold: 2m for dynamic fireworks, 1.5m for static fireworks.

[0050] It is worth noting that the trajectory dynamic adaptation characterization value is a quantitative value obtained by weighting the flight trajectory parameters of the drone after the fireworks are ignited and the fireworks display parameters. It is used to characterize the degree of adaptation between the drone's flight trajectory and the fireworks display effect, and the value ranges from 0 to 10 (the closer the value is to the preset threshold, the higher the adaptation).

[0051] It is worth noting that the adaptation coefficient is used to quantify the degree of fit between a single parameter (flight trajectory parameter or fireworks display parameter) and its corresponding preset threshold. Its value ranges from 0 to 1.2, and the core principle is that "the higher the fit between the actual parameter value and the preset threshold, the closer the adaptation coefficient is to 1." If the actual value deviates too much from the preset threshold, the adaptation coefficient will deviate from 1 (less than 0.8 or greater than 1.2), indicating insufficient or excessive parameter adaptation. In this embodiment, the rule for determining the adaptation coefficient is as follows: If the ratio of the actual parameter value to the preset threshold is between 0.9 and 1.1 (deviation ≤ 10%): the fit is high, and the fit coefficient is set to 1.0; If the ratio of the actual parameter value to the preset threshold is between 0.8 and 0.9 or 1.1 and 1.2 (deviation 10% to 20%): the fit is moderate, and the fit coefficient is set to 0.9. If the ratio of the actual parameter value to the preset threshold is <0.8 or >1.2 (deviation >20%): the fit is low, and the fit coefficient is set to 0.7; It is worth noting that this rule applies to all five parameters (trajectory offset, trajectory curvature, ignition duration, ignition intensity, and flame diffusion range), ensuring a consistent logic for determining the adaptation coefficients and facilitating engineering implementation.

[0052] It is worth noting that if the final average value output exceeds the range of 0 to 10, it will be automatically corrected to 10.

[0053] S600: Determine whether the UAV meets the fireworks trajectory control standard based on the difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold. Specifically, the process of determining whether a drone meets the fireworks trajectory control standard based on the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: Calculate the absolute value of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold; If the absolute value of the difference is less than or equal to a preset difference threshold, then the drone is determined to meet the fireworks trajectory control standard. If the absolute value of the difference is greater than the preset difference threshold, it is determined that the drone does not meet the fireworks trajectory control standard.

[0054] It is worth noting that the preset trajectory dynamic adaptation characterization threshold is a preset critical value used to determine whether the drone's flight trajectory meets the fireworks trajectory control standard. In this scheme, it is preset to 7 (which can be adjusted according to the type of fireworks). By calculating the difference between this threshold and the trajectory dynamic adaptation characterization value, the suitability is determined.

[0055] It is worth noting that the absolute value of the difference refers to the absolute value of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold, denoted as Δ2. The formula is: Δ2 = |Track dynamic adaptation representation value (Y) - Preset trajectory dynamic adaptation representation threshold (Y0)|, with a value range of 0~10 (since both Y and Y0 are in the range of 0~10). The smaller the value, the closer Y and Y0 are, and the better the adaptation; the larger the value, the worse the adaptation.

[0056] It is worth noting that the preset difference threshold Δ20 is a preset critical value used to determine whether the absolute value of the difference is within the acceptable range. Combined with the preset trajectory dynamic adaptation characterization threshold (7) and the adaptation requirements, the value can be set to 1.5. When Δ2≤1.5, the deviation between Y and Y0 is within the acceptable range and the adaptation meets the standard; when Δ2>1.5, the deviation exceeds the acceptable range and the adaptation does not meet the standard, and adjustment is required.

[0057] It is worth noting that the fireworks trajectory control standard is a core standard preset in this invention used to measure the compatibility between the drone's flight trajectory and the fireworks display effect. Its quantitative judgment is based on the comparison result of the "absolute value of the difference with the preset difference threshold" in step S600. Meeting the fireworks trajectory control standard means that the compatibility between the drone's flight trajectory and the fireworks display effect is within an acceptable range. No adjustment to the flight status parameters is needed, and the drone can continue flying along the current trajectory to ensure that the fireworks display effect meets the preset requirements while ensuring flight safety. Not meeting the fireworks trajectory control standard means that the compatibility between the drone's flight trajectory and the fireworks display effect exceeds the acceptable range. Continuing to fly along the current trajectory would lead to poor fireworks display effects (such as misalignment between the flame and the trajectory) or potential drone flight safety hazards (such as entering the high-temperature area of ​​the flame). An adjustment strategy needs to be formulated through step S700 to correct the flight trajectory.

[0058] S700: In response to the drone not conforming to the fireworks trajectory control standard, the flight adjustment strategy of the current drone is determined based on the difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold. It is worth noting that the flight adjustment strategy includes adjusting the flight status parameters, adjustment direction, and adjustment range to ensure that the drone's flight trajectory matches the fireworks display effect.

[0059] Specifically, the response to the drone not meeting the fireworks trajectory control standards, determining the current drone's flight adjustment strategy based on the difference results, includes: Based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold, the deviation adjustment direction of the current UAV flight state parameters is determined. Based on the absolute value of the difference and the preset flight parameter adjustment mapping table, the adjustment range of the flight status adjustment parameter is determined.

[0060] Specifically, determining the deviation adjustment direction of the UAV flight state parameters based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: If the difference is negative, then it is determined that the value of the current UAV flight status parameter should be increased; If the difference is positive, then it is determined that the value of the current UAV flight status parameter should be reduced.

[0061] In this embodiment, flight state parameters are the core parameters that affect the flight trajectory and attitude of the UAV, mainly including flight speed (m / s), flight altitude (m), trajectory curvature (1 / m), and flight state angle (flight heading angle).

[0062] Understandably, the deviation adjustment direction is based on the flight status parameter adjustment trend determined by the positive or negative value of the difference, and is only divided into two types: "increase" and "decrease", corresponding to two types of deviation: when the difference is negative (the fit is too low), the parameter is increased, and when the difference is positive (the fit is too high), the parameter is decreased, ensuring that the adjustment direction and the deviation type are accurately matched, fundamentally solving the problem of insufficient fit.

[0063] It is worth noting that the flight parameter adjustment mapping table is a preset correspondence table used to determine the adjustment range based on the absolute value of the difference. For example, its logical rules can be set as follows: Slight deviation: The corresponding absolute value of the difference Δ2 is in the range of 1.5 < Δ2 ≤ 2.5. The adjustment range of each flight status parameter in this range is as follows: the adjustment range of flight speed is ±0.1m / s, the adjustment range of trajectory curvature is ±0.02 1 / m, the adjustment range of flight altitude is ±0.5m, and the adjustment range of heading angle is ±2°. Moderate deviation: The corresponding absolute value of the difference Δ2 is 2.5 < Δ2 ≤ 4.0. The adjustment range of each flight status parameter in this range is as follows: the adjustment range of flight speed is ±0.3m / s, the adjustment range of trajectory curvature is ±0.05 1 / m, the adjustment range of flight altitude is ±1.0m, and the adjustment range of heading angle is ±5°. Severe deviation: The corresponding absolute value of the difference Δ2 is in the range of Δ2>4.0. Under this range, the adjustment range of each flight status parameter is as follows: the adjustment range of flight speed is ±0.5m / s, the adjustment range of trajectory curvature is ±0.10 1 / m, the adjustment range of flight altitude is ±1.5m, and the adjustment range of heading angle is ±8°.

[0064] It is worth noting that, regardless of whether it is a dynamic or static fireworks scene, the interval division and adjustment range of the mapping table are consistent. Only the parameter adjustment priority is fine-tuned according to the scene requirements (e.g., dynamic fireworks prioritize adjusting the trajectory curvature, while static fireworks prioritize adjusting the flight altitude), ensuring the universality and engineering feasibility of the solution. It is worth noting that the adjustment range refers to the specific value (or percentage) that the flight status parameters need to be adjusted. It is determined by the absolute value of the difference and the flight parameter adjustment mapping table. The larger the absolute value of the difference, the larger the adjustment range (directly proportional). This ensures that the greater the deviation, the more accurate the adjustment, and quickly pulls the trajectory dynamic adaptation characterization value back to the preset reasonable range.

[0065] Understandably, this solution uses a two-step logic of "the direction is determined by the positive or negative value of the difference, and the amplitude is determined by the absolute value of the difference" to achieve precision and quantification of the adjustment strategy, avoid new adaptation problems caused by blind adjustments, and ensure that the adaptation standard can be quickly reached after adjustment.

[0066] Based on a general inventive concept, and building upon the above embodiments, the present invention also provides another embodiment.

[0067] In some embodiments, after determining the current flight adjustment strategy of the UAV, the preset trajectory deviation characterization threshold is adjusted based on the flight adjustment strategy; Specifically, the deviation adjustment direction and adjustment magnitude of the flight state parameters in the flight adjustment strategy are obtained; The adjustment range benchmark value corresponding to the preset trajectory deviation characterization threshold is determined based on the flight state parameter adjustment range and the preset adjustment range mapping relationship; The preset trajectory deviation characterization threshold is corrected by combining the deviation adjustment direction and adjustment amplitude reference value, and the corrected preset trajectory deviation characterization threshold is used as the final preset trajectory deviation characterization threshold.

[0068] In this embodiment, the preset adjustment range mapping relationship is as follows: when the flight state parameter adjustment range is ≤0.1m / s (flight speed), ≤0.02 1 / m (track curvature), ≤0.5m (flight altitude), or ≤2° (heading angle), the corresponding adjustment range reference value is ±5% of the initial preset track deviation characterization threshold. When the flight status parameters are adjusted within the range of 0.1~0.3m / s (flight speed), 0.02~0.05 1 / m (track curvature), 0.5~1.0m (flight altitude), and 2~5° (heading angle), the corresponding adjustment range reference value is ±10% of the initial preset track deviation characterization threshold. When the flight status parameters are adjusted by the following margins: >0.3m / s (flight speed), >0.05 1 / m (track curvature), >1.0m (flight altitude), and >5° (heading angle), the corresponding adjustment margin reference value is ±20% of the initial preset track deviation characterization threshold. It is worth noting that the sign of the adjustment range reference value is consistent with the adjustment direction of the flight status parameter (the reference value is positive when the adjustment direction is increasing, and negative when the adjustment direction is decreasing).

[0069] In the specific implementation process, the correction process for the preset trajectory deviation characterization threshold is as follows: Retrieve the initial preset trajectory deviation characterization threshold: Based on the type of fireworks, retrieve the initially set preset trajectory deviation characterization threshold. For example, for dynamic fireworks scenes, the initial trajectory curvature threshold is 0.15 1 / m; Example 2: For static fireworks scenes, the initial trajectory offset threshold is 3cm.

[0070] Matching mapping relationship and calculating adjustment range benchmark value: Adjustment range is adjusted according to the selected flight status parameters, and the corresponding correction ratio is matched to calculate the adjustment range benchmark value (correction value). The formula is: Adjustment range benchmark value = initial preset trajectory deviation characterization threshold × correction ratio; Example 1: Dynamic fireworks scene, trajectory curvature adjustment range = -0.02 1 / m (≤0.02 1 / m), correction ratio = -5%, adjustment range baseline value = 0.15 × (-5%) = -0.0075 1 / m; Example 2: Static fireworks scene, flight height adjustment range = +0.5m (≤0.5m), correction ratio = +5%, trajectory offset threshold adjustment range base value = 3cm × (+5%) = +0.15cm; Example 3: If the trajectory curvature adjustment range is -0.06 1 / m (>0.05 1 / m), the correction ratio is -20%, and the adjustment range base value is 0.15 × (-20%) = -0.03 1 / m.

[0071] Record the adjustment range baseline value: Record the calculated adjustment range baseline value to clarify the correction value and direction of the threshold, in preparation for subsequent correction operations.

[0072] It is understandable that the corrected final preset trajectory deviation characterization threshold = initial preset trajectory deviation characterization threshold + adjustment amplitude benchmark value.

[0073] It is worth noting that after the correction, when calculating the trajectory dynamic adaptation characterization value in subsequent S500 steps, a new trajectory curvature threshold is used, and the adaptation judgment is more in line with the adjusted flight state; in subsequent flight processes, there is no need to repeatedly adjust the trajectory curvature.

[0074] Understandably.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV, characterized in that, include: Collect flight status and environmental parameters of the artillery-launched coaxial rotor UAV from launch to ignition of fireworks. The trajectory deviation characterization value is analyzed based on the flight state parameters and environmental parameters. Based on the comparison between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold, it is determined whether the UAV flight status meets the flight trajectory control standard. In response to the drone's flight status conforming to the flight trajectory control standard, the drone's flight trajectory parameters and the fireworks display parameters are collected after the fireworks are ignited; Based on the flight trajectory parameters and fireworks display parameters, analyze the dynamic adaptation characterization value of the UAV trajectory; The difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold is used to determine whether the UAV meets the fireworks trajectory control standard. In response to the fact that the drone does not meet the fireworks trajectory control standard, the flight adjustment strategy of the current drone is determined based on the difference between the trajectory dynamic adaptation characterization value and the preset trajectory dynamic adaptation characterization threshold. The flight status parameters include flight speed, flight status angle, and hovering accuracy; The environmental parameters include wind speed, wind direction, and air density; The flight trajectory parameters include trajectory offset and trajectory curvature; The parameters for fireworks display include display duration, display intensity, and flame diffusion range.

2. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 1, characterized in that, The process of analyzing trajectory deviation characterization values ​​based on the aforementioned flight state parameters and environmental parameters includes: The ratio of each parameter in the flight status parameters to the corresponding preset flight parameter threshold is used as the initial flight index coefficient of each flight status parameter. The ratio of each environmental parameter to its corresponding preset environmental parameter threshold is used as the initial environmental index coefficient for each environmental parameter. Based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios, the trajectory deviation characterization value is calculated.

3. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 2, characterized in that, The process of calculating the trajectory deviation characterization value based on the initial flight index coefficients of each flight state parameter, the initial environmental index coefficients of each environmental parameter, and the corresponding weight ratios includes: The initial flight index coefficients are compared with the preset flight index weight relationship table. The weight ratio of each initial flight index coefficient is determined according to the comparison result, and the total weight ratio of each initial flight index coefficient is used as the first weight value. The complementary value of the first weight value is used as the total weight ratio of each initial environmental index coefficient, and the total weight ratio of each initial environmental index coefficient is used as the second weight value. The weight percentage of each initial environmental index coefficient is calculated based on the second weight value and the preset proportion of each environmental parameter. The product of each initial flight index coefficient and each initial environmental index coefficient with its corresponding weight percentage is used as the final flight index coefficient of each flight state parameter and the final environmental index coefficient of each environmental parameter. The final flight index coefficients of each flight state parameter and the sum of the final environmental index coefficients of each environmental parameter are calculated and used as the trajectory deviation characterization value.

4. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 3, characterized in that, The step of determining whether the UAV flight state conforms to the flight trajectory control standard based on the comparison result between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: If the trajectory deviation characterization value is less than or equal to the preset trajectory deviation characterization threshold, then the UAV flight status is determined to meet the flight trajectory control standard. If the trajectory deviation characterization value is greater than the preset trajectory deviation characterization threshold, it is determined that the UAV's flight state does not meet the flight trajectory control standard, and the UAV's flight state parameters are adjusted based on the flight trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold.

5. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 4, characterized in that, The adjustment of UAV flight state parameters based on the trajectory difference between the trajectory deviation characterization value and the preset trajectory deviation characterization threshold includes: The trajectory difference is compared with a first preset trajectory difference and a second preset trajectory difference, and the adjustment value of the UAV flight state parameter is determined based on the comparison result; wherein, the first preset trajectory difference is less than the second preset trajectory difference; When the trajectory difference is less than or equal to the first preset trajectory difference, the adjustment value is determined to be the first adjustment value; When the trajectory difference is greater than the first preset trajectory difference and less than or equal to the second preset trajectory difference, the adjustment value is determined to be the second adjustment value; When the adjustment value is greater than the second preset trajectory difference, the adjustment value is determined to be the third adjustment value.

6. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 5, characterized in that, The analysis of the UAV trajectory dynamic adaptation characterization value based on the flight trajectory parameters and fireworks display parameters includes: The trajectory offset and trajectory curvature in the flight trajectory parameters are compared with the corresponding preset trajectory parameter thresholds, and the adaptation coefficient of each flight trajectory parameter is determined based on the comparison results. The duration, intensity, and flame diffusion range of the fireworks display parameters are compared with the corresponding preset display parameter thresholds, and the adaptation coefficient of each fireworks display parameter is determined based on the comparison results. The product of trajectory offset, trajectory curvature, ignition duration, ignition intensity, and flame diffusion range with the corresponding adaptation coefficient is calculated, and the average value is obtained to obtain the trajectory dynamic adaptation characterization value.

7. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 6, characterized in that, The process of determining whether a drone meets the fireworks trajectory control standard based on the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: Calculate the absolute value of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold; If the absolute value of the difference is less than or equal to a preset difference threshold, then the drone is determined to meet the fireworks trajectory control standard. If the absolute value of the difference is greater than the preset difference threshold, it is determined that the drone does not meet the fireworks trajectory control standard.

8. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 7, characterized in that, The response to the drone not meeting the fireworks trajectory control standards, based on the difference results, determines the current drone's flight adjustment strategy, including: Based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold, the deviation adjustment direction of the current UAV flight state parameters is determined. Based on the absolute value of the difference and the preset flight parameter adjustment mapping table, the adjustment range of the flight status adjustment parameter is determined.

9. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 8, characterized in that, The step of determining the deviation adjustment direction of the UAV flight state parameters based on the sign of the difference between the trajectory dynamic adaptation representation value and the preset trajectory dynamic adaptation representation threshold includes: If the difference is negative, then it is determined that the value of the current UAV flight status parameter should be increased; If the difference is positive, then it is determined that the value of the current UAV flight status parameter should be reduced.

10. The method for dynamic trajectory control of aerial fireworks based on a gun-launched coaxial rotor UAV according to claim 9, characterized in that, It also includes adjusting the preset trajectory deviation characterization threshold based on the flight adjustment strategy after determining the current flight adjustment strategy of the UAV; Obtain the deviation adjustment direction and adjustment magnitude of the flight state parameters in the flight adjustment strategy; The adjustment range benchmark value corresponding to the preset trajectory deviation characterization threshold is determined based on the flight state parameter adjustment range and the preset adjustment range mapping relationship; The preset trajectory deviation characterization threshold is corrected by combining the deviation adjustment direction and adjustment amplitude reference value, and the corrected preset trajectory deviation characterization threshold is used as the final preset trajectory deviation characterization threshold.

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