A trajectory planning algorithm based on velocity vector synthesis and its aircraft

Abstract

The present invention provides a trajectory planning algorithm based on velocity vector synthesis and an aircraft thereof, which belongs to the field of control. By detecting the size and direction of wind in the environment, the flight speed of the aircraft body is set according to a remote control device. The flight speed of the aircraft body is further calculated according to the size and direction of the wind and the set flight speed, thereby further calculating the actual flight speed and direction of the aircraft body, thereby better performing target search of the aircraft according to people's needs and improving the speed and efficiency of target search.

Description

Technical Field

[0001] The invention relates to the field of control, and in particular to a trajectory planning algorithm based on velocity vector synthesis and an aircraft thereof. Background Art

[0002] At present, drones have gradually appeared in the market, especially in tracking and aerial photography, such as follow-up aerial photography, filming, plant protection, route planning, natural disaster detection and other occasions involving automatic shooting. Commonly used GPS four-axis following drones mainly calculate the expected position state of the drone through the state information of the following target and the expected relative distance, and compare it with the current state, and obtain the correction amount according to the algorithm. Such an algorithm architecture can avoid the data conversion process required to regard the relative distance as the system state, and also realize part of the following function. However, in many cases, the following state is greatly affected by environmental factors, and it is not possible to obtain relatively good data for users under positioning and following.

[0003] In addition, the drone should not just be a passive traction molecule, but should have a complete mind of its own, able to self-judge and obtain a better path to follow the target. Summary of the invention

[0004] The present invention provides a trajectory planning algorithm based on velocity vector synthesis and an aircraft thereof, which solves the problem that the existing unmanned aerial vehicle is greatly affected by wind in a following state.

[0005] The present invention solves the above problems through the following technical solutions:

[0006] A trajectory planning algorithm based on velocity vector synthesis includes the following steps:

[0007] Step 1: The user controls the aircraft to enter the hovering mode through the remote control device;

[0008] Step 2: The wind speed and direction sensor on the remote control device collects the wind speed v1 and the wind speed direction θ1 and sends them to the aircraft, where v1 is the collected wind speed and θ1 is the wind direction angle;

[0009] Step 3: After the aircraft receives the wind speed v1 and the wind direction angle θ1 from the remote control device, the aircraft compares the received wind speed v1 with the originally set initial wind speed value;

[0010] Step 4: The aircraft calculates the height d of the aircraft relative to the ground based on the air pressure collected by the aircraft barometer. f The remote control device calculates the height d of the remote control device relative to the ground based on the air pressure collected by the remote control barometer. y, so we can calculate the vertical height of the aircraft body relative to the remote control device as d j =d f +d y , where d y is the height of the aircraft relative to the ground, d y is the height of the remote control device relative to the ground, d j The vertical height of the aircraft body relative to the remote control device;

[0011] Step 5: The remote control device collects the longitude and latitude data (lati1, long1) of the remote control device through the remote control GPS module, and the aircraft body collects the longitude and latitude data (lati2, long2) of the aircraft body through the aircraft GPS module, wherein lati1 is the longitude data of the remote control device, long1 is the dimensional data of the remote control device, lati2 is the longitude data of the aircraft body, and long2 is the dimensional data of the aircraft body;

[0012] Step 6: Calculate the relative distance d between the aircraft and the remote control device based on the remote control device latitude data and the aircraft body longitude and latitude data x and the relative direction angle θ x , where d x is the relative distance between the aircraft body and the remote control device, θ x is the relative direction angle between the aircraft body and the remote control device;

[0013] Step 7: According to the relative distance d between the aircraft body and the remote control device x The vertical height d of the aircraft body relative to the remote control device j Calculate the absolute distance between the aircraft and the remote control device Among them, d fs is the absolute distance between the aircraft body and the remote control device;

[0014] Step 8: According to the absolute distance d between the target point and the remote control device fs The absolute distance d between the aircraft and the remote control device fj Calculate the distance s between the aircraft body and the target point;

[0015] Step 9: When the wind speed v1 in step 3 is less than or equal to the original set wind speed initial value, the user uses the remote controller to adjust the relative direction angle θ between the aircraft body and the remote control device. x To determine the flight direction of the aircraft, when the wind speed v1 is greater than the original set wind speed initial value, go to step 12;

[0016] Step 10: The aircraft body uses the PID algorithm to control the output speed of the aircraft. The output speed is v2, where v2 is the output speed of the aircraft body.

[0017] Step 11: After the set time, return to step 4 until the flight reaches the target point;

[0018] Step 12: According to the magnitude v1 of the wind speed and the direction θ1 of the wind speed, the wind speed is Then the output speed of the aircraft body is set Thus, the flight speed of the aircraft body can be calculated in, is the wind speed vector, is the output velocity vector of the aircraft body, is the actual flight velocity vector of the aircraft body;

[0019] Step 13: The aircraft body uses the PID algorithm to control the speed of the aircraft. The speed is v2, where v2 is the output speed of the aircraft body.

[0020] Step 14: After the set time, return to step 4 until the flight reaches the target point.

[0021] In the above scheme, it is preferred that the height d of the aircraft body relative to the ground is calculated in step 4 f and the height d of the remote control device relative to the ground y The process involves collecting the air pressure at a given location using a barometer, subtracting the earth's surface pressure from the collected air pressure, and then calculating the altitude based on the proportional relationship between air pressure and altitude.

[0022] In the above scheme, it is preferred that step 6 calculates the relative distance d between the aircraft body and the remote control device x and the relative direction angle θ x The process includes the following steps,

[0023] Step 6.1: Calculate the arc length of the longitude of the aircraft body and the remote control device based on the longitude and latitude collected in step 5: long = (long1-long2) × π / 180, where π is pi, long1 is the longitude of the remote control device, long2 is the longitude of the aircraft body, and long is the difference in arc length of the longitude between the aircraft body and the remote control device;

[0024] Step 6.2: Calculate the latitude arc length of the aircraft body and the remote control device based on the longitude and latitude collected in step 5: lati = (lati1-lati2) × π / 180; π is pi, lati1 is the latitude of the remote control device, lati2 is the aircraft body, and lati is the difference in latitude arc length between the aircraft body and the remote control device;

[0025] Step 6.3: Calculate the relative distance between the aircraft body and the remote control device: , where long is the difference in longitude between the aircraft and the remote control device, lati is the difference in latitude between the aircraft and the remote control device, lati1 is the latitude of the remote control device, lati2 is the dimension of the aircraft, R is the radius of the earth, and π is the pi;

[0026] Step 6.4: Calculate the relative angle between the aircraft body and the remote control device: θ x =mod(arctan2(R×cos(lati1×(lon2-lon1)), R×(lati2-lati1)), 2×π), where mod is the coordinate point expression.

[0027] In the above solution, it is preferred that the formula for calculating the distance s between the aircraft body and the target point in step 8 is: Where π is the ratio of a circle to its circumference.

[0028] In the above scheme, it is preferred that the PID algorithm in step 10 is: Among them, u(t) is the output speed v2 of the control vehicle body; e(t) is the input of the controller (the distance s between the initial vehicle and the target point and the distance s between the current vehicle and the target point s The difference, that is, e(t) = SS s ), Kp is the proportional gain factor of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

[0029] In the above scheme, it is preferred that the actual flight velocity vector of the aircraft body is calculated in step 12 The process is: first calculate the direction of the aircraft's flight: θ2 is the direction angle of the aircraft body’s flight, and the actual flight speed of the aircraft body is:

[0030] In the above scheme, it is preferred that the PID algorithm in step 13 is: Where u(t) is the output speed v2 of the aircraft; e(t) is the input of the controller (i.e. e(t) = v-v2), Kp is the proportional gain of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

[0031] According to the above-mentioned trajectory planning algorithm based on velocity vector synthesis, the aircraft comprises an aircraft body and a remote control device, and the remote control device is wirelessly connected to the aircraft body;

[0032] The aircraft body includes a frame and a control circuit unit, and the control circuit unit includes a motor, a motor drive module, a laser module, a GPS positioning module, a barometer, a controller module, a magnetometer, a display module, a gyroscope and a control wireless module;

[0033] The output ends of the laser module, GPS positioning module, barometer, magnetometer and gyroscope are connected to the controller module; the GPS positioning module is used to obtain the longitude and latitude data of the aircraft body; the barometer is used to detect the air pressure outside the aircraft body to calculate the height between the aircraft body and the ground; the gyroscope is used to detect the balance state of the aircraft body;

[0034] The input end of the display module is connected to the controller module; the output end of the controller module is connected to the motor via the motor drive module; the controller module is connected to the control wireless module; the control wireless module is wirelessly connected to the remote control device; the display module is used to display the flight data of the aircraft body and the detected air pressure, longitude and latitude data; the motor drive module receives the control signal of the controller module to control the motor to rotate so that the aircraft body can fly;

[0035] The remote control device includes a remote control wireless module, a remote control barometer, a wind speed and direction sensor, a remote control display module, a remote control controller module, buttons and a joystick;

[0036] The output ends of the remote control barometer, wind speed and direction sensor, buttons and joystick are connected to the remote control controller module; the remote control barometer is used to detect the air pressure outside the remote control device so as to calculate the height between the remote control device and the ground; the wind speed and direction sensor is used to detect the size and direction of the flight speed; the buttons and joystick are used for user input to control the flight of the aircraft body;

[0037] The input end of the remote control display module is connected to the remote control controller module; the remote control wireless module is connected to the remote control controller module; the remote control wireless module is connected to the control wireless module; the remote control display module is used to display the flight speed of the aircraft body and the distance data from the target point; the remote control wireless module realizes wireless communication with the aircraft body.

[0038] In the above scheme, it is preferred that both the aircraft body and the remote control device are provided with a power supply device, and the power supply device is a battery.

[0039] In the above solution, it is preferred that the gyroscope uses a gyroscope of model MCU6050.

[0040] The advantages and effects of the present invention are:

[0041] The present invention collects the size and direction of the wind in the flight environment, and according to the flight speed of the aircraft body set by the remote control device, the aircraft body flies according to the size and direction of the wind and the set flight speed, thereby further calculating the actual flight speed and direction of the aircraft body, so as to better perform the target search of the aircraft according to people's needs, improve the speed and efficiency of target search, and better solve the problem of being greatly affected by the wind in the following state. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the flight structure of the present invention.

[0043] Figure 2 This is a structural block diagram of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the embodiments.

[0045] A trajectory planning algorithm based on velocity vector synthesis and its aircraft, such as Figure 1 As shown, the following steps are included:

[0046] Step 1: The user controls the aircraft to enter the hovering mode through the remote control device to complete the data collection in the early stage of flight and prepare for the next follow state.

[0047] Step 2: The wind speed and direction sensors on the remote control device collect the wind speed v1 and wind speed direction θ1 and send them to the aircraft, where v1 is the collected wind speed and θ1 is the wind direction angle. Since the aircraft is in flight, the wind speed and direction cannot be detected, so the remote control device can only be used for detection. The remote control device mainly uses a remote control wireless module to connect wirelessly to the control wireless module of the aircraft body. Both the remote control wireless module and the control wireless module use 2.4G wireless modules.

[0048] Step 3: After the flight remote control device transmits the wind speed v1 and the wind direction angle θ1, the aircraft body compares the received wind speed v1 with the original set wind speed initial value. The original set wind speed initial value can be zero, or it can be set by the user according to the size of the aircraft and the range of the wind speed's impact on the aircraft's route.

[0049] Step 4: The aircraft calculates the height d of the aircraft relative to the ground based on the air pressure collected by the aircraft barometer. f The remote control device calculates the height d of the remote control device relative to the ground based on the air pressure collected by the remote control barometer. y , so we can calculate the vertical height of the aircraft body relative to the remote control device as d j =d f +dy , where d y is the height of the aircraft relative to the ground, d y is the height of the remote control device relative to the ground, d j is the vertical height of the aircraft body relative to the remote control device. Calculate the height of the aircraft body relative to the ground d f and the height d of the remote control device relative to the ground y The process involves collecting the air pressure at a given location using a barometer, subtracting the earth's surface pressure from the collected air pressure, and then calculating the altitude based on the proportional relationship between air pressure and altitude.

[0050] Step 5: The remote control device collects the longitude and latitude data (lati1, long1) of the remote control device through the remote control GPS module, and the aircraft body collects the longitude and latitude data (lati2, long2) of the aircraft body through the aircraft GPS module, wherein lati1 is the longitude data of the remote control device, long1 is the dimension data of the remote control device, lati2 is the longitude data of the aircraft body, and long2 is the dimension data of the aircraft body. The GPS module collects the longitude and latitude of the aircraft body, which is already an existing technology.

[0051] Step 6: Calculate the relative distance d between the aircraft and the remote control device based on the remote control device latitude data and the aircraft body longitude and latitude data x and the relative direction angle θ x , where d x is the relative distance between the aircraft body and the remote control device, θ x It is the relative direction angle between the aircraft body and the remote control device.

[0052] The relative distance d between the aircraft body and the remote control device x and the relative direction angle θ x The process includes the following steps,

[0053] Step 6.1: Calculate the arc length of longitude between the aircraft body and the remote control device based on the longitude and longitude collected in step 5: long = (long1-long2)×π / 180, where π is pi, long1 is the longitude of the remote control device, long2 is the longitude of the aircraft body, and long is the difference in arc length of longitude between the aircraft body and the remote control device.

[0054] Step 6.2: Calculate the latitude arc length of the aircraft body and the remote control device based on the longitude and latitude collected in step 5: lati = (lati1-lati2)×π / 180; π is the pi, lati1 is the latitude of the remote control device, lati2 is the aircraft body dimension, and lati is the difference in latitude arc length between the aircraft body and the remote control device.

[0055] Step 6.3: Calculate the relative distance between the aircraft body and the remote control device: , where long is the difference in longitude between the aircraft and the remote control device, lati is the difference in latitude between the aircraft and the remote control device, lati1 is the latitude of the remote control device, lati2 is the latitude of the aircraft, R is the radius of the earth, and π is the pi.

[0056] Step 6.4: Calculate the relative angle between the aircraft body and the remote control device: θ x =mod(arctan2(R×cos(lati1×(lon2-lon1)), R×(lati2-lati1)), 2×π), mod is the coordinate point expression, lati1 is the latitude of the remote control device point, lati2 is the latitude of the aircraft body, long1 is the longitude of the remote control device point, long2 is the longitude of the aircraft body, R is the radius of the earth, and π is the pi.

[0057] Step 7: Figure 1 As shown, according to the relative distance d between the aircraft body and the remote control device x The vertical height d of the aircraft body relative to the remote control device j Calculate the absolute distance between the aircraft and the remote control device Among them, d fs It is the absolute distance between the aircraft body and the remote control device.

[0058] Step 8: According to the absolute distance d between the target point and the remote control device fs The absolute distance d between the aircraft and the remote control device fj Calculate the distance s between the aircraft body and the target point. The formula for calculating the distance s between the aircraft body and the target point is: Where π is the circumference of a circle, d y is the height of the aircraft relative to the ground, d y is the height of the remote control device relative to the ground, d j is the vertical height of the aircraft body relative to the remote control device, d fs is the absolute distance between the aircraft body and the remote control device, and the absolute distance between the aircraft body and the remote control device d fj .

[0059] Step 9: When the wind speed v1 in step 3 is less than or equal to the original set wind speed initial value, the user uses the remote controller to adjust the relative direction angle θ between the aircraft body and the remote control device. x To determine the flight direction of the aircraft, when the wind speed v1 is greater than the original set wind speed initial value, enter step 12. The main purpose is to select the flight mode, and the collected wind speed is compared with the value set by the user.

[0060] Step 10: The aircraft uses the PID algorithm to control the speed of the aircraft. The speed is v2, where v2 is the flight speed of the aircraft. The PID algorithm is: Among them, u(t) is the output speed v2 of the control vehicle body; e(t) is the input of the controller (the distance s between the initial vehicle and the target point and the distance s between the current vehicle and the target point s The difference, that is, e(t) = SS s ), Kp is the proportional gain factor of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

[0061] Step 11: After a set time, return to step 4 until the flight reaches the target point. The set time can be one minute or tens of seconds, which is set by the user. The user can compare the distance of the target to be found. The search task is completed after reaching the target point.

[0062] Step 12: According to the magnitude v1 of the wind speed and the direction θ1 of the wind speed, the wind speed is Then the relative flight speed between the aircraft and the target point is set Thus, the flight speed of the aircraft body can be calculated in, is the wind speed vector, is the relative flight velocity vector between the aircraft body and the target point, is the actual flight velocity vector of the aircraft body. Calculate the actual flight velocity vector of the aircraft body The process is: first calculate the direction of the aircraft's flight: θ2 is the direction angle of the aircraft body’s flight, and the actual flight speed of the aircraft body is: Among them, v1 is the wind speed, v2 is the output speed of the aircraft body, v is the actual flight speed of the aircraft body, and θ2 is the direction angle of the aircraft body's flight, which is the angle formed by the actual flight direction of the aircraft body and the line connecting the aircraft body and the target point.

[0063] Step 13: The aircraft uses the PID algorithm to control the speed of the aircraft. The speed is v, where v is the flight speed of the aircraft. The PID algorithm is: Where u(t) is the speed v2 of the controlled aircraft; e(t) is the input of the controller (i.e., e(t) = v-v2), Kp is the proportional gain factor of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

[0064] Step 14: After a set time, return to step 4 until the flight reaches the target point. The set time can be one minute or tens of seconds, which is set by the user. The user can compare according to the distance to find the target.

[0065] like Figure 2 As shown, according to the above-mentioned trajectory planning algorithm based on velocity vector synthesis, the aircraft includes an aircraft body and a remote control device, and the remote control device is wirelessly connected to the aircraft body.

[0066] The aircraft body comprises a frame and a control circuit unit, and the control circuit unit comprises a motor, a motor drive module, a laser module, a GPS positioning module, a barometer, a controller module, a magnetometer, a display module, a gyroscope and a control wireless module.

[0067] The output ends of the laser module, GPS positioning module, barometer, magnetometer and gyroscope are connected to the controller module; the GPS positioning module is used to obtain the longitude and latitude data of the aircraft body; the barometer is used to detect the air pressure outside the aircraft body to calculate the height between the aircraft body and the ground; the gyroscope is used to detect the balance state of the aircraft body.

[0068] The input end of the display module is connected to the controller module; the output end of the controller module is connected to the motor via the motor drive module; the controller module is connected to the control wireless module; the control wireless module is wirelessly connected to the remote control device; the display module is used to display the flight data of the aircraft body and the detected air pressure, longitude and latitude data; the motor drive module receives the control signal of the controller module to control the motor to rotate so that the aircraft body can fly.

[0069] The main functions of the microprocessor of the controller module of the aircraft body are: 1. Provide the square wave pulse control signal required by the motor drive module to control the speed of the motor. 2. Drive the laser module to detect obstacles near the current location for barrier removal. 3. Obtain the longitude and latitude of the current aircraft according to the GPS positioning module. 4. Use the 2.4G data transmission module to communicate with the remote control. 5. Process the data obtained by the barometer to obtain the current altitude of the aircraft. 6. Display the current longitude and latitude and altitude data on the OLED display module. 7. Collect the data of the gyroscope to complete the filtering and solution of navigation information such as attitude and speed. 8. Obtain the data of the remote control device for corresponding processing. 9. Drive the magnetometer to locate the flight direction of the aircraft.

[0070] The remote control device comprises a remote control wireless module, a remote control barometer, a wind speed and direction sensor, a remote control display module, a remote control controller module, buttons and a joystick.

[0071] The output ends of the remote control barometer, wind speed and direction sensor, buttons and joystick are connected to the remote control controller module; the remote control barometer is used to detect the air pressure outside the remote control device to calculate the height of the remote control device from the ground; the wind speed and direction sensor is used to detect the size and direction of the flight speed; the buttons and joystick are used for user input to control the flight of the aircraft body.

[0072] The input end of the remote control display module is connected to the remote control controller module; the remote control wireless module is connected to the remote control controller module; the remote control wireless module is connected to the control wireless module; the remote control display module is used to display the flight speed of the aircraft body and the distance data from the target point; the remote control wireless module realizes wireless communication with the aircraft body.

[0073] The main functions implemented by the microprocessor in the remote control controller module of the remote control device are: 1. Obtain the latitude and longitude of the current remote control according to the GPS positioning module 2. Obtain the current mode of the aircraft through key control 3. Collect current position information 4. Process the data obtained by the barometer to obtain the current altitude of the remote control 5. OLED displays the current position, mode and other information.

[0074] The remote control device sends the corresponding control instructions to control the aircraft through the 2.4G data transmission module, and the aircraft can work. The control commands include: 1. Self-stabilization / hovering / basic following mode / wind following mode; 2. Control pulse frequency, that is, the rotation speed of the motor; 3. Remote control flight direction; 4. GPS data transmission 5. UAV status query, when the voltage is too low, send an alarm to the remote control device 6. When the aircraft is in the following mode, first put the flight control in the hovering state mode, and then in the following mode, the aircraft will enter the following mode and fly autonomously 7. When in the following mode, the drone makes a decision on the flight direction based on the wind force, wind direction and flight target point transmitted by the remote control device.

[0075] When working, the operator starts the aircraft into hover mode and then into follow mode through the buttons on the remote control. The aircraft determines the direction of the target point based on the GPS data, wind speed and direction data, and air pressure value sent back by the remote control device, and then plans the route and flight direction. This flying method effectively solves the problem of the aircraft not deviating from the flight path even in windy conditions.

[0076] The preferred embodiments of the present invention have been specifically described above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope of this application.

Claims

1. A trajectory planning method based on velocity vector synthesis, characterized in that: The steps include: Step 1: The user controls the aircraft to enter the hovering mode through the remote control device; Step 2: The wind speed and direction sensor on the remote control device collects the wind speed v1 and the wind speed direction θ1 and sends them to the aircraft, where v1 is the collected wind speed and θ1 is the wind direction angle; Step 3: After the aircraft receives the wind speed v1 and the wind direction angle θ1 from the remote control device, the aircraft compares the received wind speed v1 with the originally set initial wind speed value; Step 4: The aircraft calculates the height d of the aircraft relative to the ground based on the air pressure collected by the aircraft barometer. f The remote control device calculates the height d of the remote control device relative to the ground based on the air pressure collected by the remote control barometer. y , and thus calculate the vertical height of the aircraft body relative to the remote control device as d j =d f +d y , where d y is the height of the aircraft relative to the ground, d y is the height of the remote control device relative to the ground, d j The vertical height of the aircraft body relative to the remote control device; Step 5: The remote control device collects the longitude and latitude data (lati1, long1) of the remote control device through the remote control GPS module, and the aircraft body collects the longitude and latitude data (lati2, long2) of the aircraft body through the aircraft GPS module, wherein lati1 is the longitude data of the remote control device, long1 is the dimensional data of the remote control device, lati2 is the longitude data of the aircraft body, and long2 is the dimensional data of the aircraft body; Step 6: Calculate the relative distance d between the aircraft and the remote control device based on the remote control device latitude data and the aircraft body longitude and latitude data x and the relative direction angle θ x , where d x is the relative distance between the aircraft body and the remote control device, θx is the relative direction angle between the aircraft body and the remote control device; Step 7: According to the relative distance d between the aircraft body and the remote control device x The vertical height d of the aircraft body relative to the remote control device j Calculate the absolute distance between the aircraft and the remote control device Among them, d fs is the absolute distance between the aircraft body and the remote control device; Step 8: According to the absolute distance d between the target point and the remote control device fs The absolute distance d between the aircraft and the remote control device fj Calculate the distance s between the aircraft body and the target point; Step 9: When the wind speed v1 in step 3 is less than or equal to the original set wind speed initial value, the user uses the remote controller to adjust the relative direction angle θ between the aircraft body and the remote control device. x To determine the flight direction of the aircraft, when the wind speed v1 is greater than the original set wind speed initial value, go to step 12; Step 10: The aircraft body uses the PID algorithm to control the output speed of the aircraft. The output speed is v2, where v2 is the output speed of the aircraft body. Step 11: After the set time, return to step 4 until the flight reaches the target point; Step 12: According to the magnitude v1 of the wind speed and the direction θ1 of the wind speed, the wind speed is Then the output speed of the aircraft body is set Thus, the actual flight speed of the aircraft can be calculated. in, is the wind speed vector, is the output velocity vector of the aircraft body, is the actual flight velocity vector of the aircraft body; Step 13: The aircraft body uses the PID algorithm to control the output speed of the aircraft. The output speed is v2, where v2 is the output speed of the aircraft body. Step 14: After the set time, return to step 4 until the flight reaches the target point; In step 12, the actual flight velocity vector of the aircraft body is calculated. The process is: first calculate the direction of the aircraft's flight: θ2 is the direction angle of the aircraft body’s flight, and the actual flight speed of the aircraft body is: Among them, v1 is the wind speed, v2 is the output speed of the aircraft body, v is the actual flight speed of the aircraft body, and θ2 is the direction angle of the aircraft body's flight, which is the angle formed by the actual flight direction of the aircraft body and the line connecting the aircraft body and the target point.

2. A trajectory planning method based on velocity vector synthesis according to claim 1, characterized in that: In step 4, the height d of the aircraft body relative to the ground is calculated. f and the height d of the remote control device relative to the ground y The process involves collecting the air pressure at a given location using a barometer, subtracting the earth's surface pressure from the collected air pressure, and then calculating the altitude based on the proportional relationship between air pressure and altitude.

3. The method for trajectory planning based on velocity vector synthesis according to claim 1, characterized in that: Step 6 calculates the relative distance d between the aircraft body and the remote control device. x and the relative direction angle θ x The process includes the following steps, Step 6.1: Calculate the arc length of the longitude of the aircraft body and the remote control device based on the longitude and latitude collected in step 5: long = (long1-long2) × π / 180, where π is pi, long1 is the longitude of the remote control device, long2 is the longitude of the aircraft body, and long is the difference in arc length of the longitude between the aircraft body and the remote control device; Step 6.2: Calculate the latitude arc length of the aircraft body and the remote control device based on the longitude and latitude collected in step 5: lati = (lati1-lati2) × π / 180; π is pi, lati1 is the latitude of the remote control device, lati2 is the aircraft body, and lati is the difference in latitude arc length between the aircraft body and the remote control device; Step 6.3: Calculate the relative distance between the aircraft body and the remote control device: Where long is the difference in arc length between the aircraft body and the remote control device, lati is the difference in arc length between the aircraft body and the remote control device, lati1 is the latitude of the remote control device point, lati2 is the aircraft body dimension, R is the radius of the earth, and π is pi; Step 6.4: Calculate the relative angle between the aircraft body and the remote control device: θ x =mod(arctan2(R×cos(lati1×(lon2-lon1)), R×(lati2-lati1)), 2×π), mod is the coordinate point expression, lati1 is the latitude of the remote control device point, lati2 is the latitude of the aircraft body, long1 is the longitude of the remote control device point, long2 is the longitude of the aircraft body, R is the radius of the earth, and π is the pi.

4. The method for trajectory planning based on velocity vector synthesis according to claim 1, characterized in that: The formula for calculating the distance s between the aircraft body and the target point in step 8 is: The vertical height of the aircraft body relative to the remote control device, d fs is the absolute distance between the aircraft body and the remote control device, and the absolute distance between the aircraft body and the remote control device d fj .

5. The method for trajectory planning based on velocity vector synthesis according to claim 1, characterized in that: The PID algorithm in step 10 is: Among them, u(t) is the output speed v2 of the control vehicle body; e(t) is the input of the controller, which is the distance s between the initial vehicle and the target point and the distance s between the current vehicle and the target point s The difference, that is, e(t) = SS s , Kp is the proportional gain factor of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

6. A trajectory planning method based on velocity vector synthesis according to claim 1, characterized in that: The PID algorithm in step 13 is: Where u(t) is the output speed v2 of the aircraft body; e(t) is the input of the controller, that is, e(t) = v-v2, Kp is the proportional gain coefficient of the controller, T i is the integral time of the controller, T d is the differential time of the controller, and t is the time.

7. An aircraft according to any one of claims 1 to 6, characterized in that: It includes an aircraft body and a remote control device, and the remote control device is wirelessly connected to the aircraft body; The aircraft body includes a frame and a control circuit unit, and the control circuit unit includes a motor, a motor drive module, a laser module, a GPS positioning module, a barometer, a controller module, a magnetometer, a display module, a gyroscope and a control wireless module; The output ends of the laser module, GPS positioning module, barometer, magnetometer and gyroscope are connected to the controller module; the GPS positioning module is used to obtain the longitude and latitude data of the aircraft body; the barometer is used to detect the air pressure outside the aircraft body to calculate the height between the aircraft body and the ground; the gyroscope is used to detect the balance state of the aircraft body; The input end of the display module is connected to the controller module; the output end of the controller module is connected to the motor via the motor drive module; the controller module is connected to the control wireless module; the control wireless module is wirelessly connected to the remote control device; the display module is used to display the flight data of the aircraft body and the detected air pressure, longitude and latitude data; the motor drive module receives the control signal of the controller module to control the motor to rotate so that the aircraft body can fly; The remote control device includes a remote control wireless module, a remote control barometer, a wind speed and direction sensor, a remote control display module, a remote control controller module, buttons and a joystick; The output ends of the remote control barometer, wind speed and direction sensor, buttons and joystick are connected to the remote control controller module; the remote control barometer is used to detect the air pressure outside the remote control device so as to calculate the height between the remote control device and the ground; the wind speed and direction sensor is used to detect the size and direction of the flight speed; the buttons and joystick are used for user input to control the flight of the aircraft body; The input end of the remote control display module is connected to the remote control controller module; the remote control wireless module is connected to the remote control controller module; the remote control wireless module is connected to the control wireless module; the remote control display module is used to display the flight speed of the aircraft body and the distance data from the target point; the remote control wireless module realizes wireless communication with the aircraft body.

8. The aircraft according to the trajectory planning method based on velocity vector synthesis of claim 7, characterized in that: Both the aircraft body and the remote control device are provided with energy supply devices, which are batteries.

9. The aircraft according to the trajectory planning method based on velocity vector synthesis of claim 7, characterized in that: The gyroscope uses a gyroscope of model MCU6050.

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