Method and system for accompanying flight of unmanned aerial vehicle, terminal device and storage medium

Abstract

The application discloses a method and system for accompanying flight of a UAV, a terminal device and a storage medium. The method comprises: acquiring motion state parameters of a UAV and a target object; establishing a flight geometric relationship according to the motion state parameters of the UAV and the target object; updating the motion state parameters of the UAV based on the flight geometric relationship to obtain updated state parameters, and adjusting the motion state of the UAV based on the updated state parameters, so that the UAV accompanies the target object in flight. The application accurately tracks the target object, and realizes that the UAV accompanies the target object in flight.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and system for accompanying flight of an unmanned aerial vehicle, a terminal device, and a storage medium. BACKGROUND

[0002] The accompanying flight function of an unmanned aerial vehicle is to move with a moving object such as a vehicle or a ship, and to more flexibly complete monitoring, navigation, and shooting. The design of a flight control system of the unmanned aerial vehicle is a key and core for realizing autonomous flight of the unmanned aerial vehicle, and the performance of the flight control system directly determines the flight performance of the unmanned aerial vehicle and the situation of completing a task. Existing unmanned aerial vehicles use control devices such as remote controllers, smart phones, and touch screen analog joysticks to control the flight state of the unmanned aerial vehicle. However, the existing control devices can only realize low-speed accompanying flight of the unmanned aerial vehicle, and cannot realize accompanying flight of the unmanned aerial vehicle with a vehicle. Once the distance between the unmanned aerial vehicle and the target object exceeds the control area, visual tracking is likely to fail to track the target object, resulting in loss of the target object and the unmanned aerial vehicle being out of control. SUMMARY

[0003] The main purpose of the embodiments of the present application is to provide a method and system for accompanying flight of an unmanned aerial vehicle, accurate tracking of a target object, and realization of accompanying flight of the unmanned aerial vehicle with the target object.

[0004] To achieve the above purpose, the embodiments of the present application provide a method for accompanying flight of an unmanned aerial vehicle, which comprises:

[0005] obtaining motion state parameters of the unmanned aerial vehicle and a target object;

[0006] establishing a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object;

[0007] updating the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtaining updated state parameters, and adjusting the motion state of the unmanned aerial vehicle based on the updated state parameters, so that the unmanned aerial vehicle accompanies the target object.

[0008] Optionally, the step of updating the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship to obtain updated state parameters comprises:

[0009] controlling the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object to remain a preset fixed value within a preset time based on the flight geometric relationship, so as to lock the relative position of the unmanned aerial vehicle and the target object.

[0010] Optionally, the step of obtaining the motion state parameters of the unmanned aerial vehicle and the target object comprises:

[0011] judging whether a global positioning system (GPS) signal of the target and the handle meets a preset positioning condition;

[0012] if the GPS signal of the target and the handle does not meet the preset positioning condition, controlling the UAV to hover;

[0013] if the GPS signal of the target and the handle meets the preset positioning condition, performing a step of acquiring motion state parameters of the UAV and the target.

[0014] Optionally, the step of establishing a flight geometric relationship according to the motion state parameters of the UAV and the target comprises:

[0015] acquiring an actual heading angle and an actual pitch of a gimbal of the UAV;

[0016] adjusting a motion state parameter of the gimbal based on the actual heading angle, the actual pitch, and the flight geometric relationship, obtaining gimbal update parameters, and adjusting a motion state of the gimbal based on the gimbal update parameters, so that the target is always kept at a center of a field of view of the gimbal.

[0017] Optionally, the line-of-sight Euler angle comprises a high-low angle and an azimuth angle, and the step of controlling the line-of-sight Euler angle between the UAV and the target to keep a preset fixed value within a preset time based on the flight geometric relationship comprises:

[0018] obtaining a UAV speed, a UAV position, and a UAV heading instruction based on the flight geometric relationship and the motion state parameters of the UAV and the target;

[0019] controlling the high-low angle and the azimuth angle between the UAV and the target to keep the preset fixed value within the preset time based on the UAV speed, the UAV position, and the UAV heading instruction.

[0020] Optionally, the step of adjusting the motion state parameter of the gimbal based on the actual heading angle, the actual pitch, and the flight geometric relationship to obtain the gimbal update parameters comprises:

[0021] generating a gimbal heading instruction and a gimbal pitch instruction based on the flight geometric relationship and the motion state parameters of the UAV and the target;

[0022] obtaining a heading error based on the gimbal heading instruction and the actual heading;

[0023] obtaining a pitch error based on the gimbal pitch instruction and the actual pitch;

[0024] If the heading error and / or the pitch error is greater than a preset error threshold, the heading error and / or the pitch error is corrected to obtain a corrected heading and / or a corrected pitch as the gimbal update parameter.

[0025] Optionally, the step of controlling the line-of-sight Euler angle of the unmanned aerial vehicle and the target object to remain a preset fixed value within a preset time based on the flight geometry relationship comprises:

[0026] controlling a lens of the unmanned aerial vehicle to face a horizontal direction where the handle is located based on the geometry relationship;

[0027] controlling a gimbal of the unmanned aerial vehicle to point to the target object based on the geometry relationship.

[0028] Optionally, the step of controlling the unmanned aerial vehicle to hover comprises:

[0029] if the unmanned aerial vehicle is not in a horizontal flight attitude, adjusting the rotation speed of the rear motor of the unmanned aerial vehicle to adjust the unmanned aerial vehicle to a horizontal hovering attitude;

[0030] if the height of the unmanned aerial vehicle does not meet a preset height, adjusting the rotation speed of the front motor and the rear motor of the unmanned aerial vehicle to make the unmanned aerial vehicle hover at the preset height.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a companion flying system of an unmanned aerial vehicle, the system comprising:

[0032] a parameter acquisition module for acquiring motion state parameters of the unmanned aerial vehicle and the target object;

[0033] a geometry relationship establishing module for establishing a flight geometry relationship according to the motion state parameters of the unmanned aerial vehicle and the target object;

[0034] a motion state control module for updating the motion state parameters of the unmanned aerial vehicle based on the flight geometry relationship to obtain updated state parameters.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a terminal device, the terminal device comprising a memory, a processor, and a companion flying method of an unmanned aerial vehicle stored on the memory and executable on the processor, wherein the program of the companion flying method of the unmanned aerial vehicle is executed by the processor to implement the steps of the companion flying method of the unmanned aerial vehicle as described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a program of a companion flying method of an unmanned aerial vehicle, and the program of the companion flying method of the unmanned aerial vehicle is executed by a processor to implement the steps of the companion flying method of the unmanned aerial vehicle as described above.

[0037] The unmanned aerial vehicle accompanying method, system, terminal device and storage medium provided by the embodiment of the present application obtain the motion state parameters of an unmanned aerial vehicle and a target object; a flight geometric relationship is established according to the motion state parameters of the unmanned aerial vehicle and the target object; the motion state parameters of the unmanned aerial vehicle are updated based on the flight geometric relationship, and updated state parameters are obtained, and the motion state of the unmanned aerial vehicle is adjusted based on the updated state parameters, so that the unmanned aerial vehicle accompanies the target object. The present application obtains the motion state parameters of the unmanned aerial vehicle and the target object accompanied by the unmanned aerial vehicle, constructs a flight geometric relationship, thereby ensuring that the relative distance between the unmanned aerial vehicle and the target object is constant; the current motion state parameters of the unmanned aerial vehicle are updated based on the flight geometric relationship, and updated state parameters are obtained, and the motion state of the unmanned aerial vehicle is adjusted according to the updated state parameters, so that the unmanned aerial vehicle keeps a constant relative distance from the target object, accurately tracks the target object, and realizes the accompanying flight of the unmanned aerial vehicle following the target object. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The figure is a functional module schematic diagram of the terminal device to which the unmanned aerial vehicle accompanying device of the present application belongs.

[0039] Figure 2 The figure is a flowchart of the first embodiment of the unmanned aerial vehicle accompanying method of the present application.

[0040] Figure 3 The figure is a flowchart of the second embodiment of the unmanned aerial vehicle accompanying method of the present application.

[0041] Figure 4 The figure is a flowchart of the third embodiment of the unmanned aerial vehicle accompanying method of the present application.

[0042] Figure 5 The figure is a functional module schematic diagram of the unmanned aerial vehicle accompanying system of the present application.

[0043] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are merely intended to explain the present application, and are not intended to limit the present application.

[0045] The main solution of the embodiment of the present application is: obtaining the motion state parameters of an unmanned aerial vehicle and a target object; a flight geometric relationship is established according to the motion state parameters of the unmanned aerial vehicle and the target object; the motion state parameters of the unmanned aerial vehicle are updated based on the flight geometric relationship, and updated state parameters are obtained, and the motion state of the unmanned aerial vehicle is adjusted based on the updated state parameters, so that the unmanned aerial vehicle accompanies the target object.

[0046] The technical terms involved in the embodiment of the present application are:

[0047] GPS: (Global Positioning System, Global Positioning System), a high-precision radio navigation positioning system based on artificial satellites, which can provide accurate geographical position, vehicle speed and accurate time parameters anywhere in the world and near space.

[0048] PID control algorithm: (Proportion Integral Differential), the abbreviation of Proportional (proportion), Integral (integral), Differential (differential). PID control algorithm is a control algorithm that combines proportion, integral and differential in one, suitable for occasions where the model of the controlled object is not clear. The essence of PID control is to calculate according to the input deviation value according to the proportional, integral and differential function relationship, and the calculation result is used to control the output.

[0049] IMU: (Inertial Measurement Unit, Inertial Measurement Unit), used to measure the three-axis attitude angle (or angular rate) and acceleration of the object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the independent three-axis coordinate system of the carrier, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. The angular velocity and acceleration of the object in three-dimensional space are measured, and the attitude of the object is calculated.

[0050] Gimbal: is a supporting device for installing fixed mobile phones, cameras and video cameras, which is divided into fixed gimbal and electric gimbal. The fixed gimbal is suitable for monitoring the range. After installing the video camera on the fixed gimbal, the horizontal and pitch angles of the video camera can be adjusted, and after reaching the best working attitude, the adjustment mechanism can be locked. The electric gimbal is suitable for scanning and monitoring a large range, which can expand the monitoring range of the video camera. The high-speed attitude of the electric gimbal is realized by two execution motors, which accurately operate and position under the control of the controller. Under the action of the control signal, the video camera on the gimbal can automatically scan the monitoring area, or it can be tracked under the operation of the monitoring center attendant.

[0051] Decoupling: coupling refers to the phenomenon that two or more systems or two forms of motion are affected by each other and combined through interaction. Decoupling is to separate the two motions by mathematical method to solve the problem. The common decoupling method is to ignore or simplify the motion that has less influence on the problem studied, and only analyze the main motion.

[0052] The unmanned aerial vehicle has the advantages of small size, light weight, unmanned driving, vertical take-off and landing, fixed-point hovering, good operability and the like. Among them, the design of the flight control system of the unmanned aerial vehicle is the key and core to realize the autonomous flight of the unmanned aerial vehicle, and the performance of the flight control system directly determines the flight performance of the unmanned aerial vehicle and the completion of the task.

[0053] The existing unmanned aerial vehicle needs to use a control device, such as a remote controller, a smart phone or a touch screen analog joystick, to accurately control the unmanned aerial vehicle. However, the position parameter interaction between the existing unmanned aerial vehicle and the user is only tracked by the visual device inside the unmanned aerial vehicle, and then the control device can only realize low-speed accompanying flight of the unmanned aerial vehicle, cannot realize accompanying flight of the unmanned aerial vehicle with the vehicle, and once the distance between the unmanned aerial vehicle and the target object exceeds the control area, the unmanned aerial vehicle is easy to be out of control, and the visual tracking is easy to lose the target object.

[0054] The present application provides a solution to keep the unmanned aerial vehicle and the target object at a certain relative distance, accurately track the target object, and realize high-speed accompanying flight of the unmanned aerial vehicle and the target object.

[0055] Specifically, referring to Figure 1 , Figure 1 is a functional module schematic diagram of the terminal device to which the accompanying flight device of the unmanned aerial vehicle belongs. The accompanying flight device of the unmanned aerial vehicle can be a device independent of the terminal device, capable of picture processing and network model training, which can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal such as a mobile phone and a tablet computer having a data processing function, and can also be a fixed terminal device or a server having a data processing function.

[0056] In this embodiment, the terminal device to which the accompanying flight device of the unmanned aerial vehicle belongs at least includes an output module 110, a processor 120, a memory 130 and a communication module 140.

[0057] The memory 130 stores an operation method and an accompanying flight program of the unmanned aerial vehicle; the output module 110 can be a display screen and the like. The communication module 140 can include a WIFI module, a mobile communication module and a Bluetooth module and the like, and communicates with external devices or servers through the communication module 140.

[0058] The accompanying flight program of the unmanned aerial vehicle in the memory 130 is executed by the processor to realize the following steps:

[0059] Obtain the motion state parameters of the unmanned aerial vehicle and the target object;

[0060] Establish a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object;

[0061] updating a motion state parameter of the UAV based on the flight geometry relationship, obtaining an updated state parameter, and adjusting a motion state of the UAV based on the updated state parameter, so that the UAV flies with the target object.

[0062] Further, the flight-keeping program of the UAV in the memory 130, when executed by the processor, further implements the following steps:

[0063] Based on the flight geometry relationship, the line-of-sight Euler angle of the UAV and the target object is controlled to keep a preset fixed value within a preset time, so that the relative position of the UAV and the target object is locked.

[0064] Further, the flight-keeping program of the UAV in the memory 130, when executed by the processor, further implements the following steps:

[0065] determining whether the target object and the handle GPS signal satisfy a preset positioning condition;

[0066] If the target object and the handle GPS signal do not satisfy the preset positioning condition, the UAV is controlled to hover;

[0067] If the target object and the handle GPS signal satisfy the preset positioning condition, the following step is performed: obtaining the motion state parameters of the UAV and the target object.

[0068] Further, the flight-keeping program of the UAV in the memory 130, when executed by the processor, further implements the following steps:

[0069] obtaining the actual heading angle and the actual pitch of the gimbal of the UAV;

[0070] adjusting the motion state parameter of the gimbal based on the actual heading angle, the actual pitch, and the flight geometry relationship, obtaining gimbal updated parameters, and adjusting the motion state of the gimbal based on the gimbal updated parameters, so that the target object is always kept at the center of the field of view of the gimbal.

[0071] Further, the flight-keeping program of the UAV in the memory 130, when executed by the processor, further implements the following steps:

[0072] obtaining the UAV speed, the UAV position, and the UAV heading instruction based on the flight geometry relationship and the motion state parameters of the UAV and the target object;

[0073] controlling the elevation angle and the azimuth angle of the line connecting the UAV and the target object to keep the preset fixed value within the preset time based on the UAV speed, the UAV position, and the UAV heading instruction.

[0074] Further, the accompanying flight program of the UAV in the memory 130 is executed by the processor to further implement the following steps:

[0075] Based on the flight geometry relationship, the motion state parameters of the UAV and the target object, a gimbal heading instruction and a gimbal pitch instruction are generated;

[0076] Based on the gimbal heading instruction and the actual heading, a heading error is obtained;

[0077] Based on the gimbal pitch instruction and the actual pitch, a pitch error is obtained;

[0078] If the heading error and / or the pitch error is greater than a preset error threshold, the heading error and / or the pitch error is corrected to obtain a corrected heading and / or a corrected pitch as the gimbal update parameter.

[0079] Further, the accompanying flight program of the UAV in the memory 130 is executed by the processor to further implement the following steps:

[0080] Based on the geometry relationship, the lens of the UAV is controlled to face the horizontal direction where the handle is located;

[0081] Based on the geometry relationship, the gimbal of the UAV is controlled to point to the target object.

[0082] Further, the accompanying flight program of the UAV in the memory 130 is executed by the processor to further implement the following steps:

[0083] If the UAV is not in a horizontal flight attitude, the rotation speed of the rear motor of the UAV is adjusted to adjust the UAV to a horizontal hovering attitude;

[0084] If the height of the UAV does not satisfy a preset height, the rotation speed of the front motor and the rear motor of the UAV is adjusted to make the UAV hover at the preset height.

[0085] The embodiment obtains the motion state parameters of the unmanned aerial vehicle and the target object through the above scheme, establishes a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, updates the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtains updated state parameters, and adjusts the motion state of the unmanned aerial vehicle based on the updated state parameters, so that the unmanned aerial vehicle flies with the target object. The motion state parameters of the unmanned aerial vehicle and the target object that the unmanned aerial vehicle flies with are obtained, a flight geometric relationship is constructed, so that the relative distance between the unmanned aerial vehicle and the target object is ensured; the current motion state parameter data of the unmanned aerial vehicle is updated based on the flight geometric relationship, updated state parameters are obtained, the motion state of the unmanned aerial vehicle is adjusted according to the updated state parameters, and then the unmanned aerial vehicle keeps a certain relative distance with the target object, accurately tracks the target object, and realizes that the unmanned aerial vehicle flies with the target object.

[0086] Based on the terminal device architecture but not limited to the above-mentioned architecture, the method embodiment of the present application is proposed.

[0087] Reference Figure 2 , Figure 2 The flowchart of the first embodiment of the unmanned aerial vehicle flying method of the present application is shown. The unmanned aerial vehicle flying method comprises:

[0088] In step S101, the motion state parameters of the unmanned aerial vehicle and the target object are obtained.

[0089] The execution subject of the method of the embodiment can be a flying device of an unmanned aerial vehicle, or a flying terminal device or server of an unmanned aerial vehicle. The embodiment takes an unmanned aerial vehicle flight control system as an example, which can be integrated on a terminal device with data processing function, such as an unmanned aerial vehicle, a smart phone, a tablet computer, etc.

[0090] In order to realize that the unmanned aerial vehicle flies with the target object, first, the motion state parameters of the unmanned aerial vehicle and the target object need to be obtained, and the specific scheme is as follows:

[0091] As an implementation manner, in the embodiment, a car is taken as the target object.

[0092] When the unmanned aerial vehicle takes off, the motion state parameters of the car are obtained through the computer system of the car.

[0093] Specifically, the acceleration and deceleration information, GPS position, and steering signal of the car are obtained through the computer system of the car.

[0094] Further, the motion state parameters of the car are obtained and output by the car central control.

[0095] Specifically, first, the car machine control outputs the motion state parameters of the car, and judges whether the GPS signals of the car and the handle satisfy the preset positioning condition, wherein the preset positioning condition is that the GPS signals of the car and the handle are consistent with the actual position.

[0096] If the GPS signals of the car and the handle do not satisfy the preset positioning condition, the unmanned aerial vehicle is controlled to hover.

[0097] The unmanned aerial vehicle hovering is that the unmanned aerial vehicle perceives the deflection amount of the own angle through the internal gyroscope sensor. In the case that the unmanned aerial vehicle is not controlled by a human, assuming that the unmanned aerial vehicle posture is inclined backward, the unmanned aerial vehicle can immediately detect the slight deflection angle, and the flight control system can immediately issue a command to make the rear motor of the unmanned aerial vehicle speed up, so that the unmanned aerial vehicle adjusts to the horizontal flight posture.

[0098] Further, if the unmanned aerial vehicle is not in the horizontal flight posture, the speed of the rear motor of the unmanned aerial vehicle is adjusted to make the unmanned aerial vehicle adjust to the horizontal hovering posture.

[0099] Specifically, the GPS module of the unmanned aerial vehicle can receive satellite positioning signals and provide three-dimensional coordinates of the unmanned aerial vehicle to the flight control system. If the horizontal flight posture of the unmanned aerial vehicle deviates, the GPS horizontal coordinates of the unmanned aerial vehicle will change, and the flight control system can immediately adjust the speed of the motor to make the unmanned aerial vehicle fly back to the original GPS positioning point, so that the unmanned aerial vehicle adjusts to the horizontal hovering posture. The adjustment frequency of the flight control system is 50-100 Hz, which is almost imperceptible to the naked eye.

[0100] If the height of the unmanned aerial vehicle does not satisfy the preset height, the speed of the front motor and the rear motor of the unmanned aerial vehicle is adjusted to make the unmanned aerial vehicle hover at the preset height.

[0101] Specifically, the unmanned aerial vehicle is internally provided with a barometer sensor and a GPS sensor (here, the height information of the GPS three-dimensional coordinates is utilized), which can detect the flight height of the unmanned aerial vehicle in real time. If the flight height of the unmanned aerial vehicle does not satisfy the preset height, the flight control system will immediately send a command to control the speed of the four motors (front motor and rear motor) of the unmanned aerial vehicle to keep the height of the unmanned aerial vehicle unchanged.

[0102] It should be noted that the preset height is set according to the actual situation, and the present embodiment does not specifically limit it.

[0103] If the GPS signals of the car and the handle satisfy the preset positioning condition, the companion flying mode is started.

[0104] Therefore, if the car GPS and the unmanned aerial vehicle GPS can realize accurate positioning, the unmanned aerial vehicle flight control system can adjust the acceleration, speed and position of the unmanned aerial vehicle by obtaining the relative motion information of the car and the unmanned aerial vehicle, and the unmanned aerial vehicle can accurately, smoothly and quickly respond to the companion flying.

[0105] Secondly, the handle receives the motion state parameters of the car through WIF, and fuses the GPS position information of the car with the GPS position information of the handle, and outputs to the unmanned aerial vehicle through the 2.4G image transmission module, so that the unmanned aerial vehicle starts the companion flight mode.

[0106] When the unmanned aerial vehicle starts the companion flight mode, based on the GPS relative positioning of the unmanned aerial vehicle and the car, the unmanned aerial vehicle and the car constantly match and keep the state of dynamic balance. Among them, the unmanned aerial vehicle can not only follow the car, but also can fly according to the route, and the flight speed can reach 70-90km / h.

[0107] Further, after the unmanned aerial vehicle starts the companion flight mode, the unmanned aerial vehicle flight control system receives the motion state parameters of the car sent by the handle, and obtains the motion state parameters of the unmanned aerial vehicle, wherein the motion state parameters include acceleration and deceleration information, GPS position, and steering signal.

[0108] Therefore, by obtaining the motion state parameters of the car and the unmanned aerial vehicle, the motion state parameters of the unmanned aerial vehicle are prepared for subsequent adjustment according to the motion state parameters of the car, accurate tracking of the car is realized, and the unmanned aerial vehicle intelligent companion flight is realized.

[0109] Step S102, establishing a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object.

[0110] Step S103, updating the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtaining updated state parameters, and adjusting the motion state of the unmanned aerial vehicle based on the updated state parameters.

[0111] As an embodiment, in the present embodiment, first, a flight geometric relationship is established according to the motion parameters of the unmanned aerial vehicle and the target object; secondly, the relative position of the unmanned aerial vehicle and the target object is locked based on the geometric relationship; thirdly, the motion state parameters of the unmanned aerial vehicle are updated to obtain updated state parameters, so that the unmanned aerial vehicle adjusts the current motion state according to the updated state parameters, and accurately, smoothly and quickly responds to the companion flight.

[0112] Specifically, first, a flight geometric relationship is established according to the motion parameters of the unmanned aerial vehicle and the target object to maintain the stability of the companion flight; and based on the flight geometric relationship, the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object is controlled to keep a preset fixed value within a preset time, so that the relative position of the unmanned aerial vehicle and the target object is locked.

[0113] More specifically, based on the flight geometric relationship, when the unmanned aerial vehicle is in companion flight, the position and / or speed and / or acceleration of the unmanned aerial vehicle are controlled to keep the elevation angle and azimuth angle of the line connecting the unmanned aerial vehicle and the target object fixed for a long time. In the specific implementation process, the elevation angle and the azimuth angle can be any angle such as 1°, 2°, etc.

[0114] Wherein, the line-of-sight Euler angle includes the high-low angle and the azimuth angle, the high-low angle and the azimuth angle of the unmanned aerial vehicle and the target object in the process of accompanying flight remain unchanged within a certain time, which includes but is not limited to 5s, 10s, 20s, etc. greater than 5s. Considering the actual control error, the error of the high-low angle and the azimuth angle in the process of accompanying flight is within the range of ±3° in the actual calculation angle, and the greater than 5s is taken as the preset time, and the preset fixed value is the high-low angle and the azimuth angle calculated based on the flight geometric relationship.

[0115] Secondly, after locking the relative position of the unmanned aerial vehicle and the target object based on the geometric relationship, it includes:

[0116] (1) Controlling the lens of the unmanned aerial vehicle to face the horizontal direction of the handle based on the geometric relationship.

[0117] In the embodiment, both the unmanned aerial vehicle and the handle have GPS modules, the unmanned aerial vehicle can obtain its own three-dimensional position information through the GPS signal, and the handle can obtain the three-dimensional position information of the car. When the accompanying flight mode is turned on, the GPS data of the handle will be transmitted to the unmanned aerial vehicle through the 2.4G image transmission module, and after the unmanned aerial vehicle receives the GPS data, it will bind the GPS position of the unmanned aerial vehicle and the handle with each other, which can make the unmanned aerial vehicle detect the change of the relative position in real time when the handle moves. Thus, the IMU of the unmanned aerial vehicle can control the unmanned aerial vehicle to keep the relative position and height with the handle unchanged.

[0118] Further, the unmanned aerial vehicle can determine the orientation of its own nose through the geomagnetic sensor, and in the accompanying flight mode, the unmanned aerial vehicle can always make the lens face the horizontal direction of the handle.

[0119] The unmanned aerial vehicle can make the lens of the unmanned aerial vehicle always face the position of the handle through the software algorithm in the process of accompanying flight. Even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted in the process of accompanying flight, the lens can ensure that the object being photographed (handle beacon) is always on the golden section point of the lower left corner of the picture.

[0120] Specifically, the unmanned aerial vehicle can adjust the motion state of the unmanned aerial vehicle through the PID control algorithm in the process of accompanying flight, so that the lens of the unmanned aerial vehicle always faces the position of the handle. Even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted in the process of accompanying flight, the lens can ensure that the object being photographed (handle beacon) is always on the golden section point of the lower left corner of the picture.

[0121] Therefore, the lens of the unmanned aerial vehicle is controlled to face the horizontal direction of the handle based on the geometric relationship, the position of the unmanned aerial vehicle and the handle is synchronized, and even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted in the process of accompanying flight, the lens can ensure that the object being photographed (handle beacon) is always on the golden section point of the lower left corner of the picture.

[0122] (2) Controlling the gimbal of the unmanned aerial vehicle to point to the target object based on the geometric relationship.

[0123] As an implementation, in the present embodiment, although the gimbal of the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the attitude of the unmanned aerial vehicle is independent of the attitude of the gimbal of the unmanned aerial vehicle, and thus it is necessary to control the gimbal of the unmanned aerial vehicle to also point to the target object based on the geometric relationship.

[0124] First, the position information of the unmanned aerial vehicle, the position information of the automobile, the actual heading and pitch of the gimbal are acquired; second, the heading angle and attitude that the gimbal needs to adjust are calculated based on the geometric relationship, the position information of the unmanned aerial vehicle, the position information of the automobile, the actual heading and pitch of the gimbal, so that the gimbal of the unmanned aerial vehicle points to the automobile.

[0125] Thirdly, the motion state parameters of the unmanned aerial vehicle are updated based on the flight geometric relationship to obtain updated state parameters, so that the unmanned aerial vehicle adjusts the current motion state according to the updated state parameters to accurately, smoothly and quickly respond to the accompanying flight.

[0126] Specifically, when the unmanned aerial vehicle accompanies the flight, first, the updated state parameters are calculated based on the flight geometric relationship; second, the position and / or speed and / or acceleration of the unmanned aerial vehicle are controlled based on the updated state parameters, so that the elevation angle and azimuth angle of the line connecting the unmanned aerial vehicle and the ground target object remain fixed values within a certain time. In the specific implementation process, the elevation angle and azimuth angle can be any angle such as 1°, 2°, etc., and the certain time is any time greater than 5s, and the error of the elevation angle and azimuth angle is within the range of ±3° of the actual calculation angle.

[0127] More specifically, when the automobile moves, based on the flight geometric relationship, the unmanned aerial vehicle calculates a new acceleration as the updated state parameter according to the acceleration information of the automobile; then, the unmanned aerial vehicle adjusts the flight speed of itself in advance according to the new acceleration, so as to accurately, smoothly and quickly respond to the accompanying flight.

[0128] When the automobile turns, based on the flight geometric relationship, the unmanned aerial vehicle calculates a new turning angle as the updated state parameter according to the turning information of the automobile; then, the unmanned aerial vehicle adjusts the heading angle of itself in advance according to the new turning angle, so as to accurately, smoothly and quickly respond to the accompanying flight.

[0129] Therefore, by the above scheme, even if the target object is in high-speed motion, the handle can upload the motion state information of the target object to the unmanned aerial vehicle flight control system in real time, fuse the GPS position information of the target object with the GPS position information of the unmanned aerial vehicle, and realize the follow-up flight of the unmanned aerial vehicle position and the target object position in a specific relative position relationship. When maintaining the specific relative position relationship between the unmanned aerial vehicle and the target object, the unmanned aerial vehicle fully considers the acceleration information of the vehicle, and adjusts the flight control amount and the heading angle in advance, to realize accurate, smooth and rapid follow-up flight.

[0130] In the embodiment, the motion state parameters of the unmanned aerial vehicle and the target object are specifically obtained, a flight geometric relationship is established according to the motion state parameters of the unmanned aerial vehicle and the target object, the motion state parameters of the unmanned aerial vehicle are updated based on the flight geometric relationship to obtain updated state parameters, and the motion state of the unmanned aerial vehicle is adjusted based on the updated state parameters, so that the unmanned aerial vehicle flies with the target object. The motion state parameters of the unmanned aerial vehicle and the target object are obtained, a flight geometric relationship is constructed, so as to ensure that the relative distance between the unmanned aerial vehicle and the target object is constant. The current acceleration and heading angle of the unmanned aerial vehicle are updated based on the flight geometric relationship to obtain updated state parameters, and the motion state of the unmanned aerial vehicle is adjusted according to the updated state parameters, so that the unmanned aerial vehicle and the target object maintain a constant relative distance and consistent heading angle. Furthermore, when maintaining the specific relative position relationship between the unmanned aerial vehicle and the target object, the unmanned aerial vehicle fully considers the acceleration information of the vehicle, and adjusts the flight control amount and the heading angle in advance, to realize accurate, smooth and rapid follow-up flight.

[0131] Reference Figure 3 , Figure 3 Figure 1 is a flowchart of a second embodiment of the unmanned aerial vehicle follow-up flight method of the present application.

[0132] As an implementation manner, in the embodiment, although the gimbal of the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the attitude of the unmanned aerial vehicle is independent of the attitude of the gimbal of the unmanned aerial vehicle. Therefore, when the unmanned aerial vehicle starts the follow-up flight mode, the motion state of the gimbal of the unmanned aerial vehicle also needs to be controlled.

[0133] Firstly, the motion state parameters of the unmanned aerial vehicle and the vehicle (target object) are obtained.

[0134] Specifically, after the unmanned aerial vehicle takes off, the motion state parameters of the vehicle are obtained through the computer system of the vehicle.

[0135] More specifically, the acceleration and deceleration information, GPS position and steering signal of the vehicle are obtained through the computer system of the vehicle.

[0136] Further, the motion state parameters of the vehicle and the motion state parameters of the unmanned aerial vehicle are obtained through the unmanned aerial vehicle flight control system.

[0137] Secondly, the line-of-sight Euler angle is calculated according to the motion state parameters of the unmanned aerial vehicle and the target object, and a gimbal heading instruction and a gimbal pitch instruction are generated based on the line-of-sight Euler angle and the motion state parameters of the unmanned aerial vehicle and the vehicle.

[0138] Specifically, the motion state parameters of the unmanned aerial vehicle and the target object are calculated by a relative motion processing module of the unmanned aerial vehicle flight control system to obtain the line-of-sight Euler angle, wherein the line-of-sight Euler angle includes an elevation angle and an azimuth angle of the line connecting the unmanned aerial vehicle and the target object.

[0139] Further, the line-of-sight Euler angle and the motion state parameters of the unmanned aerial vehicle and the target object are input into a decoupling module of the unmanned aerial vehicle flight control system to obtain the gimbal heading instruction and the gimbal pitch instruction.

[0140] Thirdly, the actual heading angle and the actual pitch of the gimbal of the unmanned aerial vehicle are obtained, a heading error is obtained based on the gimbal heading instruction and the actual heading, and a pitch error is obtained based on the gimbal pitch instruction and the actual pitch.

[0141] Specifically, first, the actual heading angle and the actual pitch of the gimbal are obtained, and secondly, the gimbal heading instruction and the actual heading are input into an error obtaining module of the unmanned aerial vehicle flight control system to generate the heading error by the error obtaining module.

[0142] The gimbal pitch instruction and the actual pitch are input into the error obtaining module of the unmanned aerial vehicle flight control system to generate the pitch error by the error obtaining module.

[0143] Finally, it is determined whether the heading error and / or the pitch error is greater than a preset error threshold.

[0144] If the heading error and / or the pitch error is greater than the preset error threshold, the heading error and / or the pitch error is corrected to obtain a corrected heading and / or a corrected pitch as the gimbal update parameter.

[0145] Specifically, if the heading error is greater than the preset error threshold, the heading error is input into an error correction unit to be corrected to obtain the corrected heading as the gimbal update parameter and to generate an aircraft heading control instruction; the aircraft heading control instruction is input into a gimbal heading control module to control the heading of the gimbal so that the gimbal flies with the vehicle.

[0146] If the pitch error is greater than the preset error threshold, the pitch error is input into the error correction unit to be corrected to obtain the corrected pitch as the gimbal update parameter and to generate an aircraft pitch control instruction; the aircraft pitch control instruction is input into a gimbal attitude control module to control the attitude of the gimbal so that the gimbal flies with the vehicle.

[0147] If the heading error and / or the pitch error is not greater than a preset error threshold, the heading error and / or the pitch error is taken as a gimbal update parameter, the heading error and / or the pitch error is input into a gimbal attitude control module to adjust the attitude of the gimbal, so that the gimbal flies with the vehicle.

[0148] Therefore, although the attitude of the unmanned aerial vehicle and the attitude of the gimbal of the unmanned aerial vehicle are independent, when the unmanned aerial vehicle starts the flying-with mode, the motion state of the gimbal is also adjusted to make the gimbal consistent with the attitude of the vehicle.

[0149] It should be noted that the preset error threshold is set according to actual conditions, and the embodiment does not make specific limitations.

[0150] The embodiment obtains the motion state parameters of the unmanned aerial vehicle and the target object, establishes a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, updates the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtains updated state parameters, and adjusts the motion state of the unmanned aerial vehicle based on the updated state parameters, so that the unmanned aerial vehicle flies with the target object. The motion state parameters of the unmanned aerial vehicle and the target object that the unmanned aerial vehicle flies with are obtained, a flight geometric relationship is constructed to ensure that the relative distance between the unmanned aerial vehicle and the target object is constant, the current motion state parameter data of the unmanned aerial vehicle is updated based on the flight geometric relationship to obtain updated state parameters, and the motion state of the unmanned aerial vehicle is adjusted according to the updated state parameters, so that the unmanned aerial vehicle keeps a constant relative distance with the target object, accurately tracks the target object, and realizes the unmanned aerial vehicle flying with the target object. The actual heading and pitch of the gimbal are obtained, the heading angle and the pitch angle of the gimbal are adjusted, and the gimbal flies with the target object.

[0151] Referring to Figure 4 , Figure 4 FIG. 1 is a flowchart of a flying-with method of an unmanned aerial vehicle according to a first embodiment of the present application.

[0152] When the unmanned aerial vehicle takes off, the motion state parameters of the vehicle are obtained through the computer system of the vehicle.

[0153] Specifically, the acceleration and deceleration information, GPS position, and steering signal of the vehicle are obtained through the computer system of the vehicle.

[0154] Further, the motion state parameters of the vehicle are obtained and output by the car machine central control.

[0155] Specifically, first, the car machine central control outputs the motion state parameters of the vehicle, and judges whether the GPS signals of the vehicle and the handle meet a preset positioning condition, wherein the preset positioning condition is that the GPS signals of the vehicle and the handle are consistent with the actual position.

[0156] If the GPS signals of the car and the handle do not satisfy the preset positioning condition, the unmanned aerial vehicle is controlled to hover.

[0157] The unmanned aerial vehicle hovers by sensing the deflection of the angle of the unmanned aerial vehicle through the internal gyro sensor. In the case of unmanned control of the unmanned aerial vehicle, assuming that the unmanned aerial vehicle is inclined backward, the unmanned aerial vehicle can immediately detect the slight deflection angle, and the flight control system can immediately issue a command to speed up the rear motor of the unmanned aerial vehicle to adjust the unmanned aerial vehicle to a horizontal flight posture.

[0158] Further, if the unmanned aerial vehicle is not in a horizontal flight posture, the speed of the rear motor of the unmanned aerial vehicle is adjusted to adjust the unmanned aerial vehicle to a horizontal hovering posture.

[0159] Specifically, the GPS module of the unmanned aerial vehicle can receive satellite positioning signals and provide three-dimensional coordinates of the unmanned aerial vehicle to the flight control system. If the horizontal flight posture of the unmanned aerial vehicle deviates, the GPS horizontal coordinates of the unmanned aerial vehicle will change, and the flight control system can immediately adjust the speed of the motor to make the unmanned aerial vehicle fly back to the original GPS positioning point to adjust the unmanned aerial vehicle to a horizontal hovering posture. The adjustment frequency of the flight control system is 50-100 Hz, which is almost imperceptible to the naked eye.

[0160] If the height of the unmanned aerial vehicle does not satisfy the preset height, the speed of the front motor and the rear motor of the unmanned aerial vehicle is adjusted to make the unmanned aerial vehicle hover at the preset height.

[0161] Specifically, the unmanned aerial vehicle is internally provided with a barometer sensor and a GPS sensor (here, the height information of the GPS three-dimensional coordinates is utilized), which can detect the flight height of the unmanned aerial vehicle in real time. If the flight height of the unmanned aerial vehicle does not satisfy the preset height, the flight control system will immediately send a command to control the speed of the four motors (front motor and rear motor) of the unmanned aerial vehicle to keep the height of the unmanned aerial vehicle unchanged.

[0162] It should be noted that the preset height is set according to the actual situation, and the present embodiment does not specifically limit it.

[0163] If the GPS signals of the car and the handle satisfy the preset positioning condition, the follow mode is started.

[0164] Therefore, if the GPS of the car and the GPS of the unmanned aerial vehicle can achieve accurate positioning, the unmanned aerial vehicle flight control system can adjust the acceleration, speed and position of the unmanned aerial vehicle by obtaining the relative motion information of the car and the unmanned aerial vehicle, and the unmanned aerial vehicle can accurately, smoothly and quickly respond to the follow mode.

[0165] Secondly, after the handle receives the motion state parameters of the car through WIF, the GPS position information of the car is compared and fused with the GPS position information of the handle, and is output to the unmanned aerial vehicle through the 2.4G image transmission module, so that the unmanned aerial vehicle starts the follow mode.

[0166] When the UAV opens the accompanying flight mode, the UAV and the vehicle continuously match based on the relative positioning of the UAV and the vehicle through GPS, and a dynamic balance state is maintained. Among them, the UAV can not only follow the vehicle to fly, but also can fly according to the flight route, and the flight speed can reach 70-90km / h.

[0167] Further, after the UAV opens the accompanying flight mode, the UAV flight control system receives the motion state parameters of the vehicle sent by the handle, and obtains the motion state parameters of the UAV, wherein the motion state parameters include acceleration and deceleration information, GPS position, and steering signal.

[0168] Therefore, by obtaining the motion state parameters of the vehicle and the UAV, the motion state parameters of the UAV are prepared for subsequent adjustment according to the motion state parameters of the vehicle, accurate tracking of the vehicle is realized, and the UAV intelligent accompanying flight is realized.

[0169] Further, the UAV flight system adjusts the pitch angle of the gimbal according to the obtained motion state parameters of the vehicle and the UAV, and the specific scheme is as follows:

[0170] Firstly, the line-of-sight Euler angle is calculated according to the motion state parameters of the UAV and the target object, and the gimbal pitch command is generated based on the line-of-sight Euler angle and the motion state parameters of the UAV and the vehicle.

[0171] Specifically, the motion state parameters of the UAV and the target object are calculated by the relative motion processing module of the UAV flight control system to obtain the line-of-sight Euler angle.

[0172] Further, the line-of-sight Euler angle and the motion state parameters of the UAV and the target object are input into the decoupling module of the UAV flight control system to obtain the gimbal pitch command.

[0173] Secondly, the actual heading angle and the actual pitch of the gimbal of the UAV are obtained, and the pitch error is obtained based on the gimbal pitch command and the actual pitch.

[0174] Specifically, the gimbal pitch command and the actual pitch are input into the error acquisition module of the UAV flight control system, and the pitch error is generated through the error acquisition module.

[0175] Further, it is judged whether the pitch error is greater than a preset error threshold.

[0176] If the pitch error is greater than the preset error threshold, the pitch error is corrected to obtain a corrected pitch, which is used as a gimbal update parameter.

[0177] Specifically, if the pitch error is greater than the preset error threshold, the pitch error is input into the error correction unit for correction to obtain a corrected pitch, which is used as a gimbal update parameter and generates an aircraft pitch control instruction; the aircraft pitch control instruction is input into the gimbal attitude control module to control the attitude of the gimbal, so that the gimbal can accurately, smoothly and quickly respond to the accompanying flight.

[0178] If the pitch error is not greater than the preset error threshold, the pitch error is used as a gimbal update parameter, and the pitch error is input into the gimbal attitude control module to adjust the attitude of the gimbal, so that the gimbal can accurately, smoothly and quickly respond to the accompanying flight.

[0179] Thus, although the attitude of the unmanned aerial vehicle and the attitude of the gimbal of the unmanned aerial vehicle are independent, when the unmanned aerial vehicle starts the accompanying flight mode, the motion state of the gimbal is also adjusted to make the gimbal consistent with the vehicle attitude.

[0180] It should be noted that the preset error threshold is set according to the actual situation, and the present embodiment does not make specific limitation thereto.

[0181] Further, flight geometry is established according to the motion parameters of the unmanned aerial vehicle and the target object to maintain the stability of the accompanying flight.

[0182] Based on the flight geometry, when the unmanned aerial vehicle accompanies the flight, the position and / or speed and / or acceleration of the unmanned aerial vehicle are controlled to keep the elevation angle and azimuth angle of the line connecting the unmanned aerial vehicle and the ground target object as a fixed value for a long time. In the specific implementation process, the elevation angle and the azimuth angle can be any angle such as 1°, 2°, etc.

[0183] Among them, the elevation angle and the azimuth angle of the line connecting the unmanned aerial vehicle and the target object remain unchanged within a certain time during the accompanying flight, and this time includes but is not limited to any time greater than 5s such as 5s, 10s, 20s, etc. Considering the actual control error, the error of the elevation angle and the azimuth angle is within the range of ±3° in the actual calculation angle during the accompanying flight.

[0184] Further, the relative position of the unmanned aerial vehicle and the target object is locked based on the geometric relationship as follows:

[0185] (3) Controlling the lens of the unmanned aerial vehicle to face the horizontal direction of the handle based on the geometric relationship.

[0186] In the embodiment, the unmanned aerial vehicle and the handle both have GPS modules, the unmanned aerial vehicle can obtain its three-dimensional position information through the GPS signal, and the handle can obtain the three-dimensional position information of the automobile. When the follow mode is turned on, the GPS data of the handle is transmitted to the unmanned aerial vehicle through the 2.4G image transmission module, and after the unmanned aerial vehicle receives the GPS data, the GPS position of the unmanned aerial vehicle and the GPS position of the handle are bound to each other, so that when the handle moves, the unmanned aerial vehicle can detect the change of the relative position in real time. Therefore, the IMU of the unmanned aerial vehicle can control the unmanned aerial vehicle to keep the relative position and height unchanged with the handle.

[0187] Further, the unmanned aerial vehicle can determine the orientation of the head of the unmanned aerial vehicle through the geomagnetic sensor, and in the follow mode, the unmanned aerial vehicle can make the lens always face the horizontal direction where the handle is located.

[0188] The unmanned aerial vehicle can make the lens of the unmanned aerial vehicle always face the position of the handle through a software algorithm during the follow process. Even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted during the follow process, the lens can ensure that the object (handle beacon) to be photographed is always located at the golden section point at the lower left corner of the picture.

[0189] Specifically, the unmanned aerial vehicle can adjust the motion state of the unmanned aerial vehicle through a PID control algorithm during the follow process, so that the lens of the unmanned aerial vehicle always faces the position of the handle. Even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted during the follow process, the lens can ensure that the object (handle beacon) to be photographed is always located at the golden section point at the lower left corner of the picture.

[0190] Therefore, based on the geometric relationship, the lens of the unmanned aerial vehicle is controlled to face the horizontal direction where the handle is located, so that the position of the unmanned aerial vehicle and the handle is synchronized. Even if the relative position of the unmanned aerial vehicle and the handle is manually adjusted during the follow process, the lens can ensure that the object (handle beacon) to be photographed is always located at the golden section point at the lower left corner of the picture.

[0191] (4) Controlling the gimbal of the unmanned aerial vehicle to point to the target object based on the geometric relationship.

[0192] As an implementation manner, in the embodiment, although the gimbal of the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the attitude of the unmanned aerial vehicle and the attitude of the gimbal of the unmanned aerial vehicle are independent, and therefore, the gimbal of the unmanned aerial vehicle also needs to be controlled to point to the target object based on the geometric relationship.

[0193] Firstly, the position information of the unmanned aerial vehicle, the position information of the automobile, the actual heading and the pitch of the gimbal are obtained; secondly, the heading angle and the attitude that the gimbal needs to adjust are calculated based on the geometric relationship, the position information of the unmanned aerial vehicle, the position information of the automobile, the actual heading and the pitch of the gimbal, so that the gimbal of the unmanned aerial vehicle points to the automobile.

[0194] Further, the motion state parameters of the UAV are updated based on the flight geometric relationship to obtain updated state parameters, so that the UAV adjusts the current motion state according to the updated state parameters to accurately, smoothly and quickly respond to the accompanying flight.

[0195] Specifically, when the UAV accompanies the flight, first, the updated state parameters are calculated based on the flight geometric relationship; second, the position and / or speed and / or acceleration of the UAV are controlled based on the updated state parameters, so that the elevation angle and the azimuth angle of the line connecting the UAV and the ground target object remain fixed values within a certain time. In the specific implementation process, the elevation angle and the azimuth angle can be any angle such as 1°, 2°, etc., and the certain time can be any time greater than 5s, and the error of the elevation angle and the azimuth angle is within the range of ±3° of the actual calculation angle.

[0196] More specifically, when the car moves, the UAV calculates a new acceleration as the updated state parameter based on the flight geometric relationship and the acceleration information of the car; then, the UAV adjusts the flight speed in advance based on the new acceleration to accurately, smoothly and quickly respond to the accompanying flight.

[0197] When the car turns, the UAV calculates a new turning angle as the updated state parameter based on the flight geometric relationship and the turning information of the car; then, the UAV adjusts the heading angle in advance based on the new turning angle to accurately, smoothly and quickly respond to the accompanying flight.

[0198] As another implementation, the line-of-sight Euler angle is calculated according to the flight geometric relationship, the motion state parameters of the UAV and the target object, and the gimbal heading instruction is generated based on the line-of-sight Euler angle and the motion state parameters of the UAV and the vehicle.

[0199] Specifically, the motion state parameters of the UAV and the target object are calculated by the relative motion processing module of the UAV flight control system to obtain the line-of-sight Euler angle.

[0200] Further, the line-of-sight Euler angle and the motion state parameters of the UAV and the target object are input into the decoupling module of the UAV flight control system to obtain the gimbal heading instruction.

[0201] Further, the actual heading angle and the actual pitch of the gimbal of the UAV are obtained, and the heading error is obtained based on the gimbal heading instruction and the actual heading.

[0202] Specifically, first, the actual heading angle of the gimbal is obtained; second, the gimbal heading instruction and the actual heading are input into the error obtaining module of the UAV flight control system to generate the heading error by the error obtaining module.

[0203] Further, it is judged whether the heading error is greater than a preset error threshold.

[0204] If the heading error is greater than the preset error threshold, the heading error is corrected to obtain a corrected heading as the gimbal update parameter.

[0205] Specifically, if the heading error is greater than the preset error threshold, the heading error is input into an error correction unit for correction to obtain a corrected heading as the gimbal update parameter and generate an aircraft heading control instruction; the aircraft heading control instruction is input into the gimbal heading control module to control the heading of the gimbal so that the gimbal flies with the vehicle.

[0206] If the heading error is not greater than the preset error threshold, the heading error is input into the gimbal attitude control module to adjust the attitude of the gimbal so that the gimbal flies with the vehicle.

[0207] Thus, although the attitude of the unmanned aerial vehicle and the attitude of the gimbal of the unmanned aerial vehicle are independent, when the unmanned aerial vehicle starts the flying-with mode, the motion state of the gimbal is also adjusted so that the gimbal is consistent with the attitude of the vehicle.

[0208] It should be noted that the preset error threshold is set according to actual conditions, which is not limited in the embodiment.

[0209] Thus, through the above scheme, even if the flying-with mode is started in the case that the target object is in high-speed motion, the handle can upload the motion state information of the target object to the unmanned aerial vehicle flight control system in real time, fuse the GPS position information of the target object with the GPS position information of the unmanned aerial vehicle, and realize the following flying-with of the unmanned aerial vehicle position and the target object position according to a specific relative position relationship. When maintaining the specific relative position relationship between the unmanned aerial vehicle and the target object, the unmanned aerial vehicle fully considers the acceleration information of the vehicle, adjusts the flight control amount and the heading angle in advance, and realizes precise, smooth and rapid flying-with.

[0210] The embodiment obtains the motion state parameters of the unmanned aerial vehicle and the target object through the above scheme, establishes a flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, updates the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship to obtain updated state parameters, and adjusts the motion state of the unmanned aerial vehicle based on the updated state parameters so that the unmanned aerial vehicle flies with the target object. The present application obtains the motion state parameters of the unmanned aerial vehicle and the target object that the unmanned aerial vehicle flies with, constructs a flight geometric relationship to ensure that the relative distance between the unmanned aerial vehicle and the target object is constant, updates the current motion state parameter data of the unmanned aerial vehicle based on the flight geometric relationship to obtain updated state parameters, adjusts the motion state of the unmanned aerial vehicle according to the updated state parameters, and then keeps the relative distance between the unmanned aerial vehicle and the target object constant, accurately tracks the target object, and realizes the flying-with of the unmanned aerial vehicle following the target object.

[0211] Referring to Figure 5 ,Figure 5 A functional module diagram of a UAV accompanying system of the present application. The UAV accompanying system comprises:

[0212] A parameter acquisition module 10 for acquiring motion state parameters of a UAV and a target object;

[0213] A geometric relationship establishment module 20 for establishing a flight geometric relationship according to the motion state parameters of the UAV and the target object;

[0214] A motion state control module 30 for updating the motion state parameters of the UAV based on the flight geometric relationship, obtaining updated state parameters, and adjusting the motion state of the UAV based on the updated state parameters.

[0215] The principle and implementation process of the UAV accompanying are realized in this embodiment. Please refer to the above embodiments, which will not be repeated here.

[0216] In addition, the present application also provides a terminal device, which comprises a memory, a processor, and a UAV accompanying program stored in the memory and executable on the processor. When the UAV accompanying program is executed by the processor, the steps of the UAV accompanying method described above are realized.

[0217] Since the UAV accompanying program is executed by the processor, all the technical solutions of the above-mentioned embodiments are adopted, and at least all the beneficial effects brought by all the technical solutions of the above-mentioned embodiments are achieved, which will not be repeated here.

[0218] In addition, the present application also provides a computer readable storage medium, which stores a UAV accompanying program. When the UAV accompanying program is executed by the processor, the steps of the UAV accompanying method described above are realized.

[0219] Since the UAV accompanying program is executed by the processor, all the technical solutions of the above-mentioned embodiments are adopted, and at least all the beneficial effects brought by all the technical solutions of the above-mentioned embodiments are achieved, which will not be repeated here.

[0220] Compared with the prior art, the UAV accompanying method, system, terminal device and storage medium provided by the present application can acquire the motion state parameters of a UAV and a target object, establish a flight geometric relationship according to the motion state parameters of the UAV and the target object, update the motion state parameters of the UAV based on the flight geometric relationship, obtain updated state parameters, and adjust the motion state of the UAV based on the updated state parameters, so that the UAV can accompany the target object. The present application can accurately track the target object and realize the UAV accompanying the target object.

[0221] It is to be understood that the terminology "including", "comprising", or other derivatives thereof are intended to be open-ended and also to permit some recited items not to be present or to be made in the absence of others. It is also to be understood that such terminology is not meant to be limiting and will be understood to encompass equivalent structures or equivalents.

[0222] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0223] Those skilled in the art can clearly understand the above-mentioned embodiment methods by means of software and necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) execute the method of each embodiment of the present application.

[0224] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is made by using the content of the specification and drawings of the present application, is also included in the patent protection scope of the present application.

Claims

1. A method for accompanying a UAV, characterized in that, The method comprises the following steps: Obtaining the motion state parameters of the unmanned aerial vehicle and the target object, wherein the motion state parameters comprise acceleration and deceleration information, GPS position, and steering signal; Establishing flight geometry relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, wherein the flight geometry relationship is used to lock the relative position, relative distance, elevation angle, and azimuth angle of the unmanned aerial vehicle and the target object; Updating the motion state parameters of the unmanned aerial vehicle based on the flight geometry relationship to obtain updated state parameters, and adjusting the motion state of the unmanned aerial vehicle based on the updated state parameters to make the unmanned aerial vehicle fly with the target object; The step of establishing flight geometry relationship according to the motion state parameters of the unmanned aerial vehicle and the target object comprises the following steps: Obtaining the actual heading angle and actual pitch of the gimbal of the unmanned aerial vehicle; Adjusting the motion state parameters of the gimbal based on the actual heading angle, actual pitch, and flight geometry relationship to obtain gimbal updated parameters, and adjusting the motion state of the gimbal based on the gimbal updated parameters to make the target always remain in the center of the field of view of the gimbal; The step of updating the motion state parameters of the unmanned aerial vehicle based on the flight geometry relationship to obtain updated state parameters comprises the following steps: Based on the flight geometry relationship, controlling the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time, so as to lock the relative position of the unmanned aerial vehicle and the target object, wherein the line-of-sight Euler angle comprises the elevation angle and the azimuth angle; The step of controlling the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time based on the flight geometry relationship comprises the following steps: Based on the flight geometry relationship, the motion state parameters of the unmanned aerial vehicle and the target object, obtaining the unmanned aerial vehicle speed, unmanned aerial vehicle position, and unmanned aerial vehicle heading instruction; Based on the unmanned aerial vehicle speed, unmanned aerial vehicle position, and unmanned aerial vehicle heading instruction, controlling the elevation angle and the azimuth angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time; The step of adjusting the motion state parameters of the gimbal based on the actual heading angle, actual pitch, and flight geometry relationship to obtain gimbal updated parameters comprises the following steps: Based on the flight geometry relationship, the motion state parameters of the unmanned aerial vehicle and the target object, generating gimbal heading instruction and gimbal pitch instruction; Based on the gimbal heading instruction and actual heading, obtaining heading error; Based on the gimbal pitch instruction and actual pitch, obtaining pitch error; If the heading error and / or the pitch error is greater than a preset error threshold, correcting the heading error and / or the pitch error to obtain corrected heading and / or corrected pitch as the gimbal updated parameters. 2.The method of claim 1, wherein, The step of obtaining the motion state parameters of the unmanned aerial vehicle and the target object comprises the following steps: Judging whether the GPS signal of the target object and the handle satisfies a preset positioning condition; If the GPS signal of the target object and the handle does not satisfy the preset positioning condition, controlling the unmanned aerial vehicle to hover; If the GPS signal of the target object and the handle satisfies the preset positioning condition, executing the step of obtaining the motion state parameters of the unmanned aerial vehicle and the target object. 3.The method of claim 1, wherein, The step of controlling the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time based on the flight geometry relationship comprises the following steps: Based on the geometry relationship, controlling the lens of the unmanned aerial vehicle to face the horizontal direction where the handle is located; Based on the geometry relationship, controlling the gimbal of the unmanned aerial vehicle to point to the target object. 4.The method of claim 2, wherein, The step of controlling the unmanned aerial vehicle to hover includes: If the unmanned aerial vehicle is not in a horizontal flight attitude, adjusting the rotation speed of the rear motor of the unmanned aerial vehicle to enable the unmanned aerial vehicle to adjust to a horizontal hovering attitude; If the height of the unmanned aerial vehicle does not satisfy the preset height, adjusting the rotation speed of the front motor and the rear motor of the unmanned aerial vehicle to enable the unmanned aerial vehicle to hover at the preset height.

5. A companion system of a UAV, characterized in that, Comprise: The parameter acquisition module is used for acquiring the motion state parameters of the unmanned aerial vehicle and the target object, wherein the motion state parameters include acceleration and deceleration information, GPS position, and steering signal; The geometric relationship establishment module is used for establishing flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, and the flight geometric relationship is used for locking the relative position, relative distance, height angle, and azimuth angle of the unmanned aerial vehicle and the target object; The motion state control module is used for updating the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtaining updated state parameters, and adjusting the motion state of the unmanned aerial vehicle based on the updated state parameters; The motion state control module is also used for, after the step of establishing the flight geometric relationship according to the motion state parameters of the unmanned aerial vehicle and the target object, acquiring the actual heading angle and actual pitch of the gimbal of the unmanned aerial vehicle, adjusting the motion state parameters of the gimbal based on the actual heading angle, actual pitch, and flight geometric relationship, obtaining gimbal updated parameters, and adjusting the motion state of the gimbal based on the gimbal updated parameters, so that the target is always kept in the center of the field of view of the gimbal; The motion state control module is also used for, after the step of updating the motion state parameters of the unmanned aerial vehicle based on the flight geometric relationship, obtaining updated state parameters, controlling the line-of-sight Euler angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time based on the flight geometric relationship, so that the relative position of the unmanned aerial vehicle and the target object is locked, wherein the line-of-sight Euler angle includes the height angle and the azimuth angle; The motion state control module is also used for obtaining the unmanned aerial vehicle speed, unmanned aerial vehicle position, and unmanned aerial vehicle heading instruction based on the flight geometric relationship and the motion state parameters of the unmanned aerial vehicle and the target object, and controlling the height angle and the azimuth angle of the line connecting the unmanned aerial vehicle and the target object to keep a preset fixed value within a preset time based on the unmanned aerial vehicle speed, unmanned aerial vehicle position, and unmanned aerial vehicle heading instruction; The motion state control module is also used for generating gimbal heading instruction and gimbal pitch instruction based on the flight geometric relationship and the motion state parameters of the unmanned aerial vehicle and the target object, obtaining heading error based on the gimbal heading instruction and actual heading, obtaining pitch error based on the gimbal pitch instruction and actual pitch, and correcting the heading error and / or pitch error to obtain corrected heading and / or corrected pitch as the gimbal updated parameters if the heading error and / or pitch error is greater than a preset error threshold.

6. A terminal device, characterized by comprising: The terminal device comprises a memory, a processor, and a program for accompanying flight of an unmanned aerial vehicle stored on the memory and executable on the processor, and the program for accompanying flight of the unmanned aerial vehicle is executed by the processor to implement the steps of the method for accompanying flight of the unmanned aerial vehicle as claimed in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a program for accompanying flight of an unmanned aerial vehicle, and the program for accompanying flight of the unmanned aerial vehicle is executed by the processor to implement the steps of the method for accompanying flight of the unmanned aerial vehicle as claimed in any one of claims 1-4.

Images