Unmanned Aerial Vehicle Waypoint Jump Planning Method, System, Device and Medium

Abstract

The present invention provides a method, a system, a device and a medium for waypoint jump planning of an unmanned aerial vehicle, specifically relating to the technical field of unmanned aerial vehicle flight. The method obtains an instruction for waypoint jump of the unmanned aerial vehicle and a target waypoint for jump, wherein the starting waypoint for jump is determined by the current position where the unmanned aerial vehicle receives the instruction; a jump route is planned according to the starting waypoint, the target waypoint for jump of the unmanned aerial vehicle and the type of the target waypoint. The jump route includes arc waypoints and straight-line waypoints required for jumping between the starting waypoint and the target waypoint. By configuring arc waypoints and straight-line waypoints between the starting waypoint and the target waypoint to plan the jump route, smooth turning is achieved by using the jump route, the turning slope is small, and overshoot is not likely to occur in the turning trajectory. At the same time, the maximum performance of the unmanned aerial vehicle during turning is ensured, and the turning time is also shortened; the jump route is synchronously transmitted to the ground terminal in real time, which is convenient for the user to observe the expected waypoint jump trajectory in advance and improves the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method, a system, a device and a medium for planning waypoint jumps of an unmanned aerial vehicle. Background Art

[0002] An unmanned aerial vehicle, abbreviated as UAV (Unmanned Aerial Vehicle), is an unpiloted aircraft controlled by a radio remote control device and a self - contained program control device. UAVs have a wide range of applications and are used in industries such as agricultural plant protection, surveying and mapping, military defense, disaster relief, and video shooting.

[0003] In the related art, when an unmanned aerial vehicle executes a flight route task, after receiving a waypoint jump instruction sent from a ground control station, it directly switches the target waypoint to the waypoint to be jumped. After the waypoint is switched, the flight controller in the unmanned aerial vehicle guides the unmanned aerial vehicle to the jump waypoint according to the straight - line waypoint. However, using this method for waypoint jumps makes the flight track prone to overshoot, which is bound to cause the turning angle of the unmanned aerial vehicle to be too large. At the same time, since the turning track is not planned during the turning process, the turning performance of the unmanned aerial vehicle is also reduced. Summary of the Invention

[0004] In view of the above - mentioned disadvantages of the prior art, the purpose of the present invention is to provide a method, a system, a device and a medium for planning waypoint jumps of an unmanned aerial vehicle, which are used to solve the problems of large turning angles and poor turning performance due to the lack of planned jump routes when the waypoints of the unmanned aerial vehicle are jumped in the prior art.

[0005] To achieve the above - mentioned purpose and other related purposes, the present invention provides a method for planning waypoint jumps of an unmanned aerial vehicle, the method comprising:

[0006] Obtain an instruction for waypoint jump of the unmanned aerial vehicle and the target waypoint to be jumped, wherein the starting waypoint for the jump is determined by the current position where the unmanned aerial vehicle receives the instruction;

[0007] Plan a jump route according to the starting waypoint, the target waypoint and the type of the target waypoint for the jump of the unmanned aerial vehicle, the jump route including arc waypoints and straight - line waypoints required for the jump between the starting waypoint and the target waypoint.

[0008] In an embodiment of the present invention, it further comprises:

[0009] If the type of the target waypoint is a straight - line waypoint, the jump route is composed of a first arc waypoint tangent to and cut out from the starting waypoint, a second arc waypoint tangent to and cut into the target waypoint, and a straight - line waypoint tangent to the first arc waypoint and the second arc waypoint respectively; or,

[0010] If the type of the target waypoint is an arc waypoint, the jump route is composed of a first arc waypoint that is tangent to and cuts out from the starting waypoint, and a straight-line waypoint that is respectively tangent to the first arc waypoint and the arc waypoint.

[0011] In an embodiment of the present invention, it further includes:

[0012] Determine the turning direction of the first arc waypoint by using the flight direction of the target waypoint relative to the unmanned aerial vehicle at the starting waypoint, and determine the center position corresponding to the first arc waypoint according to the turning direction of the first arc waypoint and the corresponding turning radius;

[0013] Determine the turning direction of the second arc waypoint by using the flight direction of the starting waypoint relative to the unmanned aerial vehicle at the target waypoint, and determine the center position corresponding to the second arc waypoint according to the turning direction of the second arc waypoint and the corresponding turning radius.

[0014] In an embodiment of the present invention, it further includes:

[0015] Obtain the first azimuth angle of the starting waypoint relative to the target waypoint;

[0016] Obtain the second azimuth angle of the next target waypoint of the target waypoint relative to the target waypoint;

[0017] Determine the turning direction of the target waypoint at the second arc waypoint according to the difference between the second azimuth angle and the first azimuth angle;

[0018] According to whether the turning direction of the target waypoint at the second arc waypoint is clockwise or counterclockwise, determine the third azimuth angle of the center position corresponding to the second arc waypoint relative to the target waypoint;

[0019] Determine the longitude and latitude of the center position corresponding to the second arc waypoint according to the longitude and latitude of the target waypoint, the turning radius, the turning direction of the target waypoint, and the third azimuth angle.

[0020] In an embodiment of the present invention, it further includes:

[0021] Obtain the fourth azimuth angle of the vector connecting the starting waypoint and the center position of the target waypoint at the second arc waypoint;

[0022] Determine the turning angle of the starting waypoint relative to the flight speed direction according to the difference between the fourth azimuth angle and the first azimuth angle;

[0023] Determine the turning direction of the starting waypoint at the first arc waypoint according to the positive or negative value of the turning angle of the starting waypoint;

[0024] Determine the fifth azimuth angle of the center position corresponding to the first circular arc waypoint relative to the starting waypoint according to the turning angle of the starting waypoint, the turning direction of the starting waypoint at the first circular arc waypoint, and the first azimuth angle;

[0025] Determine the longitude and latitude of the center position corresponding to the first circular arc waypoint according to the turning radius of the starting waypoint and the fifth azimuth angle.

[0026] In an embodiment of the present invention, it further includes:

[0027] Obtain the sixth azimuth angle of the center position of the target waypoint relative to the center position of the starting waypoint;

[0028] Obtain the distance value of the center position of the target waypoint relative to the center position of the starting waypoint;

[0029] Judge whether the turning direction of the second circular arc where the target waypoint is located is the same as the turning direction of the first circular arc where the starting waypoint is located, and determine the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint and the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint according to the judgment result.

[0030] In an embodiment of the present invention, it further includes:

[0031] If the turning direction of the second circular arc where the target waypoint is located is the same as the turning direction of the first circular arc where the starting waypoint is located, then the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint is equal to the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint;

[0032] If the turning direction of the second circular arc where the target waypoint is located is different from and intersects with the turning direction of the first circular arc where the starting waypoint is located, re-determine the fifth azimuth angle of the center position corresponding to the first circular arc waypoint relative to the starting waypoint, and re-determine the longitude and latitude of the center position corresponding to the first circular arc waypoint according to the updated fifth azimuth angle until the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint and the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint are re-determined.

[0033] In an embodiment of the present invention, it further includes: determining a straight-line waypoint according to the center position corresponding to the first circular arc waypoint where the starting waypoint is located and the center position corresponding to the second circular arc waypoint where the target waypoint is located.

[0034] In an embodiment of the present invention, it further includes: the first circular arc waypoint and the second circular arc waypoint respectively include target point longitude and latitude, target point height, cut-out point parameters, circling direction, circling radius, circling time, number of circling turns, and circling type, and the cut-out point parameters include cut-out point azimuth angle or cut-out point longitude and latitude.

[0035] The present invention further provides a control device for waypoint jump planning of an unmanned aerial vehicle. The control device includes a processor, the processor is coupled to a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the following is implemented:

[0036] An acquisition module, configured to acquire an instruction for waypoint jump of the unmanned aerial vehicle and a target waypoint for jump. Among them, the starting waypoint for jump is determined by the current position where the unmanned aerial vehicle receives the instruction;

[0037] A waypoint jump planning module, configured to plan a jump route according to the starting waypoint, the target waypoint and the type of the target waypoint of the unmanned aerial vehicle for jump. The jump route includes arc waypoints and straight waypoints required for jumping between the starting waypoint and the target waypoint.

[0038] The present invention further provides a waypoint jump planning system for an unmanned aerial vehicle. The system includes a control device and at least one aircraft. The control device includes a memory and a processor. The processor is coupled to the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of the above embodiments is implemented.

[0039] The present invention further provides a control device for waypoint jump planning of an unmanned aerial vehicle. The control device includes a processor, the processor is coupled to a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of the above embodiments is implemented.

[0040] The present invention further provides a computer-readable storage medium, including a program, which when running on a computer, causes the computer to execute the method described in any one of the above embodiments.

[0041] As described above, the present invention provides a waypoint jump planning method, system, device and medium for an unmanned aerial vehicle. This method acquires the starting waypoint and the target waypoint for jump. Whether the target waypoint for jump is a straight waypoint or an arc waypoint, arc waypoints and straight waypoints are configured between the starting waypoint and the target waypoint to plan a jump route. By using the jump route, smooth turning is achieved, the turning slope is small, and the turning trajectory is not prone to overshoot. At the same time, it ensures that the unmanned aerial vehicle can exert its maximum performance during turning and also shortens the turning time. In addition, the jump route is synchronized to the ground terminal in real time, which is convenient for users to observe the expected waypoint jump trajectory in advance through the ground terminal, improving the user experience. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 Schematic flow chart of the waypoint jump planning method for an unmanned aerial vehicle in an embodiment of the present invention;

[0044] Figure 2 Flow chart for determining the center position of the corresponding circle of the second arc waypoint in an embodiment of the present invention;

[0045] Figure 3 Diagram for determining the azimuth angle of the cut-off point of the first arc waypoint and the azimuth angle of the cut-in point of the second arc waypoint in an embodiment of the present invention;

[0046] Figure 4 Schematic diagram of the long-distance waypoint switching trajectory of an unmanned aerial vehicle in an embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the short-distance waypoint switching trajectory of an unmanned aerial vehicle in an embodiment of the present invention;

[0048] Figure 6 Structural block diagram of the waypoint jump planning control device for an unmanned aerial vehicle in an embodiment of the present invention. Detailed implementation manners

[0049] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0050] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0051] Embodiment 1

[0052] In view of the above technical problems, an embodiment of the present invention provides a method for planning waypoint jumps of an unmanned aerial vehicle. This method obtains the starting waypoint of the jump and the target waypoint of the jump. Whether the target waypoint of the jump is a straight-line waypoint or an arc waypoint, an arc waypoint and a straight-line waypoint are configured between the starting waypoint and the target waypoint to plan the jump route. By using the jump route, smooth turning can be achieved, the turning slope is small, and overshoot is not likely to occur in the turning trajectory. At the same time, it ensures that the unmanned aerial vehicle can exert its maximum performance during turning and also shortens the turning time.

[0053] Please refer to Figure 1 , which is a flowchart of a method for planning waypoint jumps of an unmanned aerial vehicle provided by the present invention. The method includes:

[0054] Step S101, obtain an instruction for waypoint jump of the unmanned aerial vehicle and the target waypoint of the jump. Among them, the starting waypoint of the jump is determined by the current position where the unmanned aerial vehicle receives the instruction;

[0055] Among them, the unmanned aerial vehicle includes but is not limited to an unmanned aerial vehicle (UAV). The UAV includes a rotor UAV, such as a quadrotor UAV, a hexarotor UAV, an octarotor UAV, or it can also be a fixed-wing UAV, or a combination of a rotor UAV and a fixed-wing UAV, which is not limited herein.

[0056] In the related art, a UAV can include a power system, a flight control system, and a frame. The UAV can communicate wirelessly with a control terminal, and the control terminal can obtain and display flight information of the UAV, etc. The control terminal can communicate with the UAV wirelessly, be used for remotely controlling the UAV, and formulating a flight route to send to the UAV so that the UAV flies according to the flight route.

[0057] Among them, the frame includes a fuselage and landing gear (also called undercarriage). The fuselage can include a fuselage body and one or more arms connected to the fuselage body. The one or more arms extend radially from the central frame. The landing gear is connected to the fuselage and is used for supporting when the UAV lands.

[0058] The power system can include one or more electronic speed controllers (abbreviated as ESCs), one or more propellers, and one or more motors corresponding to the one or more propellers. Among them, the motor is connected between the ESC and the propeller, and the motor and the propeller are arranged on the arms of the UAV; the ESC is used for receiving a driving signal generated by the flight control system and providing a driving current to the motor according to the driving signal to control the rotation speed of the motor. The motor is used for driving the propeller to rotate, thereby providing power for the flight of the UAV, and this power enables the UAV to achieve movement in one or more degrees of freedom.

[0059] In some embodiments, the drone can rotate around one or more rotation axes. For example, the above rotation axes can include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor can be a DC motor or an AC motor. Additionally, the motor can be a brushless motor or a brushed motor.

[0060] The flight control system can include a flight controller and a sensing system. The sensing system is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the drone in space. For example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity, etc. The sensing system can include at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a Global Navigation Satellite System, and a barometer. For example, the Global Navigation Satellite System can be the Global Positioning System (GPS).

[0061] It should be noted that the unmanned aerial vehicle can measure the position coordinates of the waypoint through positioning measurement methods such as GPS (Global Positioning System) or RTK (Real-Time Kinematic) according to the current flight position information, that is, the waypoint coordinates. The starting waypoint of the jump is determined by the current position where the unmanned aerial vehicle receives the jump instruction, and the target waypoint of the jump is any coordinate point in the current flight trajectory.

[0062] For example, the current flight trajectory of the unmanned aerial vehicle can also be obtained by acquiring externally imported map information in formats such as KML (belonging to landmark files), KMZ (compressed KML files), or SHP (ESRI Shapefile). The map information includes linear features (such as the riverbank line obtained during riverbank inspection). The route data is generated based on the linear features. Specifically, the flight trajectory includes the starting waypoint coordinates, ending waypoint coordinates corresponding to the linear feature, as well as the position coordinates and arrangement order of each other waypoint on the linear feature. The starting waypoint and the target waypoint of the jump are determined through the flight trajectory.

[0063] Step S102, plan a jump route according to the starting waypoint, the target waypoint of the jump of the unmanned aerial vehicle, and the type of the target waypoint. The jump route includes arc waypoints and straight waypoints required for jumping between the starting waypoint and the target waypoint.

[0064] It should be noted that according to the type of the target waypoint being a linear waypoint or an arc waypoint, for example, regardless of whether the type of the starting waypoint is a linear waypoint or an arc waypoint, as long as the type of the target waypoint is a linear waypoint, for example, waypoint A is the starting waypoint and waypoint B is the target waypoint, from arc waypoint A to linear waypoint B, or from linear waypoint A to linear waypoint B, the jump route is composed of two arc waypoints and one linear waypoint.

[0065] Specifically, if the type of the target waypoint is a linear waypoint, the jump route is composed of a first arc waypoint that is tangent to and cuts out from the starting waypoint, a second arc waypoint that is tangent to and cuts into the target waypoint, and a linear waypoint that is respectively tangent to the first arc waypoint and the second arc waypoint.

[0066] For example, regardless of whether the type of the starting waypoint is a linear waypoint or an arc waypoint, as long as the type of the target waypoint is an arc waypoint, for example, waypoint A is the starting waypoint and waypoint B is the target waypoint, from arc waypoint A to arc waypoint B, or from linear waypoint A to arc waypoint B, the jump route is composed of one arc waypoint and one linear waypoint.

[0067] Specifically, if the type of the target waypoint is an arc waypoint, the jump route is composed of a first arc waypoint that is tangent to and cuts out from the starting waypoint, and a linear waypoint that is respectively tangent to the first arc waypoint and the arc waypoint.

[0068] Through the above method, regardless of whether the target waypoint of the jump is a linear waypoint or an arc waypoint, by configuring arc waypoints and linear waypoints at the starting waypoint and the target waypoint to plan the jump route, smooth turning is achieved by using the jump route, the turning slope is small, and the turning trajectory is not prone to overshoot. At the same time, the maximum performance of the UAV turning is ensured, and the turning time is also shortened.

[0069] In some other embodiments, it should be noted that the arc waypoint includes the target point longitude and latitude, the target altitude, the cut-out point parameters, the circling direction, the circling radius, the circling time, the number of circling laps, and the circling type. The cut-out point parameters include the cut-out point azimuth angle or the cut-out point longitude and latitude, that is, the cut-out point relative central angle or the cut-out point longitude and latitude coordinates.

[0070] For example, the circling direction is clockwise rotation and counterclockwise rotation, and the circling type includes normal turning, circling by altitude, circling by time, and circling by the number of laps.

[0071] Based on the above embodiments, the arc waypoint may further include a height type, which is divided into absolute altitude and relative altitude, and the target altitude is accurately determined through this height type.

[0072] Determine the cut-off point parameters (cut-off point azimuth or cut-off point longitude and latitude) according to the turning radius, turning direction of the current arc waypoint and the waypoint type of the next waypoint, turn or circle according to the planned arc waypoint based on the turning direction and turning radius parameters of the arc waypoint, and smoothly cut off the arc waypoint based on the cut-off point parameters of the arc waypoint, that is, smoothly exit the turning or circling action.

[0073] Exemplarily, use a control device to execute a waypoint jump planning method provided in an embodiment of the present invention to obtain a jump route, and send the obtained jump route to an unmanned aerial vehicle so that the unmanned aerial vehicle can execute a jump task according to the planned jump route. When the unmanned aerial vehicle executes the jump task, it flies according to the planned jump route. The user can observe the expected turning trajectory in advance through the ground terminal display device, improving the user experience; when the ground operator plans the turning waypoint, the maximum turning performance of the unmanned aerial vehicle can be fully considered to shorten the turning time; at the same time, using the arc cut-off point parameters of the arc waypoint, the cut-off position of the aircraft can be accurately controlled.

[0074] In this embodiment, the arc waypoint is used to uniformly represent the turning arc and the circling waypoint. The waypoint information includes attributes such as circling time, number of circling turns, and circling type, which can execute the circling task more flexibly and greatly improve the turning performance of the unmanned aerial vehicle.

[0075] Optionally, it further includes:

[0076] Determine the turning direction of the second arc waypoint by using the flight direction of the starting waypoint relative to the unmanned aerial vehicle at the target waypoint, and determine the center position corresponding to the second arc waypoint according to the turning direction and the corresponding turning radius of the second arc waypoint.

[0077] Among them, for details, see Figure 2 , which is a flowchart for determining the center position corresponding to the second arc waypoint in an embodiment of the present invention, and is described in detail as follows:

[0078] Obtain the first azimuth angle of the starting waypoint relative to the target waypoint;

[0079] Specifically, calculate the first azimuth angle Ψ of the starting waypoint, that is, the current position A, relative to the jump target point B BA .

[0080] Obtain the second azimuth angle of the next target waypoint relative to the target waypoint of the target waypoint;

[0081] Specifically, calculate the second azimuth angle Ψ of the next target waypoint D corresponding to the target waypoint B relative to the jump target waypoint B BD , and according to whether the next target waypoint D corresponding to the target waypoint B is an arc-shaped waypoint (that is, an arc waypoint), if so, then according to Ψ BD-dir1*π / 2 to re-determine the new second azimuth angle Ψ BD , where dir1 is the turning direction of the first arc where the starting waypoint is located. If not, directly proceed to the next step.

[0082] Determine the turning direction of the target waypoint at the second arc waypoint according to the difference between the second azimuth angle and the first azimuth angle;

[0083] Specifically, according to the second azimuth angle Ψ BD and the first azimuth angle Ψ BA , calculate the turning angle Δ2 of the target point = Ψ BD - Ψ BA , and convert Δ2 to an angle representation of -180° to 180°.

[0084] According to whether the turning direction of the target waypoint at the second arc waypoint is clockwise or counterclockwise, determine the third azimuth angle of the center position of the second arc waypoint relative to the target waypoint;

[0085] Specifically, by judging that the turning direction of the target waypoint Δ2 < 0, when the turning direction of the target waypoint Δ2 ≥ 0, the turning direction is clockwise, dir2 = 1; when the turning direction of the target waypoint Δ2 < 0, the turning direction is counterclockwise, dir2 = -1; determine the third azimuth angle Ψ of the center position C2 of the second arc waypoint relative to the target waypoint B through the following formula BC2 = Ψ BD + dir2*π / 2, where * is the multiplication sign, Ψ BD is the second azimuth angle, and dir2* is the turning direction of the target waypoint.

[0086] Determine the longitude and latitude of the center position of the second arc waypoint according to the longitude and latitude of the target waypoint, the turning radius, the turning direction of the target waypoint, and the third azimuth angle.

[0087] Specifically, according to the longitude and latitude of the target waypoint B, the turning radius R, the turning direction dir2 of the target waypoint, and the third azimuth angle Ψ BC2 calculate the longitude and latitude positions of the center C2 of the second arc waypoint.

[0088] Through the above method, not only can the longitude and latitude of the center position of the second arc waypoint be accurately determined. In this way, on the premise of the longitude and latitude of the center C2 position of the second arc waypoint, an arc is formed with the turning radius of this center C2, and through the arc waypoint that is tangent and the tangent point is the target waypoint B, it helps to clearly determine the longitude and latitude and trajectory information of the second arc waypoint.

[0089] Optionally, determine the turning direction of the first circular arc waypoint by using the relative flight direction of the target waypoint with respect to the unmanned aerial vehicle at the starting waypoint (i.e., the current flight direction), and determine the center position corresponding to the first circular arc waypoint according to the turning direction of the first circular arc waypoint and the corresponding turning radius; further comprising:

[0090] Obtain the fourth azimuth angle of the vector connecting the starting waypoint and the center position of the target waypoint at the second circular arc waypoint;

[0091] For example, if the starting waypoint is A, the target waypoint is B, and the center position of the target waypoint at the second circular arc waypoint is C2, obtain the fourth azimuth angle Ψ2 of the vector AC2 connecting the starting waypoint and the center position of the target waypoint at the second circular arc waypoint.

[0092] Determine the turning angle of the starting waypoint relative to the flight speed direction according to the difference between the fourth azimuth angle and the first azimuth angle;

[0093] For example, calculate the turning angle Δ1 of the vector AC2 relative to the flight speed direction through Δ1 = Ψ2 - Ψ0, where Ψ2 is the fourth azimuth angle, Ψ0 is the azimuth angle of the starting waypoint A (i.e., the current position) relative to the flight speed direction, and turn Δ1 into an angle value between -180° and 180°.

[0094] Determine the turning direction of the starting waypoint at the first circular arc waypoint according to the positive or negative value of the turning angle of the starting waypoint;

[0095] For example, calculate the turning direction through Δ1. When Δ1 ≥ 0, the turning direction is clockwise, dir1 = 1; when Δ1 < 0, the turning direction is counterclockwise, dir1 = -1.

[0096] Determine the fifth azimuth angle of the center position corresponding to the first circular arc waypoint relative to the starting waypoint according to the turning angle of the starting waypoint, the turning direction of the starting waypoint at the first circular arc waypoint, and the first azimuth angle;

[0097] For example, calculate the fifth azimuth angle Ψ1 of the center position C1 corresponding to the first circular arc waypoint relative to the starting waypoint A, specifically: Ψ1 = Ψ0 + dir1 * Δ1. For details of each parameter, see the above description and will not be repeated here.

[0098] Determine the longitude and latitude of the center position corresponding to the first circular arc waypoint according to the turning radius of the starting waypoint and the fifth azimuth angle.

[0099] For example, determine the longitude and latitude of the center position C1 corresponding to the first circular arc waypoint according to the turning radius R1 corresponding to the starting waypoint and the fifth azimuth angle Ψ1.

[0100] In the above manner, not only can the longitude and latitude of the center position corresponding to the first arc waypoint be accurately determined. In this way, on the premise of the longitude and latitude of the center C1 position corresponding to the first arc waypoint, an arc is formed with the center C1 as the turning radius, and the arc waypoint that is tangent and the tangent point is the starting waypoint A helps to clearly determine the longitude and latitude and trajectory information of the first arc waypoint.

[0101] Based on the above embodiments, a straight-line waypoint is determined according to the center position of the first arc waypoint where the starting waypoint is located and the center position of the second arc waypoint where the target waypoint is located.

[0102] For example, according to the center position C1 of the first arc waypoint where the starting waypoint is located and the center position C2 of the second arc waypoint where the target waypoint is located, after obtaining the two center positions, a straight-line waypoint is determined by a straight line tangent to the two arcs.

[0103] It should be noted that by combining the first arc waypoint with the starting waypoint as the cut-off point and the second arc waypoint with the target waypoint as the cut-in point, the longitude and latitude of the straight-line waypoint can be determined more accurately.

[0104] In some other embodiments, the above method is used for waypoint jump planning, which is described in detail as follows:

[0105] (1) The UAV flight route execution device receives a waypoint jump instruction and a jump target waypoint sent by the ground terminal through the data transmission device.

[0106] (2) The UAV route execution device plans a jump route (jump flight route) in real time according to the current flight state information of the UAV (including the current flight trajectory, the current flight direction, and the current flight position) and the jump target waypoint information.

[0107] (3) The jump route realizes a smooth transition between the current position and the target waypoint position. The jump route consists of three waypoints, namely, the arc waypoint that cuts out the current flight segment, the straight-line waypoint tangent to the target arc, and the arc waypoint tangent to the target flight segment and the tangent point is the target waypoint.

[0108] Here it should be noted that the above target waypoint is defaulted to a straight-line waypoint.

[0109] (4) The turning direction of the first arc (cut-out) is determined according to the target point relative to the current flight direction. When the target point is on the right side of the current flight direction, the turning direction is clockwise; when the target point is on the left side of the current flight direction, the turning direction is counterclockwise, and the center position is calculated according to the turning radius parameter.

[0110] (5) The turning direction of the second arc (entry) is determined according to the current position relative to the target flight direction. When the current point is on the right side of the target flight direction, the turning direction is clockwise; when the current point is on the left side of the target flight direction, the turning direction is counterclockwise, and the center position is calculated according to the turning radius parameter;

[0111] (6) Calculate the straight-line waypoints tangent to the two turning arcs;

[0112] (7) Transmit the jump route generated by the UAV route execution device to the ground terminal device through the data transmission device;

[0113] (8) The ground terminal device displays the received waypoint information on the terminal interface to provide the user with intuitive jump route information.

[0114] In the above manner, the unmanned aircraft flies according to the planned jump route, with a small turning slope and it is not easy for the turning trajectory to overshoot; the use of the planned arc waypoints can give full play to the turning performance of the UAV and shorten the turning time; the UAV flight controller transmits the jump route planned in real time to the ground station, and the ground station displays the jump flight trajectory in real time, which also improves the user experience.

[0115] Please refer to Figure 3 , which is a diagram for determining the cut-out point azimuth angle of the first arc waypoint and the entry point azimuth angle of the second arc waypoint in an embodiment of the present invention, and further includes:

[0116] Obtain the sixth azimuth angle of the center position of the target waypoint relative to the center position of the starting waypoint;

[0117] Specifically, calculate the sixth azimuth angle Ψ3 of the center position C2 of the target waypoint relative to the center position C1 of the starting waypoint.

[0118] Obtain the distance value of the center position of the target waypoint relative to the center position of the starting waypoint;

[0119] Specifically, calculate the distance value d between the center position C2 of the target waypoint and the center position C1 of the starting waypoint.

[0120] Judge whether the turning direction of the second arc where the target waypoint is located is the same as the turning direction of the first arc where the starting waypoint is located, and determine the cut-out point azimuth angle of the starting waypoint on the first arc waypoint and the entry point azimuth angle of the target waypoint on the second arc waypoint according to the judgment result.

[0121] Specifically, judge whether the turning direction dir2 of the second arc where the target waypoint is located is the same as the turning direction dir1 of the first arc where the starting waypoint is located. For example, judge through the turning direction dir1 of the first arc where the starting waypoint is located and the turning direction dir2 of the second arc where the target waypoint is located.

[0122] Optionally, it further includes:

[0123] If the turning direction of the second arc where the target waypoint is located is the same as the turning direction of the first arc where the starting waypoint is located, then the azimuth angle of the cut-out point of the starting waypoint on the first arc waypoint is the same as the azimuth angle of the cut-in point of the target waypoint on the second arc waypoint;

[0124] Specifically, if the turning direction dir2 of the second arc where the target waypoint is located is the same as the turning direction dir1 of the first arc where the starting waypoint is located, then Ψ C1out = Ψ3 - dir1 * π / 2 is used to determine the turning direction, where Ψ3 is the sixth azimuth angle, and Ψ C1out is the azimuth angle of the cut-out point of the starting waypoint on the first arc waypoint. Since the turning directions of the two are the same, the azimuth angle of the cut-out point of the starting waypoint on the first arc waypoint is the same as the azimuth angle of the cut-in point of the target waypoint on the second arc waypoint, that is, Ψ C2in = Ψ C1out .

[0125] If the turning direction of the second arc where the target waypoint is located is different from and intersects with the turning direction of the first arc where the starting waypoint is located, then the fifth azimuth angle Δ3 of the center position of the first arc waypoint corresponding to the starting waypoint is re-determined, that is, Δ3 = cos(2R / d), and the longitude and latitude of the center position of the first arc waypoint corresponding to the starting waypoint are re-determined according to the updated fifth azimuth angle until the azimuth angle Ψ C1out = Ψ3 - dir1 * Δ3 of the cut-out point of the starting waypoint on the first arc waypoint is the same as the azimuth angle Ψ C2in = Ψ3 - dir2 * (π - Δ3) of the cut-in point of the target waypoint on the second arc waypoint.

[0126] Specifically, the azimuth angle Ψ C1out of the cut-out point of the starting waypoint on the first arc waypoint and the azimuth angle Ψ C2in of the cut-in point of the target waypoint on the second arc waypoint are respectively converted into corresponding angle values of 0 to 360 degrees, and then the process ends.

[0127] In this embodiment, by precisely controlling the entry and exit positions of the arc, the angle of the UAV's cut-out point of the arc can be precisely controlled, improving the user experience.

[0128] In other embodiments, see Figure 4, which is a schematic diagram of the long-distance waypoint switching trajectory of an unmanned aerial vehicle in an embodiment of the present invention. Among them, point A represents the flight position when the waypoint execution device of the unmanned aerial vehicle receives the waypoint jump instruction sent by the ground terminal through the data transmission device (i.e., the current position or the starting waypoint), waypoint B is the target waypoint to be jumped, waypoint D is the next waypoint corresponding to the target waypoint B, point C1 is the center position of the starting waypoint on the first circular arc waypoint, C2 is the center position of the target waypoint on the second circular arc waypoint, and E is the waypoint to cut into the second circular arc waypoint, which is described in detail as follows:

[0129] (1) Obtain the target jump waypoint sent by the ground terminal, denoted as waypoint B;

[0130] (2) Obtain the current position when receiving the waypoint jump instruction, denoted as A;

[0131] (3) Calculate the azimuth angle of the current position relative to the current flight speed, denoted as Ψ0;

[0132] (4) Calculate the center position C2 of the cut-in jump target waypoint, and the calculation process is as follows:

[0133] a. When the target waypoint is a circular arc waypoint, the center position C2 of the target waypoint is the center position of the jump waypoint, the turning radius is the same as the circular arc of the target waypoint, and the turning direction is also the same as the circular arc of the target waypoint;

[0134] b. When the target waypoint is a straight-line waypoint, the center position C2 of the target waypoint can be referred to Figure 2 Calculate.

[0135] (5) Calculate the center position C1 of the cut-out starting waypoint, and the calculation process is as follows:

[0136] a. Calculate the azimuth angle of the vector AC2 connecting the current position (starting waypoint) and the center position of the jump target waypoint, denoted as Ψ2;

[0137] b. Calculate the turning angle Δ1 of the vector AC2 relative to the flight speed direction, Δ1 = Ψ2 - Ψ0, and turn Δ1 into an angle value between -180° and 180°;

[0138] c. Calculate the turning direction of the cut-out first circular arc waypoint. When Δ1 ≥ 0, the turning direction is clockwise, dir1 = 1; when Δ1 < 0, the turning direction is counterclockwise, dir1 = -1;

[0139] d. Calculate the azimuth angle Ψ1 of the center position relative to the current position, and the algorithm is: Ψ1 = Ψ0 + dir1 * Δ1;

[0140] e. Calculate the cut-out starting waypoint center position C1 according to the turning radius parameter R of the cut-out first circular arc waypoint and the parameter Ψ1;

[0141] (6) Determine whether the arcs corresponding to the centers C1 and C2 intersect. When the two arcs intersect and the turning directions are opposite, recalculate Ψ1 in the following way: Ψ1 = Ψ0 - dir1 * Δ1;

[0142] (7) When the two arcs corresponding to the centers C1 and C2 intersect and the turning directions are opposite, recalculate the center position C1 according to the updated parameter Ψ1;

[0143] (8) Calculate the azimuth angle of the cut-off point of the first arc and the azimuth angle of the cut-in point of the second arc, and calculate with reference to Figure 3 ;

[0144] (9) Determine the straight-line waypoint according to the center position corresponding to the waypoint of the first arc where the starting waypoint is located and the center position corresponding to the waypoint of the second arc where the target waypoint is located, and calculate the coordinates E of the cut-in point of the second arc;

[0145] (10) Transmit the generated jump waypoints C1, waypoint E, and waypoint C2 to the ground terminal. The ground terminal draws the expected flight trajectory on the display interface according to the received jump waypoint information, providing the user with intuitive jump trajectory information.

[0146] Specifically, the unmanned aerial vehicle synchronizes the jump route to the ground terminal in real time, facilitating the user to observe the expected waypoint jump trajectory in advance through the ground terminal, and also realizing that when the unmanned aerial vehicle turns at a straight-line waypoint, the turning trajectory is predictable and the maximum turning performance is achieved, which not only improves the user experience but also shortens the turning time.

[0147] In this embodiment, when jumping with respect to a straight-line waypoint, there are cases where the cut-in arc direction and the cut-off arc direction are opposite, and the cut-in arc and the cut-off arc intersect. Modify the direction of the first arc waypoint to be the same as the direction of the second arc waypoint, thus avoiding the situation of failed calculation of the inserted waypoint. For details, see Figure 5 .

[0148] Regardless of whether the jump target waypoint is a straight-line waypoint or an arc waypoint, regardless of the distance between the jump target waypoint and the starting waypoint, or regardless of the direction of the jump target waypoint and the starting waypoint, the inserted flight waypoints can be calculated normally; for a target waypoint that is a straight-line waypoint, insert one straight-line waypoint and two arc waypoints, and for a target waypoint that is an arc waypoint, insert one arc waypoint and one straight-line waypoint.

[0149] Embodiment 2

[0150] See Figure 6, the present invention also provides a structural block diagram of an unmanned aerial vehicle waypoint jump planning control device 600. The control device includes a processor, and the processor is coupled to a memory. The memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, the following functions are realized:

[0151] An acquisition module 601, configured to acquire an instruction for the unmanned aerial vehicle to jump to a waypoint and the target waypoint to jump to. Among them, the starting waypoint for the jump is determined by the current position where the unmanned aerial vehicle receives the instruction;

[0152] A waypoint jump planning module 602, configured to plan a jump route according to the starting waypoint, the target waypoint, and the type of the target waypoint of the unmanned aerial vehicle jump. The jump route includes arc waypoints and straight-line waypoints required for jumping between the starting waypoint and the target waypoint.

[0153] If the type of the target waypoint is a straight-line waypoint, the jump route is composed of a first arc waypoint that is tangent to and cuts out from the starting waypoint, a second arc waypoint that is tangent to and cuts into the target waypoint, and a straight-line waypoint that is respectively tangent to the first arc waypoint and the second arc waypoint; or,

[0154] If the type of the target waypoint is an arc waypoint, the jump route is composed of a first arc waypoint that is tangent to and cuts out from the starting waypoint, and a straight-line waypoint that is respectively tangent to the first arc waypoint and the arc waypoint.

[0155] Exemplarily, the control device includes a remote controller, a ground control platform, a mobile phone, a tablet computer, a laptop computer, a PC computer, etc., which are not limited herein.

[0156] Optionally, the arc waypoint includes the target point's longitude and latitude, target altitude, cut-out point parameters, hovering direction, hovering radius, hovering time, number of hovering circles, and hovering type. The cut-out point parameters include the cut-out point azimuth angle or the cut-out point's longitude and latitude.

[0157] Optionally, it further includes:

[0158] Determine the turning direction of the first arc waypoint by using the flight direction of the target waypoint relative to the unmanned aerial vehicle at the starting waypoint, and determine the center position corresponding to the first arc waypoint according to the turning direction of the first arc waypoint and the corresponding turning radius;

[0159] Determine the turning direction of the second arc waypoint by using the flight direction of the starting waypoint relative to the unmanned aerial vehicle at the target waypoint, and determine the center position corresponding to the second arc waypoint according to the turning direction of the second arc waypoint and the corresponding turning radius.

[0160] Optionally, it further includes:

[0161] Obtain a first azimuth angle of the starting waypoint relative to the target waypoint;

[0162] Obtain a second azimuth angle of the next target waypoint of the target waypoint relative to the target waypoint;

[0163] Determine the turning direction of the target waypoint at the second circular arc waypoint according to the difference between the second azimuth angle and the first azimuth angle;

[0164] According to whether the turning direction of the target waypoint at the second circular arc waypoint is clockwise or counterclockwise, determine a third azimuth angle of the center position of the second circular arc waypoint relative to the target waypoint;

[0165] Determine the longitude and latitude of the center position of the second circular arc waypoint according to the longitude and latitude of the target waypoint, the turning radius, the turning direction of the target waypoint, and the third azimuth angle.

[0166] Optionally, it further includes:

[0167] Obtain a fourth azimuth angle of the vector connecting the starting waypoint and the center position of the second circular arc waypoint of the target waypoint;

[0168] Determine the turning angle of the starting waypoint relative to the flight speed direction according to the difference between the fourth azimuth angle and the first azimuth angle;

[0169] Determine the turning direction of the starting waypoint at the first circular arc waypoint according to the positive or negative value of the turning angle of the starting waypoint;

[0170] Determine a fifth azimuth angle of the center position of the first circular arc waypoint relative to the starting waypoint according to the turning angle of the starting waypoint, the turning direction of the starting waypoint at the first circular arc waypoint, and the first azimuth angle;

[0171] Determine the longitude and latitude of the center position of the first circular arc waypoint according to the turning radius of the starting waypoint and the fifth azimuth angle.

[0172] Optionally, it further includes:

[0173] Obtain a sixth azimuth angle of the center position of the target waypoint relative to the center position of the starting waypoint;

[0174] Obtain the distance value of the center position of the target waypoint relative to the center position of the starting waypoint;

[0175] Determine whether the turning direction of the second arc where the target waypoint is located is the same as the turning direction of the first arc where the starting waypoint is located, and determine the azimuth angle of the cut-off point of the starting waypoint on the first arc waypoint and the azimuth angle of the cut-in point of the target waypoint on the second arc waypoint according to the judgment result.

[0176] Optionally, it further includes:

[0177] If the turning direction of the second arc where the target waypoint is located is the same as the turning direction of the first arc where the starting waypoint is located, then the azimuth angle of the cut-off point of the starting waypoint on the first arc waypoint is equal to the azimuth angle of the cut-in point of the target waypoint on the second arc waypoint;

[0178] If the turning direction of the second arc where the target waypoint is located is different from and intersects with the turning direction of the first arc where the starting waypoint is located, re-determine the fifth azimuth angle of the center position of the first arc waypoint corresponding to the starting waypoint, and re-determine the longitude and latitude of the center position of the first arc waypoint corresponding to the updated fifth azimuth angle until the azimuth angle of the cut-off point of the starting waypoint on the first arc waypoint and the azimuth angle of the cut-in point of the target waypoint on the second arc waypoint are re-determined.

[0179] Optionally, it further includes: determining a straight-line waypoint according to the center position of the first arc waypoint where the starting waypoint is located and the center position of the second arc waypoint where the target waypoint is located.

[0180] In this embodiment, the control device executes the method described in any of the above embodiments. For the specific functions and technical effects, refer to the above embodiments and will not be elaborated here.

[0181] The embodiment of the present invention provides a control device for waypoint jump planning of an unmanned aerial vehicle. By obtaining the starting waypoint of the jump and the target waypoint of the jump, regardless of whether the target waypoint of the jump is a straight-line waypoint or an arc waypoint, arc waypoints and straight-line waypoints are configured between the starting waypoint and the target waypoint to plan the jump route, and the jump route is used to achieve smooth turning. The turning slope is small, and the turning trajectory is not prone to overshoot. At the same time, the maximum performance of the unmanned aerial vehicle's turning is exerted, and the turning time is also shortened; in addition, the jump route is synchronously transmitted to the ground terminal in real time, which is convenient for the user to observe the expected waypoint jump trajectory in advance through the ground terminal, improving the user experience.

[0182] The embodiment of the present application further provides a waypoint jump planning system for an unmanned aerial vehicle, including a control device and at least one aircraft. The control device includes a memory and a processor, the processor is coupled to the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any of the above embodiments is implemented.

[0183] An embodiment of the present application also provides a non-volatile readable storage medium, in which one or more modules (programs) are stored. When the one or more modules are applied to a device, the device can be caused to execute the instructions of the steps included in the first embodiment of the embodiments of the present application.

[0184] An embodiment of the present application also provides a computer-readable storage medium, including a program, which when running on a computer, causes the computer to execute the method described in any one of the above embodiments.

[0185] In summary, the present invention obtains the starting waypoint and the target waypoint of the jump. Whether the target waypoint of the jump is a straight waypoint or an arc waypoint, by configuring arc waypoints and straight waypoints between the starting waypoint and the target waypoint, the jump route is planned, and the smooth turn is realized by using the jump route. The turning slope is small, and the turning trajectory is not likely to overshoot. At the same time, the maximum performance of the unmanned aerial vehicle during turning is exerted, and the turning time is shortened. In addition, the jump route is synchronously transmitted to the ground terminal in real time, which is convenient for the user to observe the expected waypoint jump trajectory in advance through the ground terminal, improving the user experience. Therefore, the present invention effectively overcomes various drawbacks in the prior art and has high industrial utilization value.

[0186] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A way of planning waypoint jumps for an unmanned aerial vehicle, characterized in that, The method includes: Obtaining an instruction for the UAV to jump to a waypoint and the target waypoint for the jump, where the starting waypoint for the jump is determined based on the current position of the UAV receiving the instruction; Planning a jump route based on the starting waypoint, the target waypoint, and the type of the target waypoint for the UAV jump, where the jump route includes arc waypoints and straight waypoints configured for the jump between the starting waypoint and the target waypoint; Wherein, if the type of the target waypoint is an arc waypoint, the jump route is composed of a first arc waypoint tangent to and cut out from the starting waypoint, and a straight waypoint tangent to the first arc waypoint and the arc waypoint respectively; determining the straight waypoint based on the center position of the first arc waypoint corresponding to the starting waypoint and the center position of the second arc waypoint corresponding to the arc waypoint; the arc waypoint includes the target point longitude and latitude, the target point altitude, the cut-out point parameters, the hovering direction, the hovering radius, the hovering time, the number of hovering circles, and the hovering type, and the cut-out point parameters include the cut-out point azimuth or the cut-out point longitude and latitude.

2. The method according to claim 1, wherein It further includes: If the type of the target waypoint is a straight waypoint, the jump route is composed of a first arc waypoint tangent to and cut out from the starting waypoint, a second arc waypoint tangent to and cut into the target waypoint, and a straight waypoint tangent to the first arc waypoint and the second arc waypoint respectively.

3. The method according to claim 2, wherein It further includes: Determining the turning direction of the first arc waypoint by using the flight direction of the target waypoint relative to the UAV at the starting waypoint, and determining the center position corresponding to the first arc waypoint according to the turning direction of the first arc waypoint and the corresponding turning radius; Determining the turning direction of the second arc waypoint by using the flight direction of the starting waypoint relative to the UAV at the target waypoint, and determining the center position corresponding to the second arc waypoint according to the turning direction of the second arc waypoint and the corresponding turning radius.

4. The method according to claim 2 or 3, characterized in that, It further includes: Obtaining a first azimuth angle of the starting waypoint relative to the target waypoint; Obtaining a second azimuth angle of the next target waypoint of the target waypoint relative to the target waypoint; Determining the turning direction of the target waypoint at the second arc waypoint according to the difference between the second azimuth angle and the first azimuth angle; Determining a third azimuth angle of the center position corresponding to the second arc waypoint relative to the target waypoint according to whether the turning direction of the target waypoint at the second arc waypoint is clockwise or counterclockwise; Determining the longitude and latitude of the center position corresponding to the second arc waypoint according to the longitude and latitude, the turning radius, the turning direction, and the third azimuth angle of the target waypoint.

5. The method according to claim 4, wherein It further includes: Obtaining a fourth azimuth angle of the vector connecting the starting waypoint and the center position of the target waypoint at the second arc waypoint; Determining the turning angle of the starting waypoint relative to the flight speed direction according to the difference between the fourth azimuth angle and the first azimuth angle; Determining the turning direction of the starting waypoint at the first arc waypoint according to the positive or negative value of the turning angle of the starting waypoint. Determine the fifth azimuth angle of the center position corresponding to the first circular arc waypoint relative to the starting waypoint according to the turning angle of the starting waypoint, the turning direction of the starting waypoint at the first circular arc waypoint, and the first azimuth angle; Determine the longitude and latitude of the center position corresponding to the first circular arc waypoint according to the turning radius of the starting waypoint and the fifth azimuth angle.

6. The method according to claim 3, wherein Further comprising: Obtain the sixth azimuth angle of the center position of the target waypoint relative to the center position of the starting waypoint; Obtain the distance value of the center position of the target waypoint relative to the center position of the starting waypoint; Judge whether the turning direction of the second circular arc where the target waypoint is located is the same as the turning direction of the first circular arc where the starting waypoint is located, and determine the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint and the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint according to the judgment result.

7. The method according to claim 6, wherein Further comprising: If the turning direction of the second circular arc where the target waypoint is located is the same as the turning direction of the first circular arc where the starting waypoint is located, then the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint is equal to the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint; If the turning direction of the second circular arc where the target waypoint is located is different from and intersects with the turning direction of the first circular arc where the starting waypoint is located, re-determine the fifth azimuth angle of the center position corresponding to the first circular arc waypoint relative to the starting waypoint, and re-determine the longitude and latitude of the center position corresponding to the first circular arc waypoint according to the updated fifth azimuth angle until the cut-out point azimuth angle of the starting waypoint at the first circular arc waypoint and the cut-in point azimuth angle of the target waypoint at the second circular arc waypoint are re-determined.

8. An unmanned aerial vehicle waypoint jump planning and control device, characterized in that, The control device includes a processor, the processor is coupled with a memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of claims 1 to 7 is implemented.

9. An unmanned aerial vehicle waypoint jump planning system, characterized in that, Including a control device and at least one unmanned aerial vehicle, the control device includes a memory and a processor, the processor is coupled with the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, Including a program, when it runs on a computer, it causes the computer to execute the method described in any one of claims 1 to 7.

Images