Aircraft and method and device for flight control thereof

Abstract

The embodiment of the application is suitable for the technical field of unmanned aerial vehicle, and provides an aircraft and a flight control method and device thereof. The method comprises the following steps: acquiring position information of the aircraft in a flight process of the aircraft; determining a deviation distance of the aircraft deviating from a preset flight route and determining a deviation direction of the aircraft according to the position information and the preset flight route; the preset flight route is automatically generated based on a preset flight range of the aircraft; a flight angle of the aircraft on the preset flight route is calibrated according to the deviation distance and the deviation direction to obtain a target angle; and the aircraft is controlled to fly based on the target angle. The above method can reduce the deviation between an actual flight route and a planned flight route in the flight process of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application belongs to the field of UAV technology, and in particular relates to an aircraft and a flight control method and device thereof. Background Art

[0002] A drone is an unmanned aerial vehicle that can be remotely controlled or controlled by a pre-programmed program. It has many advantages that manned aircraft do not have and can be used to perform various tasks. Therefore, it is being used more and more widely in civil and military fields.

[0003] Typically, drone flight routes are manually controlled on-site, or require technicians to pre-plan using mapping software, which is then modified on-site and applied to the drone's flight control. Existing drones typically use the Global Positioning System (GPS) for positioning when flying along flight routes. However, this positioning method inherently has certain errors, and the errors can be even greater if obstructed by obstructions or inclement weather. Consequently, the actual flight path of the drone differs significantly from the planned route. Summary of the Invention

[0004] The embodiments of the present application provide an aircraft and a flight control method and device thereof, which can solve the problem of large deviation between the actual route and the planned route during the flight of a UAV.

[0005] In a first aspect, an embodiment of the present application provides a flight control method, the method comprising:

[0006] Obtain the position information of the aircraft during flight;

[0007] Determine the distance the aircraft has deviated from the preset flight route and the direction the aircraft has deviated from the preset flight route based on the position information and the preset flight route; the preset flight route is automatically generated by the aircraft based on the preset flight range;

[0008] The flight angle of the aircraft on the preset flight route is calibrated according to the deviation distance and deviation direction to obtain the target angle;

[0009] Control the aircraft to fly based on the target angle.

[0010] In a second aspect, an embodiment of the present application provides a flight control device, the device comprising:

[0011] The acquisition module is used to obtain the position information of the aircraft during the flight;

[0012] a processing module, configured to determine a deviation distance of the aircraft from the preset flight route and a deviation direction of the aircraft based on the position information and the preset flight route; the preset flight route is automatically generated by the aircraft based on a preset flight range;

[0013] A calibration module is used to calibrate the course angle of the aircraft on the preset flight route according to the deviation distance and deviation direction, and obtain the target angle of the aircraft after calibration;

[0014] The control module is used to control the aircraft to fly based on the target angle.

[0015] In a third aspect, an embodiment of the present application provides another flight control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method of the first aspect described above.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a flight control device, enables the flight control device to execute the method of the first aspect described above.

[0018] In a sixth aspect, an embodiment of the present application provides an aircraft, comprising the flight control device of the third aspect.

[0019] Compared to the prior art, the present embodiment has the following advantages: The aircraft's current position information is used to calculate the distance and direction of the aircraft's deviation from the preset flight path. Subsequently, the aircraft's intended flight angle along the preset flight path is calibrated based on the deviation distance and direction to obtain a target angle, allowing the aircraft to fly based on the target angle. Consequently, when the aircraft deviates, the aircraft's flight angle can be automatically calibrated, reducing the deviation between the aircraft's actual flight path and the planned preset flight path. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a flowchart of an implementation of a flight control method provided by an embodiment of the present application;

[0022] Figure 2 This is a schematic diagram of an implementation method for generating a preset flight route in a flight control method provided in one embodiment of the present application;

[0023] Figure 3 A schematic diagram of an application scenario of a rectangular cruising area and a preset flight route in a flight control method provided in one embodiment of the present application;

[0024] Figure 4 A schematic diagram of an application scenario of adding a straight line segment route in a rectangular cruising area in a flight control method provided in one embodiment of the present application;

[0025] Figure 5 This is a schematic diagram of an implementation method for determining a deviation distance in a flight control method provided in one embodiment of the present application;

[0026] Figure 6 A schematic diagram of an application scenario in which an aircraft deviates from a preset flight route in a flight control method provided in one embodiment of the present application;

[0027] Figure 7 This is a schematic diagram of an implementation method for determining a deviation distance in a flight control method provided in another embodiment of the present application;

[0028] Figure 8 This is a schematic diagram of an implementation method for determining a deviation direction in a flight control method provided in one embodiment of the present application;

[0029] Figure 9 This is a schematic diagram of an implementation method for calibrating the flight angle in a flight control method provided in one embodiment of the present application;

[0030] Figure 10 This is a schematic structural diagram of a flight control device provided in one embodiment of the present application;

[0031] Figure 11 It is a structural schematic diagram of a flight control device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0032] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0033] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0034] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0035] The flight control method provided in the embodiments of this application is applied to an aircraft, and the execution subject is a flight control device in the aircraft. The above-mentioned aircraft include but are not limited to unmanned drones, manned aircraft, etc. The embodiments of this application do not impose any restrictions on the specific type of aircraft.

[0036] See also Figure 1 , Figure 1 A flowchart of a flight control method according to an embodiment of the present application is shown, and the method includes the following steps:

[0037] S101. Acquire the position information of the aircraft during its flight.

[0038] In one embodiment, the flight control device can obtain the position information of the aircraft in real time during flight, or can obtain the position information of the aircraft in a predetermined time interval during flight, which is not limited in this embodiment of the present application. The predetermined time interval can be set according to actual conditions, and for example, the predetermined time interval can be 5 seconds.

[0039] In one embodiment, the aircraft is provided with a positioning module for locating the aircraft. The positioning module locates the aircraft and obtains the aircraft's location information. The positioning module may be based on GPS or the Beidou satellite positioning system, without particular limitation. The location information may be represented in a variety of ways, for example, using two-dimensional or three-dimensional coordinates, or by a combination of latitude, longitude, and altitude, without limitation.

[0040] S102. Determine a deviation distance of the aircraft from the preset flight route and a deviation direction of the aircraft based on the position information and the preset flight route; the preset flight route is automatically generated by the aircraft based on a preset flight range.

[0041] In one embodiment, the deviation distance is the shortest straight-line distance between the aircraft's location and the preset flight path. The deviation directions include, but are not limited to, upward, downward, left, and right deviations. In this embodiment, left and right deviations in the horizontal direction are used as examples. The preset flight path is a path automatically generated by the flight control device based on a preset flight range.

[0042] Specifically, the aircraft can Figure 2 S201-S203 in the program automatically generate a preset flight route, as detailed below:

[0043] S201: Using two preset points in the preset flight range as two diagonal points of a rectangular cruising area to generate a rectangular cruising area.

[0044] In one embodiment, the preset flight range can be an area demarcated by personnel based on actual circumstances. The rectangular cruising area specifically refers to the area in which the drone is to cruise. When generating the rectangular cruising area, the flight control device can generate the rectangular cruising area based on two preset points pre-set within the preset flight range. Specifically, the two preset points are used as the two diagonal points of the rectangular cruising area to generate the rectangular cruising area. The two diagonal points of the rectangular cruising area specifically refer to the two endpoints of a diagonal line of the rectangular cruising area.

[0045] In one embodiment, the two preset points may be obtained by personnel through on-site survey, calculation, planning, and other processing within the preset flight range for actual cruising. After determining the two preset points, the personnel may also determine the location information of the two preset points; the personnel may then input the location information of the two preset points into the aircraft. Alternatively, the location information of the two preset points may be obtained by an automated instrument through on-site survey and algorithmic processing, and the automated instrument may then transmit the obtained location information of the two preset points to the flight control device via wired or wireless transmission, without limitation.

[0046] It should be noted that the position information of the two preset points are at the same height from the ground surface, that is, the plane where the generated rectangular cruising area is located is parallel to the ground.

[0047] S202: Generate a plurality of straight line route segments parallel to preset sides of the rectangular cruising area within the rectangular cruising area; any two adjacent straight line route segments are spaced a first distance apart.

[0048] In one embodiment, the preset side may be a long side or a short side of a rectangular cruising area. In this embodiment, the preset side is described by taking the long side of the rectangular cruising area as an example.

[0049] In one embodiment, when an aircraft cruises along a preset flight route, its cruising range typically needs to cover the preset flight range. Specifically, the aircraft is equipped with a scanning device or camera for cruising. The scanning device or camera typically has a certain coverage width. Therefore, in order to reduce the overlap rate of coverage by the scanning device or camera during cruising and minimize the aircraft's flight time, a first distance between two adjacent parallel flight routes within the preset flight route is also set to reasonably generate the preset flight route.

[0050] Based on this, it can be assumed that the aforementioned first distance is obtained after processing based on the coverage width. That is, the first distance between any two adjacent straight line segments should be less than or equal to the coverage width, ensuring that after the aircraft flies along the two adjacent straight line segments, the cruising area between the two adjacent straight line segments can be covered by the scanning device or camera.

[0051] S203 , connecting two endpoints of adjacent straight line segments using an arc segment to obtain a continuous curve, and determining the curve as the preset flight route; the arc radius of the arc segment is half of the first distance.

[0052] In one embodiment, the endpoints of each straight-line route are not located on the boundaries of the rectangular cruising area, but are instead located a certain distance from the boundaries of the cruising area. Therefore, the flight control system can use arc segments to connect the endpoints of adjacent straight-line routes, forming a continuous curve. In this case, the continuous curve includes all straight-line routes and all arc-line routes. That is, all straight-line routes and all arc-line routes are alternately connected to form a continuous curve. The arc-line route can be considered a semicircular route.

[0053] It should be noted that the arc radius of the aforementioned arc segment is typically half the first distance, allowing the arc segment to be tangent to the boundary of the rectangular cruising area. Furthermore, between any two adjacent straight line segments, only the two endpoints of one end are connected by an arc segment; the two endpoints of the other end are connected to the endpoints of the other adjacent straight line segment.

[0054] For example, refer to Figure 3 , Figure 3 This is a schematic diagram of an application scenario of a rectangular cruising area and a preset flight route in a flight control method provided in an embodiment of the present application. Figure 3 The two endpoints of the middle oblique line are the two diagonal points of the rectangular cruising area. Figure 3 The multiple dotted lines in the horizontal direction represent the generated preset flight routes. Figure 3 The two vertical solid lines in are the boundaries of the rectangular loop area, which are tangent to the arc segments. Figure 3The dotted line represented by line1 can be considered as a straight route segment; the dotted line represented by line2 can be considered as an arc route segment.

[0055] Specifically, Figure 3 The following is explained using the bottom first straight segment route line3 and the second straight segment route line4 as an example. Since the right endpoint S1 of the first straight segment route line3 is the starting point of the aircraft's flight, it is not connected to other straight segment routes; however, the left endpoint S2 of the first straight segment route line3 should be connected to the left endpoint S3 of the adjacent second straight segment route line4, so that the aircraft can fly along the arc segment route to the second straight segment route line4, and during the flight, the scanning device or camera equipment can cover the boundary position between the first straight segment route line3 and the second straight segment route line4. Afterwards, if the second straight segment route line4 also has an adjacent third straight segment route, the right endpoint S4 of the second straight segment route line4 will also be connected to the right endpoint of the third straight segment route (not shown in the figure). By analogy, a continuous curve can be generated.

[0056] Furthermore, in one specific embodiment, the first distance can be equal to the coverage width, thereby fully utilizing the patrol capabilities of the drone's scanning or imaging equipment and improving patrol efficiency. Specifically, when the drone is flying the first straight route, it can scan half of the area on either side of the first straight route. Subsequently, when flying the second straight route, it can scan the remaining half of the area between the first and second straight routes. This completes the scanning of the rectangular patrol area.

[0057] In another embodiment, the width of the rectangular cruising area is generally not an integer multiple of the coverage width. In this case, the aircraft needs to determine whether to add a straight line segment outside the rectangular cruising area based on the distance between the last one-way straight line segment in the preset flight path and the boundary of the rectangular cruising area.

[0058] Specifically, refer to Figure 4 , Figure 4 This is a schematic diagram of an application scenario of adding a straight line segment route outside a rectangular cruising area in a flight control method provided in an embodiment of the present application. Figure 4The horizontal solid line in the figure is the boundary of the rectangular cruising area. The last straight segment route line5 on the preset flight route below the boundary does not overlap with the boundary. Based on this, the aircraft can calculate the boundary distance between the straight segment route line5 and the boundary. Afterwards, if the boundary distance is greater than the third distance, a target straight segment route line6 parallel to the straight segment route line5 is generated outside the rectangular cruising area and connected to obtain the final preset flight route. This means that when the aircraft is flying on the straight segment route line5, the scanning device or the covering device fails to cover the boundary. If the boundary distance is less than or equal to the third distance, there is no need to generate the target straight segment route line6. This means that when the aircraft is flying on the straight segment route line5, the scanning device or the covering device can cover the boundary.

[0059] The third distance can be set to half the size of the first distance, that is, the third distance should also be less than or equal to half the coverage width of the scanning device or the camera device.

[0060] S103: Calibrate the flight angle of the aircraft on the preset flight route according to the deviation distance and the deviation direction to obtain a target angle.

[0061] In one embodiment, the aforementioned flight angle is a preset angle for the aircraft when flying along a preset flight route. It should be noted that the flight angle for a straight route is generally consistent and fixed. However, the flight angle for an arc route generally needs to be changed in real time.

[0062] The flight angle can be pre-set in the flight control device, and the flight direction of the flight angle can be uniformly expressed. For example, the north direction can be set as the positive direction of the y-axis, and the east direction can be set as the positive direction of the x-axis. The positive direction of the y-axis is 0°, and counterclockwise rotation is positive, while clockwise rotation is negative. Based on this, when the target angle is obtained, the numerical value of the target angle represents the corrected flight angle. The positive and negative signs of the target angle can also be used to indicate the rotation direction that needs to be corrected.

[0063] In another embodiment, after the flight control device calculates the deviation distance, if the deviation distance is less than or equal to a preset second threshold, the aircraft may continue to fly at the current flight angle; otherwise, step S103 is executed to calibrate the aircraft's flight angle. The second threshold can be set based on actual needs and is not limited thereto. It should be understood that when the deviation distance is less than or equal to the second threshold, the aircraft's deviation distance can be considered to be within an acceptable range.

[0064] S104: Control the aircraft to fly based on the target angle.

[0065] In one embodiment, after the flight angle is calibrated, the calibrated target angle allows the aircraft to gradually approach the preset flight path. However, the calibrated target angle is not equal to the preset flight angle. Therefore, during actual flight, the aircraft may fly in a curved path even on a straight route.

[0066] In this embodiment, the aircraft's current position information is used to calculate the distance and direction of the aircraft's deviation from the preset flight path. The aircraft's intended flight angle along the preset flight path is then calibrated based on the deviation distance and direction to obtain a target angle, which is then used to control the aircraft's flight. This allows the aircraft to automatically calibrate its flight angle when the aircraft deviates, minimizing the deviation between the aircraft's actual flight path and the planned preset flight path.

[0067] In one embodiment, when the preset flight route is a straight line route, the aircraft can pass through Figure 5 S501-S502 in the above process determine the deviation distance of the aircraft from the preset flight path, as detailed below:

[0068] S501: Obtain the position information of the two endpoints of the straight line segment route.

[0069] In one embodiment, the two endpoints of a straight line segment route have been explained in S203 above and will not be further explained. The position information of these endpoints can be determined based on a pre-established rectangular coordinate system. For example, the flight control device can establish a preset coordinate system using the aircraft's starting point within a rectangular cruising area as the coordinate origin, the long boundary of the rectangular cruising area as the y-axis of the coordinate system, and the wide boundary of the rectangular cruising area as the x-axis of the coordinate system. Based on this, the position information of the two endpoints of each straight line segment route can be pre-determined. Similarly, the aircraft's position information can also be represented by coordinates in the preset coordinate system.

[0070] It should be noted that the above-mentioned establishment of a preset coordinate system based on the long and wide boundaries of the rectangular cruise area is only one example. In other examples, the above-mentioned y-axis and x-axis may not coincide with the boundaries respectively, and this is not limited to this.

[0071] It is understood that when there are multiple straight line routes, the flight control device should obtain the position information of the two endpoints of the current straight line route. That is, when the straight line route changes, the position information of the corresponding two endpoints will also change.

[0072] S502: Calculate a second distance between the aircraft and the straight segment route based on the position information of the two endpoints and the position information of the aircraft, and determine the second distance as the deviation distance.

[0073] In one embodiment, the second distance is the vertical distance between the aircraft and the straight segment route. When the position information of the two endpoints and the position information of the aircraft can be represented by coordinates in a preset coordinate system, the second distance can be calculated using the following first formula:

[0074]

[0075] Among them, the absolute value of d represents the deviation distance; x represents the horizontal coordinate of the aircraft in the preset coordinate system, and y represents the vertical coordinate of the aircraft in the preset coordinate system; x1 represents the horizontal coordinate of the starting endpoint of the straight line segment in the preset coordinate system, and y1 represents the vertical coordinate of the starting endpoint in the preset coordinate system; x2 represents the horizontal coordinate of the ending endpoint of the straight line segment in the preset coordinate system, and y2 represents the vertical coordinate of the ending endpoint in the preset coordinate system.

[0076] In one embodiment, the above d may be 0, or a positive or negative number. It is understood that when d is 0, it can be determined that the aircraft has not deviated; and the positive or negative value of d can be considered as the direction of deviation when the aircraft deviates.

[0077] For example, refer to Figure 6 , Figure 6 This is a schematic diagram of an application scenario when an aircraft deviates from a preset flight route in a flight control method provided in one embodiment of the present application. Wherein, M is the position coordinate of the aircraft, A and B are the position coordinates of the starting endpoint and the ending endpoint respectively. Let M be (x, y), the starting endpoint A be (x1, y1), and the ending endpoint B be (x2, y2), and calculate the d value by processing as described above. And, if Figure 6 As shown in the figure, if the aircraft flies from point A to point B, then point M should be to the right of the straight line segment AB. In other words, the d value obtained after the above processing should be a positive number. If point M is to the left of the straight line segment AB, the d value obtained based on the above formula should be a negative number.

[0078] Based on this, the flight control device can also determine the direction of the aircraft's deviation based on the positive or negative value of the second distance d. Specifically, if the second distance is greater than a first threshold, the deviation is determined to be rightward; if the second distance is less than the first threshold, the deviation is determined to be leftward; and if the second distance is equal to the first threshold, the aircraft is determined to have not deviated. In this case, the first threshold is specifically 0, and the above steps are used.

[0079] In another embodiment, the flight control device may also determine the deviation direction of the aircraft according to the following second formula. Specifically, the second formula is:

[0080] F=(y-y1) / (x-x1)-(y2-y1) / (x2-x1)

[0081] If F>0, d takes a negative value; that is, the deviation direction is left;

[0082] If F<0, d takes a positive value; that is, the deviation direction is right;

[0083] If F=0, d is 0; that is, no deviation occurs.

[0084] Specifically, refer to Figure 6 , take M as the position coordinate of the aircraft, A and B as the position coordinates of the starting and ending endpoints respectively, assume M is (x, y), the starting endpoint A is (x1, y1), and the ending endpoint B is (x2, y2) as an example for explanation. Among them, the formula F = (y-y1) / (x-x1)-(y2-y1) / (x2-x1) means: compare Figure 6 The midline segment AM and the triangle base ( Figure 6 The angle θ1 (not shown) between the straight line segment AB and the triangle base (denoted by d2 in the figure) and the angle θ2 (not shown) between the straight line segment AB and the triangle base. It can be understood that if θ1 > θ2, point M is located to the left of the straight line segment AB, i.e., d is a negative value. If θ1 < θ2, point M is located to the right of the straight line segment AB, i.e., d is a positive value. If θ1 = θ2, point M is on the straight line segment AB, i.e., d is 0.

[0085] In one embodiment, the above example is a step for determining the deviation distance and deviation direction of the flight control device on a straight segment route. In addition, when the aircraft is on an arc segment route, the flight control device can also determine the deviation distance and deviation direction of the aircraft on a straight segment route. Figure 7 S701-S703 in the above process determine the deviation distance of the aircraft from the preset flight path, as detailed below:

[0086] S701: Obtain the position information of the arc center of the arc segment route and the arc radius of the arc segment route.

[0087] S702: Determine the arc-center distance between the aircraft and the arc center according to the position information of the arc center and the position information of the aircraft.

[0088] S703: Determine the absolute value of the difference between the arc center distance and the arc radius as the deviation distance.

[0089] In one embodiment, as described above in S203 regarding arc segments, when the flight control device uses an arc segment to connect two endpoints of adjacent straight line segments, the arc center should be located midway between the two endpoints. In other words, the flight control device can directly determine the arc center's position based on the positional information of the two endpoints. The arc radius is also explained in S203 above and will not be further explained.

[0090] In one embodiment, the arc center distance is the distance between the aircraft and the arc center, which can be calculated according to an existing distance calculation formula. Then, the absolute value of the difference between the arc center distance and the arc radius is calculated, and the absolute value is determined as the deviation distance.

[0091] However, since the arc segment route includes a left-turn arc segment route and a right-turn arc segment route, the method of determining the deviation direction is also different under different arc segment routes.

[0092] Specifically, the flight control device can be Figure 8 S801-S803 in the figure determine the direction of the aircraft's deviation, as detailed below:

[0093] S801. If the arc segment route is a right-turn arc segment route, when the arc center distance is less than the arc radius, the deviation direction is determined to be right deviation; and when the arc center distance is greater than the arc radius, the deviation direction is determined to be left deviation.

[0094] S802. If the arc segment route is a left-turn arc segment route, when the arc center distance is greater than the arc radius, the deviation direction is determined to be right deviation; and when the arc center distance is less than the arc radius, the deviation direction is determined to be left deviation.

[0095] S803: If the arc center distance is equal to the arc radius, it is determined that the aircraft has not deviated.

[0096] In one embodiment, referring to Figure 2 ,by Figure 2 The arc segment on the left is a right-turn arc segment, and the arc segment on the right is a left-turn arc segment for illustration purposes. In a right-turn arc segment, the arc center is to the right of the arc segment. Therefore, if the arc center distance is less than the arc radius, the aircraft and the arc center are both to the right of the right-turn arc segment, resulting in a right deviation. Conversely, if the arc center distance is greater than the arc radius, the aircraft is to the left of the right-turn arc segment, resulting in a left deviation.

[0097] Conversely, in a left-turn arc segment, the arc center is to the left of the segment. Therefore, if the arc center distance is less than the arc radius, both the aircraft and the arc center are to the left of the segment, resulting in a left deviation. Conversely, if the arc center distance is greater than the arc radius, the aircraft is to the right of the segment, resulting in a right deviation.

[0098] Furthermore, no matter which arc segment the aircraft is on, if the arc center distance is equal to the arc radius, the flight control device determines that the aircraft has not deviated.

[0099] It should be noted that, for pre-generated preset flight routes, both the right-turn arc segment route and the left-turn arc segment route can be pre-set to assist the flight control device in determining the arc segment route of the aircraft based on the current position information. Specifically, if the aircraft's current position information is within the area corresponding to the preset left-turn arc segment route, the aircraft's current route is determined to be a left-turn arc segment route; if the aircraft's current position information is within the area corresponding to the preset right-turn arc segment route, the aircraft's current route is determined to be a right-turn arc segment route.

[0100] In one embodiment, the flight control device can also be used as follows Figure 9 S901-S904 in the program calibrate the flight angle to obtain the target angle of the aircraft, as detailed below:

[0101] S901: Calculate the ratio of the deviation distance to the preset reference deviation distance.

[0102] S902. If the deviation direction is right deviation, then when the ratio is greater than a first critical value, the preset angle is determined as the correction angle; or, if the deviation direction is left deviation, then when the inverse of the ratio is less than a second critical value, the preset angle is determined as the correction angle.

[0103] S903. If the deviation direction is right deviation and the ratio is less than or equal to the first critical value, the comparison value is processed by the inverse tangent function, and the product of the preset parameter and the inverse tangent function of the ratio is determined as the correction angle; or, if the deviation direction is left deviation and the inverse of the ratio is greater than or equal to the second critical value, the inverse of the comparison value is processed by the inverse tangent function and multiplied by the preset parameter to obtain the correction angle.

[0104] S904: Rotate the flight angle in a direction opposite to the deviation direction to obtain a target angle.

[0105] In one embodiment, the reference offset, first threshold, second threshold, and preset angle can all be preset by personnel based on actual needs, without limitation. For example, in this embodiment, the first threshold and second threshold can be reciprocal values. Furthermore, the preset angle can be 90°. Furthermore, the ratio of the deviation distance to the reference offset can be used to reflect the degree of deviation of the aircraft from the preset flight path.

[0106] Specifically, when the first critical value and the second critical value are opposite numbers, the correction angle can be determined by the following calculation formula in S902 and S903:

[0107]

[0108] In one embodiment, the above-mentioned θ is the correction angle, d is the deviation distance, c is the reference deviation distance, k1 is the preset zoom factor, k2 is the first critical value, and arctan is the inverse tangent function; wherein the above-mentioned c, k1, and k2 are all values ​​greater than 0.

[0109] In the above equations, when d=0, it means that the aircraft has not deviated from the route. At this time, d / c=0, and there is no need to adjust the flight angle.

[0110] If d / c>k2 and -d / c<-k2, it means that no matter whether it deviates to the left or the right, the current position of the aircraft has deviated from the preset flight route by a large distance, and exceeds a certain proportional range with the reference offset c. Based on this, it is necessary to make a larger adjustment to the flight angle of the aircraft, that is, to determine the preset angle of 90° as the correction angle. At this time, the correction angle is 90°, but the adjustment direction is in the opposite direction. That is, if the deviation direction is to the left, the aircraft will rotate the flight angle 90° to the right. And, if the deviation direction is to the right, the aircraft will rotate the flight angle 90° to the left, so that the aircraft approaches the route in a direction that is almost perpendicular to the preset flight route, so as to return to the preset flight route as soon as possible.

[0111] In addition, if -k2≤d / c≤k2, it means that no matter whether the aircraft deviates to the left or right, although it deviates from the preset flight path, the ratio of the deviation distance d to the reference deviation distance c is within a certain range. Therefore, the aircraft does not need to make a large-scale heading adjustment, but only needs to adjust its heading according to k1arctan -1 (d / c) can be used to calculate the correction angle in real time.

[0112] It should be noted that if k1arctan -1 If you calculate a negative angle using (d / c), simply use the resulting angle as the correction angle. Then, adjust the flight angle on the preset flight path in the opposite direction of the deviation.

[0113] In another embodiment, the aforementioned deviation direction and deviation angle are both horizontal deviations. However, during flight, the aircraft's deviation direction typically also includes upward and downward deviations. In this case, the flight control device determines upward and downward deviations by obtaining a vertical distance h from the ground or slope. If h is less than a preset height H, the aircraft is determined to have deviated downward; if h is greater than the preset height H, the aircraft is determined to have deviated upward; and if h is equal to the preset height H, the aircraft is determined to have not deviated in altitude.

[0114] When the aircraft deviates upward or downward, it should also adjust its vertical flight angle. The adjustment method described above can be similar to the horizontal adjustment method. For example, the difference between h and the preset altitude H can be calculated, and then the absolute value of the difference can be substituted into the above formula. That is, the absolute value of the difference is substituted into the deviation distance d in the above formula for the calculation. In this way, the aircraft's pitch angle is adjusted to return the aircraft to the preset flight altitude H.

[0115] See also Figure 10 , Figure 10 This is a structural block diagram of a flight control device provided in an embodiment of the present application. The flight control device in this embodiment includes modules for executing Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 For details, please refer to the steps in the corresponding embodiment. Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 as well as Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 10 The flight control device 1000 may include: an acquisition module 1010, a processing module 1020, a calibration module 1030, and a control module 1040, wherein:

[0116] The acquisition module 1010 is used to acquire the position information of the aircraft during the flight of the aircraft.

[0117] The processing module 1020 is used to determine the deviation distance of the aircraft from the preset flight route and the deviation direction of the aircraft based on the position information and the preset flight route; the preset flight route is automatically generated by the aircraft based on the preset flight range.

[0118] The calibration module 1030 is used to calibrate the course angle of the aircraft on the preset flight route according to the deviation distance and the deviation direction, and obtain the target angle of the aircraft after calibration.

[0119] The control module 1040 is used to control the aircraft to fly based on the target angle.

[0120] In one embodiment, the flight control device 1000 further includes:

[0121] The rectangular cruising area generating module is used to use two preset points in the preset flight range as two diagonal points of the rectangular cruising area to generate a rectangular cruising area.

[0122] The straight line segment route generation module is used to generate a plurality of straight line segment routes parallel to the preset sides of the rectangular cruising area within the rectangular cruising area; any two adjacent straight line segment routes are separated by a first distance.

[0123] The preset flight route determination module is used to use an arc segment to connect the two endpoints of the adjacent straight line segment route to obtain a continuous curve, and determine the curve as the preset flight route; the arc radius of the arc segment is half of the first distance.

[0124] In one embodiment, the preset flight route includes a straight segment route; the processing module 1020 is further configured to:

[0125] Obtain position information of two endpoints of the straight segment route; calculate a second distance between the aircraft and the straight segment route based on the position information of the two endpoints and the position information of the aircraft, and determine the second distance as the deviation distance.

[0126] In one embodiment, the position information of the two endpoints is represented by the coordinates of the two endpoints in a preset coordinate system, and the position information of the aircraft is represented by the coordinates of the aircraft in the preset coordinate system; the processing module 1020 is further configured to:

[0127] Import the coordinates of the two endpoints and the coordinates of the aircraft into the first formula to obtain the second distance. The first formula is:

[0128]

[0129] Among them, the absolute value of d represents the deviation distance; x represents the horizontal coordinate of the aircraft in the preset coordinate system, and y represents the vertical coordinate of the aircraft in the preset coordinate system; x1 represents the horizontal coordinate of the starting endpoint of the straight line segment in the preset coordinate system, and y1 represents the vertical coordinate of the starting endpoint in the preset coordinate system; x2 represents the horizontal coordinate of the ending endpoint of the straight line segment in the preset coordinate system, and y2 represents the vertical coordinate of the ending endpoint in the preset coordinate system.

[0130] In one embodiment, the processing module 1020 is further configured to:

[0131] If the second distance is greater than the first threshold, the deviation direction is determined to be right; if the second distance is less than the first threshold, the deviation direction is determined to be left; if the second distance is equal to the first threshold, it is determined that the aircraft has not deviated.

[0132] In one embodiment, the preset flight route further includes an arc segment route; the processing module 1020 is further configured to:

[0133] Obtain the position information of the arc center and the arc radius of the arc segment route; determine the arc center distance between the aircraft and the arc center based on the position information of the arc center and the position information of the aircraft; and determine the absolute value of the difference between the arc center distance and the arc radius as the deviation distance.

[0134] In one embodiment, the processing module 1020 is further configured to:

[0135] If the arc segment route is a right-turn arc segment route, then when the arc center distance is less than the arc radius, the deviation direction is determined to be right deviation; and, when the arc center distance is greater than the arc radius, the deviation direction is determined to be left deviation; if the arc segment route is a left-turn arc segment route, then when the arc center distance is greater than the arc radius, the deviation direction is determined to be right deviation; and, when the arc center distance is less than the arc radius, the deviation direction is determined to be left deviation; if the arc center distance is equal to the arc radius, it is determined that the aircraft has not deviated.

[0136] In one embodiment, the calibration module 1030 is further configured to:

[0137] Calculate the ratio of the deviation distance to the preset reference deviation distance; if the deviation direction is right deviation, then when the ratio is greater than a first critical value, determine the preset angle as the correction angle; or, if the deviation direction is left deviation, then when the inverse of the ratio is less than a second critical value, determine the preset angle as the correction angle; if the deviation direction is right deviation, and the ratio is less than or equal to the first critical value, perform inverse tangent function processing on the comparison value, and determine the product of the preset parameter and the inverse tangent function of the ratio as the correction angle; or, if the deviation direction is left deviation, and the inverse of the ratio is greater than or equal to the second critical value, perform inverse tangent function processing on the inverse of the comparison value, and multiply it with the preset parameter to obtain the correction angle; rotate the flight angle by the correction angle in the direction opposite to the deviation direction to obtain the target angle.

[0138] When it is understood that Figure 10 In the structural block diagram of the flight control device shown, each module is used to execute Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 The steps in the corresponding embodiment, and for Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 as well as Figure 1 、 Figure 2 、 Figure 5 、 Figures 7 to 9 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0139] Figure 11 This is a structural block diagram of a flight control device provided by another embodiment of the present application. Figure 11 As shown, the flight control device 1100 of this embodiment includes: a processor 1110, a memory 1120, and a computer program 1130 stored in the memory 1120 and executable by the processor 1110, such as a program for a flight control method. When the processor 1110 executes the computer program 1130, the steps of each embodiment of the above-mentioned flight control method are implemented, such as Figure 1 Alternatively, the processor 1110 executes the computer program 1130 to implement the above Figure 10 The functions of each module in the corresponding embodiment are, for example, Figure 10 For details on the functions of modules 1010 to 1040, please refer to Figure 10 Related description in the corresponding embodiment.

[0140] Exemplarily, computer program 1130 may be divided into one or more modules, one or more of which are stored in memory 1120 and executed by processor 1110 to implement the flight control method provided in the embodiments of the present application. One or more modules may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of computer program 1130 in flight control device 1100. For example, computer program 1130 may implement the flight control method provided in the embodiments of the present application.

[0141] The flight control device 1100 may include, but is not limited to, a processor 1110 and a memory 1120. Those skilled in the art will appreciate that Figure 11 This is merely an example of the flight control device 1100 and does not constitute a limitation of the flight control device 1100 . The flight control device 1100 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the aircraft may also include input and output devices, network access devices, buses, etc.

[0142] The processor 1110 may be a central processing unit, or other general-purpose processor, digital signal processor, application-specific integrated circuit, off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0143] Memory 1120 may be an internal storage unit of flight control device 1100, such as a hard drive or memory of flight control device 1100. Memory 1120 may also be an external storage device of flight control device 1100, such as a plug-in hard drive, smart memory card, flash memory card, etc. equipped on flight control device 1100. Furthermore, memory 1120 may include both an internal storage unit of flight control device 1100 and an external storage device.

[0144] An embodiment of the present application provides an aircraft, including a positioning module for positioning, a communication module for communicating with automated instruments, a receiving module for receiving information input by staff, and the flight control device in the above embodiment.

[0145] An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the flight control method described in the above embodiments is implemented.

[0146] An embodiment of the present application provides a computer program product. When the computer program product is run on a flight control device, the flight control device is enabled to execute the flight control method in each of the above embodiments.

[0147] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A flight control method, characterized in that: include: Obtaining the position information of the aircraft during its flight; Determining a deviation distance of the aircraft from the preset flight route and a deviation direction of the aircraft based on the position information and a preset flight route, wherein the preset flight route is automatically generated by the aircraft based on a preset flight range; calibrating the flight angle of the aircraft on the preset flight route according to the deviation distance and the deviation direction to obtain a target angle; controlling the aircraft to fly based on the target angle; The step of calibrating the flight angle of the aircraft on the preset flight route according to the deviation distance and the deviation direction to obtain a target angle includes: Calculating a ratio of the deviation distance to a preset reference deviation distance; the ratio is used to reflect the degree of deviation of the aircraft from the preset flight route; If the deviation direction is rightward, then when the ratio is greater than a first critical value, a preset angle is determined as the correction angle; or, if the deviation direction is leftward, then when the inverse of the ratio is less than a second critical value, the preset angle is determined as the correction angle; the first critical value and the second critical value are inverses of each other, and the preset angle is 90°; If the deviation direction is rightward and the ratio is less than or equal to the first critical value, the ratio is processed by an inverse tangent function, and the product of a preset parameter and the inverse tangent function of the ratio is determined as the correction angle; or if the deviation direction is leftward and the inverse of the ratio is greater than or equal to the second critical value, the inverse of the ratio is processed by an inverse tangent function and multiplied by the preset parameter to obtain the correction angle; The flight angle is rotated by the correction angle in a direction opposite to the deviation direction to obtain the target angle.

2. The method according to claim 1, characterized in that Before determining the deviation distance of the aircraft from the preset flight route based on the position information and the preset flight route, the method further includes: Using two preset points in the preset flight range as two diagonal points of a rectangular cruising area to generate the rectangular cruising area; generating a plurality of straight line route segments parallel to the preset sides of the rectangular cruising area within the rectangular cruising area; a first distance being spaced between any two adjacent straight line route segments; An arc segment is used to connect the two endpoints of the adjacent straight line segment routes to obtain a continuous curve, and the curve is determined as the preset flight route; the arc radius of the arc segment is half of the first distance.

3. The method according to claim 1, characterized in that The preset flight route includes a straight line segment route; and determining, based on the position information and the preset flight route, a deviation distance of the aircraft from the preset flight route, includes: Obtaining the position information of the two endpoints of the straight segment route; A second distance between the aircraft and the straight segment route is calculated based on the position information of the two endpoints and the position information of the aircraft, and the second distance is determined as the deviation distance.

4. The method according to claim 3, characterized in that The position information of the two endpoints is represented by the coordinates of the two endpoints in a preset coordinate system, and the position information of the aircraft is represented by the coordinates of the aircraft in the preset coordinate system; Calculating the second distance between the aircraft and the straight segment route based on the position information of the two endpoints and the position information of the aircraft includes: The coordinates of the two endpoints and the coordinates of the aircraft are introduced into the first formula to obtain the second distance. The first formula is: Among them, the absolute value of d represents the deviation distance; x represents the horizontal coordinate of the aircraft in the preset coordinate system, and y represents the vertical coordinate of the aircraft in the preset coordinate system; x1 represents the horizontal coordinate of the starting endpoint of the straight line segment route in the preset coordinate system, and y1 represents the vertical coordinate of the starting endpoint in the preset coordinate system; x2 represents the horizontal coordinate of the ending endpoint of the straight line segment route in the preset coordinate system, and y2 represents the vertical coordinate of the ending endpoint in the preset coordinate system.

5. The method according to claim 4, characterized in that Determining the deviation direction of the aircraft includes: If the second distance is greater than a first threshold, determining that the deviation direction is right deviation; If the second distance is less than the first threshold, determining that the deviation direction is left deviation; If the second distance is equal to the first threshold, it is determined that the aircraft has not deviated.

6. The method according to claim 1, wherein The preset flight route also includes an arc segment route; Determining a deviation distance of the aircraft from the preset flight route based on the position information and the preset flight route includes: Obtaining the position information of the arc center of the arc segment route and the arc radius of the arc segment route; Determining an arc-center distance between the aircraft and the arc center according to the position information of the arc center and the position information of the aircraft; The absolute value of the difference between the arc center distance and the arc radius is determined as the deviation distance.

7. The method according to claim 6, characterized in that Determining the deviation direction of the aircraft includes: If the arc segment route is a right-turn arc segment route, then when the arc center distance is less than the arc radius, the deviation direction is determined to be right deviation; and when the arc center distance is greater than the arc radius, the deviation direction is determined to be left deviation; If the arc segment route is a left-turn arc segment route, then when the arc center distance is greater than the arc radius, the deviation direction is determined to be right deviation; and when the arc center distance is less than the arc radius, the deviation direction is determined to be left deviation; If the arc center distance is equal to the arc radius, it is determined that the aircraft has not deviated.

8. A flight control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

9. An aircraft comprising the flight control device according to claim 8.

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