UAV landing control method, device, UAV and storage medium

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and provides a method and device for controlling the landing of an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium, which are applied to an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes an inertial navigation sensor and a GPS positioning device, and the method includes: determining the first height of the unmanned aerial vehicle in the current preset period and the second height of the unmanned aerial vehicle in the last preset period continuous with the current preset period by the GPS positioning device; obtaining the landing speed of the unmanned aerial vehicle in the current preset period by the inertial navigation sensor; and adjusting the landing speed according to the first height and the second height. The present invention realizes a safe and stable landing of the unmanned aerial vehicle by controlling the landing speed of the unmanned aerial vehicle according to the dynamic change of the height of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling landing of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium. Background Art

[0002] In recent years, drone control technology has become increasingly mature. Drones are easy to control and have flexible flight capabilities, making them widely used in aerial photography, plant protection, and power line inspection. Autonomous landing is an important part of realizing automated control of drones. How to achieve safe and smooth landing of drones is one of the hot technologies studied by technical personnel in this field. Summary of the invention

[0003] The present invention provides a UAV landing control method, a device, a UAV and a storage medium, which can ensure the safe and stable landing of the UAV.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for controlling the landing of a drone, which is applied to a drone, wherein the drone includes an inertial navigation sensor and a GPS positioning device, and the method includes:

[0006] Determine, by means of the GPS positioning device, a first altitude of the drone in a current preset period and a second altitude of the drone in a previous preset period that is continuous with the current preset period;

[0007] Acquire the landing speed of the UAV within the current preset period through the inertial navigation sensor;

[0008] The landing speed is adjusted according to the first height and the second height.

[0009] Specifically, the step of adjusting the landing speed according to the first height and the second height includes:

[0010] If the first height is greater than or equal to the second height, the descent speed is increased.

[0011] Specifically, the step of adjusting the landing speed according to the first height and the second height further includes:

[0012] If the first height is smaller than the second height and the height difference between the second height and the first height is larger than a preset value, the descent speed is reduced.

[0013] Specifically, if the first height is less than the second height, and the height difference between the second height and the first height is greater than a preset value, the step of reducing the landing speed includes:

[0014] Get the duration of the preset cycle;

[0015] The preset value is obtained according to the duration and the preset speed maximum value.

[0016] Specifically, the method further includes:

[0017] If the first height is less than a preset height or the landing time is less than or equal to a preset time, the landing speed is not adjusted, wherein the landing time is the time from when the UAV receives the landing command to the current moment;

[0018] Specifically, the method further includes:

[0019] If the first height is less than the second height and the height difference between the second height and the first height is not greater than a preset value, the landing speed is not adjusted.

[0020] Specifically, the step of obtaining the landing speed of the drone within the current preset period by the inertial navigation sensor includes:

[0021] Get the historical status of the drone at the last moment;

[0022] Acquire the inertial navigation data at the current moment through the inertial navigation sensor;

[0023] Acquire the current GPS data through the GPS positioning device;

[0024] The estimated state of the UAV is obtained according to the inertial navigation data, the GPS data and the historical state, and the ground speed in the estimated state is used as the landing speed of the UAV in the current preset period.

[0025] In a second aspect, the present invention provides a UAV landing control device, which is applied to a UAV, wherein the UAV includes an inertial navigation sensor and a GPS positioning device, and the device includes:

[0026] A determination module, used to determine, through the GPS positioning device, a first altitude of the drone in a current preset period and a second altitude of the drone in a previous preset period that is continuous with the current preset period;

[0027] An acquisition module, used to acquire the landing speed of the UAV within the current preset period through the inertial navigation sensor;

[0028] Specifically, the acquisition module is specifically used for:

[0029] Get the historical status of the drone at the last moment;

[0030] Acquire the inertial navigation data at the current moment through the inertial navigation sensor;

[0031] Acquire the current GPS data through the GPS positioning device;

[0032] The estimated state of the UAV is obtained according to the inertial navigation data, the GPS data and the historical state, and the ground speed in the estimated state is used as the landing speed of the UAV in the current preset period.

[0033] An adjustment module is used to adjust the landing speed according to the first height and the second height.

[0034] Specifically, the adjustment module is used to:

[0035] If the first height is greater than or equal to the second height, the descent speed is increased.

[0036] Specifically, the adjustment module is further used for:

[0037] If the first height is less than the second height, and the height difference between the second height and the first height is greater than a preset value, reducing the descent speed;

[0038] Specifically, the adjustment module is further used for:

[0039] If the first height is less than the second height and the height difference between the second height and the first height is not greater than a preset value, the landing speed is not adjusted.

[0040] In a third aspect, the present invention provides a drone, comprising a memory and a controller, the drone also comprising an inertial navigation sensor and a GPS positioning device, and the controller implements the drone landing control method as described above when executing the computer program.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, implements the drone landing control method as described above.

[0042] Compared with the prior art, the present invention determines the first height of the drone in the current preset period and the second height of the drone in the previous preset period consecutive to the current preset period through the GPS positioning device of the drone, obtains the landing speed of the drone in the current preset period through the inertial navigation sensor of the drone, adjusts the landing speed according to the first height and the second height, and controls the landing speed of the drone according to the dynamic change of the drone's height, thereby achieving a safe and smooth landing of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 An example block diagram of a drone provided in accordance with an embodiment of the present invention.

[0045] Figure 2 An example flowchart of a method for controlling the landing of an unmanned aerial vehicle provided in an embodiment of the present invention.

[0046] Figure 3 An example diagram of the optimization process of the optimal state provided by an embodiment of the present invention.

[0047] Figure 4 An example flowchart of another drone landing control method provided in an embodiment of the present invention.

[0048] Figure 5 An example flowchart of another drone landing control method provided in an embodiment of the present invention.

[0049] Figure 6 A block diagram of an example of a UAV landing control device provided in an embodiment of the present invention.

[0050] Icons: 10-UAV; 11-controller; 12-memory; 13-bus; 14-inertial navigation sensor; 15-GPS positioning device; 100-UAV landing control device; 110-determination module; 120-acquisition module; 130-adjustment module. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0055] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0056] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0057] The existing technology for controlling the automatic landing of drones usually controls the landing according to the speed of the drone. The drone descends at a preset speed and stops when it touches the ground. In order to maintain a safe descent, the descent speed is generally slow. At this time, if the error of the drone speed obtained by the speed measurement device or the speed estimation device is large, so that the error of the measured value or estimated value of the drone speed exceeds the actual speed of the drone, it may cause the drone to fail to land normally. For example, if the drone rises at a speed of 0.1m / s, and the error of the estimated value of the speed is 0.2m / s, then the estimated value of the speed is -0.1m / s, and the drone may continue to rise without falling.

[0058] In view of this, an embodiment of the present invention provides a drone landing control method, device, drone and storage medium to prevent the measured value or estimated value of the drone speed from having too much impact on the landing of the drone, thereby preventing the drone from being unable to land safely and smoothly. It will be described in detail below.

[0059] Please refer to Figure 1 , Figure 1 This is a block diagram of an example of a drone provided in an embodiment of the present invention. The drone 10 includes a controller 11, a memory 12, an inertial navigation sensor 14 and a GPS positioning device 15. The controller 11 is connected to the memory 12 via a bus 13.

[0060] The memory 12 is used to store programs, such as the drone landing control device 100 in the embodiment of the present invention. The drone landing control device 100 includes at least one software function module that can be stored in the memory 12 in the form of software or firmware. After receiving the execution instruction, the controller 11 executes the program to implement the drone landing control method disclosed in the embodiment of the present invention.

[0061] The memory 12 may include a high-speed random access memory (RAM) and may also include a non-volatile memory (NVM).

[0062] The controller 11 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the controller 11 or an instruction in the form of software. The above controller 11 may be a general processor, including a central processing unit (CPU), a microcontroller unit (MCU), a complex programmable logic device (CPLD), a field programmable gate array (FPGA), an embedded ARM and other chips.

[0063] The inertial navigation sensor 14 mainly detects and measures acceleration, tilt, impact, vibration, rotation and multi-degree-of-freedom (DoF) motion, and is an important component for solving navigation, orientation and motion carrier control. The inertial navigation sensor includes an accelerometer (or acceleration sensor) and an angular velocity sensor (gyroscope) and their single, dual and three-axis combined inertial measurement unit IMU (Inertial measurement unit, IMU). The IMU is mainly composed of three MEMS acceleration sensors and three gyroscopes and a solution circuit. In this embodiment, during the landing of the drone, the landing speed of the drone can be obtained through the accelerometer of the inertial navigation sensor 14, and the attitude of the drone can be obtained through the angular velocity sensor of the inertial navigation sensor 14.

[0064] The global positioning system (GPS) positioning device 15 is a device that uses GPS technology for positioning. GPS is a high-precision radio navigation positioning system based on artificial satellites. It can provide accurate geographical location, vehicle speed and precise time information anywhere in the world and near the earth. In this embodiment, the GPS positioning device 15 is used to obtain the location information of the drone, and the altitude of the drone can be determined based on the location information.

[0065] exist Figure 1 Based on the embodiment of the present invention, a method for applying Figure 1 Please refer to the drone landing control method of UAV 10 Figure 2 , Figure 2 An example flow chart of a method for controlling a landing of a drone provided by an embodiment of the present invention, the method comprising the following steps:

[0066] Step S100, determining the first height of the drone in the current preset period and the second height of the drone in the previous preset period that is continuous with the current preset period through a GPS positioning device.

[0067] In this embodiment, as a specific implementation method, the drone 10 periodically obtains the location information of the drone from the GPS positioning device according to a preset period. The preset period can be set as needed. For example, the preset period is set to 1 second. After obtaining the location information of the drone, the height of the drone within the preset period can be determined and saved based on the location information of the drone.

[0068] In this embodiment, the first height is the height of the drone relative to the ground in the current preset period, and the second height is the height of the drone relative to the ground in the previous period continuous with the current preset period. The drone 10 only needs to save the first height and the second height.

[0069] In this embodiment, as a specific implementation method, the location information of the drone obtained from the GPS positioning device can be the GPS coordinates of the drone, which include the longitude, latitude and altitude that characterize the location of the drone, wherein the drone 10 pre-stores preset GPS coordinates, which are used to characterize the position of a preset ground origin. The altitude of the drone is subtracted from the altitude in the preset GPS coordinates to obtain the height of the drone relative to the ground at this time.

[0070] Step S110, obtaining the landing speed of the drone within the current preset period through the inertial navigation sensor.

[0071] In this embodiment, the UAV does not descend vertically in a strict sense during the landing process. In addition to the descent, the UAV will also have a certain position offset in the horizontal direction. The landing speed of the UAV in this step refers to the ground speed of the UAV.

[0072] In this embodiment, as a specific implementation, the controller 11 of the drone 10 can obtain inertial navigation data from the inertial navigation sensor 14. The inertial navigation data is used to update the state of the drone. The drone state is usually expressed as: P represents the coordinates of the three coordinate axes x, y, and z, and V represents the acceleration in the directions of the three coordinate axes x, y, and z. represents the attitude angle of the three axes, ε represents the gyroscope zero bias, Represents the accelerometer bias.

[0073] During the falling process of the drone, the gyroscope angular velocity data and ε and The attitude information of the drone can be obtained. The change of the attitude of the drone is usually manifested as a change in at least one of the three angles: pitch angle, roll angle and heading angle. Through the attitude matrix, acceleration data and V and The speed of the drone can be obtained. The speed of the drone usually includes speed components in the directions of the three coordinate axes: x, y, and z.

[0074] In this embodiment, in order to enable the controller 11 of the drone 10 to control the drone to maintain or approach a preset state (including a target attitude and a target speed) for landing, when the drone receives a landing command, the state of the drone at this time is initialized, and then the state of the drone is periodically adjusted according to the optimization cycle. In each cycle, first, the attitude angle and attitude matrix of the drone are updated using the inertial navigation data, so that the state of the drone 10 is predicted based on the attitude angle and the attitude matrix to obtain a predicted state, and then the predicted state is corrected by the north-east velocity obtained by the GPS positioning device to obtain an estimated optimal state, and the variance of the state error is updated at the same time. The next cycle continues to adjust based on the optimal state of this cycle, and finally, the drone maintains or approaches a preset state (including a target attitude and a target speed) for landing during the entire descent process. Please refer to Figure 3 , Figure 3 An example diagram of the optimization process of the optimal state provided by an embodiment of the present invention, Figure 3 The next frame in corresponds to the next optimization cycle in the above, and its steps are as follows:

[0075] Step S11: Initialize the state and obtain the historical state;

[0076] Step S12: using the inertial navigation data to update the attitude matrix and attitude angle, and performing state prediction based on the historical state to obtain the predicted state;

[0077] Step S13: Correct the predicted state and covariance using GPS data to obtain the optimal state;

[0078] Step S14: Take the optimal state as the historical state of the next frame and repeat steps S12 to S14.

[0079] In this embodiment, the landing speed in this step refers to the ground speed in the optimal speed in the optimal state in the current preset period.

[0080] Step S120, adjusting the landing speed according to the first height and the second height.

[0081] In this embodiment, not only the first height of the drone 10 in the current preset period is considered, but also the second height of the drone in the previous preset period is considered. The method of adjusting the landing speed is determined by comparing the first height and the second height. The method of adjusting the landing speed can be to increase the landing speed or to decrease the landing speed. The purpose is to make the drone land safely and smoothly.

[0082] The above method provided by the embodiment of the present invention adjusts the landing speed according to the first height and the second height, and controls the landing speed of the drone according to the dynamic change of the height of the drone, thereby achieving a safe and smooth landing of the drone.

[0083] exist Figure 2 Based on this, the embodiment of the present invention also provides a specific implementation method for adjusting the landing speed, please refer to Figure 4 , Figure 4 This is a flowchart of another method for controlling the landing of a drone provided by an embodiment of the present invention. Step S120 includes the following sub-steps:

[0084] Sub-step S1201, if the first height is greater than or equal to the second height, increase the landing speed.

[0085] In this embodiment, when the first height is greater than the second height, it means that the drone 10 is not descending but is in an upward trend. The reason for this may be that when the drone 10 lands quickly, due to the effect of wind resistance, the ground vibration is large, causing the ground acceleration obtained by the inertial navigation sensor to be wrong, which in turn causes the ground speed to be wrong, resulting in the estimated landing speed of the drone to be wrong, which in turn causes the drone to be unable to land or even lost. In order to make the drone 10 land normally and safely, it is necessary to increase the landing speed at this time. As a specific implementation method, the landing speed can be increased by integrating the landing speed. For example, the landing speed is represented by V_d, and the integration method of increasing the landing speed can be: V_d=V_d+0.05m / s. In order to control the landing speed more accurately, in general, V_d does not exceed 2m / s and is not less than 0.5m / s.

[0086] In this embodiment, the position H_last of the UAV at the previous moment can also be recorded. Every fixed time T_delt, the actual height H_real of the UAV is checked. If H_real >= H_last, the groundward velocity Vd is integrated. The integration method can be: V_d = V_d + 0.05m / s. V_d represents the groundward velocity, generally not exceeding 2m / s and not less than 0.5m / s.

[0087] In addition to increasing the landing speed, in some scenarios, if the UAV 10 lands too fast, it will cause the UAV to land unstably. For this scenario, the embodiment of the present invention also provides another implementation method for adjusting the landing speed. Please continue to refer to Figure 4 Step S120 further includes the following sub-steps:

[0088] Sub-step S1202, if the first height is less than the second height and the height difference between the second height and the first height is greater than the preset value, the landing speed is reduced.

[0089] In this embodiment, the preset value is the maximum value that can be descended within the preset period on the premise of ensuring the stable landing of the UAV 10. The first height being less than the second height means that the UAV 10 is in a descending trend, and the height difference between the second height and the first height being greater than the preset value means that the descending speed of the UAV is too fast, exceeding the maximum value that the speed can reach during the stable landing of the UAV. At this time, in order to ensure the stable landing of the UAV, the landing speed needs to be reduced. As a specific implementation method, the landing speed can be reduced by integrating the landing speed. For example, if the landing speed is represented by V_d, the integration method for reducing the landing speed can be: V_d = V_d - 0.05m / s. Generally, in order to more accurately control the landing speed, V_d does not exceed 2m / s and is not less than 0.5m / s.

[0090] In this embodiment, the position H_last of the UAV at the previous moment can also be recorded. Every fixed time T_delt, the actual height H_real of the UAV is checked. If H_real < H_last - V_d_max * T_delt, the groundward velocity is integrated, and V_d = V_d - 0.05m / s; V_d represents the groundward velocity, generally not exceeding 2m / s and not less than 0.5m / s.

[0091] In this embodiment, as a specific implementation method, the preset value can be calculated by the following method:

[0092] First, obtain the duration of the preset period.

[0093] Secondly, obtain the preset value according to the duration and the preset maximum speed.

[0094] In this embodiment, the preset maximum speed refers to the maximum speed that the drone can reach for a smooth landing. Different values ​​can be set for the preset maximum speed according to different requirements for stability. For example, in an emergency landing scenario, the drone 10 needs to land on the ground as quickly as possible. At this time, the preset maximum speed can be set higher. When the drone 10 performs a transportation task, in order to ensure the safety of the transported goods loaded by the drone 10, the preset maximum speed can be set lower. However, it can be understood that no matter how it is set, the preset maximum speed should always be the maximum speed that the drone 10 can reach. The maximum speed can be directly obtained from the performance parameters of the drone, or it can be calculated based on the performance parameters of the drone.

[0095] It should be noted that in addition to increasing or decreasing the landing speed according to the above-mentioned fixed preset step size, the current environment of the drone can also be considered. First, the environmental parameters of the current environment are obtained, and the preset step size is adjusted according to the environmental parameters. Then, the landing speed is increased or decreased according to the adjusted preset step size. The environmental parameters include but are not limited to wind speed, wind direction, wind tangent, atmospheric density, air pressure, etc.

[0096] In this embodiment, in order to reduce the amount of introduced error and to avoid unnecessary judgment, the embodiment of the present invention is based on Figure 2 Another method of drone landing control is provided, please refer to Figure 5 , Figure 5 The flowchart of another UAV landing control method provided by an embodiment of the present invention further includes step S111 before step S120.

[0097] Step S111: if the first height is less than the preset height or the landing time is less than or equal to the preset time, the landing speed is not adjusted, wherein the landing time is the time from when the UAV receives the landing command to the current moment.

[0098] In this embodiment, the situations where the landing speed is not adjusted include at least the following two situations: (1) the first altitude is less than the preset altitude, that is, the UAV 10 is currently within the preset altitude range, and the preset altitude can be set as needed, for example, the preset altitude is set to 1 meter. Within this preset altitude range, the user of the UAV 10 can already manually control the UAV, and there is no need to adjust the landing speed here, and the UAV can be safely landed manually; (2) the landing time is less than or equal to the preset time, and the preset time can be set as needed, for example, the preset time is set to 5 seconds. Since the UAV will have inertia when it just starts to land, the landing speed will not be adjusted within the preset time just after the landing is triggered.

[0099] In fact, there is another situation where the landing speed is not adjusted: if conditions (1) and (2) are not met, and the conditions for increasing the landing speed and decreasing the landing speed are not met, the landing speed is not adjusted at this time, that is, the drone lands at the current landing speed. Specifically:

[0100] If the first height is less than the second height, and the height difference between the second height and the first height is not greater than a preset value, the landing speed is not adjusted.

[0101] It can be understood that, as a specific implementation method, in step S111, it can first be determined whether the conditions for not adjusting the landing speed are met, that is, whether it belongs to the above two situations of not adjusting the landing speed. If the first height is less than the preset height or the landing time is less than or equal to the preset time, the conditions for not adjusting the landing speed are met, and there is no need to continue to execute step S120. If the conditions for not adjusting the landing speed are not met, that is, if the first height is greater than or equal to the preset height and the landing time is greater than the preset time, step S120 needs to be continued.

[0102] If necessary, step S111 may also be performed as Figure 4 Combination use, for example, step S111 is placed Figure 4 The judgment is performed before sub-steps S1201 and S1202 of step S120 to avoid unnecessary adjustment of the landing speed.

[0103] It should also be noted that Figure 5 This is just an example of a specific implementation method. Step S111 is placed after step S110. In fact, it can also be placed before step S110 and after step S100. The landing duration can also be obtained first. If the landing duration is less than or equal to the preset duration, there is no need to adjust the landing speed or continue to make other judgments. If the landing duration is greater than the preset duration, the first height is determined. If the first height is less than or equal to the preset height, there is no need to adjust the landing speed or continue to make other judgments. If the landing duration is greater than the preset duration and the first height is greater than the preset height, the first height and the second height are determined according to the preset period through the GPS positioning device, and the landing speed is adjusted according to the first height and the second height.

[0104] It should also be noted that, since the drone 10 normally descends gradually, that is, the first height should become smaller and smaller, in order to avoid unnecessary speed adjustment when the first height is less than the preset height, it is also possible to periodically detect whether the first height is less than the preset height before adjusting the landing speed according to the first height and the second height. Only when the first height is greater than or equal to the preset height, the landing speed will continue to be adjusted according to the first height and the second height, otherwise the landing speed will no longer be adjusted.

[0105] In order to more accurately obtain the landing speed of the drone within the current preset period, the embodiment of the present invention also provides a specific implementation method for obtaining the landing speed of the drone within the current preset period by using an inertial navigation sensor:

[0106] First, get the historical status of the drone at the last moment.

[0107] In this embodiment, the historical state is the state of the drone at the previous moment before the current moment.

[0108] Secondly, the inertial navigation data at the current moment is obtained through the inertial navigation sensor.

[0109] In this embodiment, the inertial navigation data includes, but is not limited to, acceleration and angular velocity of the attitude angle. Acceleration is used to characterize the motion state of the UAV in the horizontal and vertical directions, including the acceleration of the UAV in the horizontal and vertical directions. Angular velocity is used to characterize the change in the attitude of the UAV, and angular velocity includes the angular velocity of the pitch angle, the angular velocity of the yaw angle, and the angular velocity of the roll angle.

[0110] Third, obtain the current GPS data through the GPS positioning device.

[0111] In this embodiment, GPS data is used to characterize the location of the drone.

[0112] Finally, the estimated state of the UAV is obtained based on the inertial navigation data, GPS data and historical status, and the ground speed in the estimated state is used as the landing speed of the UAV in the current preset period.

[0113] In this embodiment, the current preset period may include multiple moments, each moment corresponds to an estimated state, and the estimated state of the drone can be obtained at any moment in the current preset period, and the ground speed in the estimated state obtained at this time is used as the landing speed of the drone in the current preset period. For example, the current preset period is 19:10:00~19:10:10, and the current moment is 19:10:05, then the ground speed in the estimated state corresponding to the current moment is the landing speed of the drone in the current preset period.

[0114] In this embodiment, the estimated state includes the estimated attitude and the estimated speed. As a specific implementation method, the main process of determining the estimated state of the drone at the current moment is:

[0115] (1) Obtain the historical state of the drone at the previous moment before the current moment. The historical state includes the historical attitude and historical speed. The historical speed includes the historical ground speed and historical horizontal speed.

[0116] (2) Obtaining the current inertial navigation data and the current GPS data;

[0117] (3) Obtain the attitude matrix based on the angular velocity of the inertial navigation data at the current moment;

[0118] (4) Obtain the predicted posture at the current moment based on the historical posture and posture matrix;

[0119] (5) Obtaining predicted speed based on historical speed and current GPS data, including predicted ground speed and predicted horizontal speed;

[0120] (6) The predicted attitude and predicted speed are corrected according to the GPS data at the current moment, and the corrected predicted attitude and corrected predicted speed are used as the estimated state.

[0121] It should be noted that the estimated state at the current moment will be used as the historical state of the drone at the next moment, and the above-mentioned process of determining the estimated state will continue. Taking the optimization cycle of the estimated state as 1 second as an example, that is, the estimated state is updated every 1 second, the estimated state corresponding to the current moment 19:10:05 is obtained by taking the estimated state obtained at the previous moment 19:10:04 as the historical state, and combining the inertial navigation data and GPS data at the current moment for estimation and adjustment, and the estimated state at 19:10:05 will be used as the historical state for calculating the estimated state at 19:10:05.

[0122] In order to execute the corresponding steps in the above embodiment and each possible implementation method, an implementation method of the drone landing control device 100 is given below. Figure 6 , Figure 6 FIG. 1 is a block diagram of a drone landing control device 100 provided in an embodiment of the present invention. It should be noted that the drone landing control device 100 provided in this embodiment is applied to Figure 1 The basic principle and technical effects of the drone 10 are the same as those of the above-mentioned embodiment, and are not mentioned in this embodiment for the sake of brief description.

[0123] The drone landing control device 100 includes a determination module 110 , an acquisition module 120 and an adjustment module 130 .

[0124] The determination module 110 is used to determine the first height of the drone in the current preset period and the second height of the drone in the previous preset period continuous with the current preset period through a GPS positioning device.

[0125] The acquisition module 120 is used to acquire the landing speed of the UAV within the current preset period through the inertial navigation sensor.

[0126] As a specific implementation, the acquisition module 120 is specifically used to: obtain the historical state of the drone at the previous moment; obtain the inertial navigation data of the current moment through the inertial navigation sensor; obtain the GPS data of the current moment through the GPS positioning device; obtain the estimated state of the drone based on the inertial navigation data, GPS data and historical state, and use the ground speed in the estimated state as the landing speed of the drone within the current preset period.

[0127] The adjustment module 130 is used to adjust the landing speed according to the first height and the second height.

[0128] As a specific implementation, the adjustment module 130 is specifically configured to: if the first height is greater than or equal to the second height, increase the landing speed.

[0129] As a specific implementation, the adjustment module 130 is further configured to reduce the landing speed if the first height is smaller than the second height and the height difference between the second height and the first height is larger than a preset value.

[0130] As a specific implementation, before the adjustment module 130 is used to reduce the descent speed if the first height is less than the second height and the height difference between the second height and the first height is greater than a preset value, it is specifically used to: obtain the duration of the preset cycle; and obtain a preset value based on the duration and the maximum value of the preset speed.

[0131] As a specific implementation, the adjustment module 130 is also used for: if the first height is less than the preset height or the landing time is less than or equal to the preset time, then the landing speed is not adjusted, wherein the landing time is the time from when the drone receives the landing command to the current moment.

[0132] As a specific implementation, the adjustment module 130 is further configured to: if the first height is less than the second height, and the height difference between the second height and the first height is not greater than a preset value, then not adjust the landing speed.

[0133] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned drone landing control method is implemented.

[0134] In summary, the embodiments of the present invention provide a method and device for controlling the landing of a drone, a drone and a storage medium, which are applied to a drone, wherein the drone includes an inertial navigation sensor and a GPS positioning device, and the method includes: determining the first height of the drone in the current preset period and the second height of the drone in the last preset period continuous with the current preset period through the GPS positioning device; obtaining the landing speed of the drone in the current preset period through the inertial navigation sensor; and adjusting the landing speed according to the first height and the second height. Compared with the prior art, the embodiments of the present invention determine the first height of the drone in the current preset period and the second height of the drone in the last preset period continuous with the current preset period through the GPS positioning device of the drone, obtain the landing speed of the drone in the current preset period through the inertial navigation sensor of the drone, adjust the landing speed according to the first height and the second height, and achieve safe and smooth landing of the drone by controlling the landing speed of the drone according to the dynamic change of the height of the drone.

[0135] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling the landing of an unmanned aerial vehicle, characterized in that: Applied to a drone, the drone includes an inertial navigation sensor and a GPS positioning device, and the method includes: Determine, by means of the GPS positioning device, a first altitude of the drone in a current preset period and a second altitude of the drone in a previous preset period that is continuous with the current preset period; Acquire the landing speed of the UAV within the current preset period through the inertial navigation sensor; According to the first height and the second height, adjusting the landing speed or maintaining the landing speed, wherein the manner of adjusting the landing speed includes increasing the landing speed or decreasing the landing speed; The step of adjusting the landing speed according to the first height and the second height comprises: If the first height is less than the second height, and the height difference between the second height and the first height is greater than a preset value, the landing speed is reduced, and the preset value is the maximum value of the descent within the preset period while ensuring that the drone lands smoothly.

2. The UAV landing control method according to claim 1, characterized in that: The step of adjusting the landing speed according to the first height and the second height further comprises: If the first height is greater than or equal to the second height, the descent speed is increased.

3. The UAV landing control method according to claim 1, characterized in that: If the first height is less than the second height, and the height difference between the second height and the first height is greater than a preset value, the step of reducing the landing speed includes: Get the duration of the preset cycle; The preset value is obtained according to the duration and the preset speed maximum value.

4. The UAV landing control method according to claim 1, characterized in that: The method further comprises: If the first height is less than a preset height or the landing time is less than or equal to a preset time, the landing speed is not adjusted, wherein the landing time is the time from when the UAV receives the landing command to the current moment.

5. The UAV landing control method according to claim 1, characterized in that: The step of maintaining the landing speed according to the first height and the second height comprises: If the first height is less than the second height and the height difference between the second height and the first height is not greater than a preset value, the landing speed is not adjusted.

6. The UAV landing control method according to claim 1, characterized in that: The step of obtaining the landing speed of the UAV within the current preset period by the inertial navigation sensor includes: Get the historical status of the drone at the last moment; Acquire the inertial navigation data at the current moment through the inertial navigation sensor; Acquire the current GPS data through the GPS positioning device; The estimated state of the UAV is obtained according to the inertial navigation data, the GPS data and the historical state, and the ground speed in the estimated state is used as the landing speed of the UAV in the current preset period.

7. A UAV landing control device, characterized in that: Applied to a drone, the drone includes an inertial navigation sensor and a GPS positioning device, the device includes: A determination module, used to determine, through the GPS positioning device, a first altitude of the drone in a current preset period and a second altitude of the drone in a previous preset period that is continuous with the current preset period; An acquisition module, used to acquire the landing speed of the UAV within the current preset period through the inertial navigation sensor; an adjusting module, configured to adjust the landing speed or maintain the landing speed according to the first height and the second height, wherein the manner of adjusting the landing speed includes increasing the landing speed or decreasing the landing speed; The adjustment module is specifically used to reduce the landing speed if the first height is less than the second height and the height difference between the second height and the first height is greater than a preset value, and the preset value is the maximum value of the descent within the preset period while ensuring that the drone lands smoothly.

8. A drone, comprising a memory and a controller, characterized in that: The drone also includes an inertial navigation sensor and a GPS positioning device, and the controller implements the drone landing control method as described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the controller, the drone landing control method as described in any one of claims 1 to 6 is implemented.

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