Formation aircraft optional designated aircraft hovering test method, system and application

Abstract

The application belongs to the technical field of unmanned aerial vehicles, and discloses a hovering test method and system for selected designated aircraft of formation aircraft and application. The method comprises the following steps: the aircraft enters a GPS fixed solution state; a ground station automatically numbers the position and placement distance of the aircraft; the ground station takes the height of the original point aircraft as a reference height and issues a hovering instruction; the aircraft receives the hovering instruction, takes the current position longitude and latitude and the height issued by the ground station as a target position, and performs hovering flight without time limit by default; after completing the hovering test, an operation operator clicks landing, and flight test is completed. Through optimization of the hovering test scheme of the formation aircraft, the aircraft can perform flight test after the ground station issues the flight height, and the test duration when the aircraft flies to a low battery level by default, which improves the flexibility of aircraft verification, and a one-key landing is matched to perfectly replace the hovering test of the dance step waypoint position flight.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and particularly relates to a hovering test method, system and application for selecting a designated aircraft in a formation of aircraft. Background Technology

[0002] Before a formation flight performance, it is impossible to quickly confirm the status of individual aircraft at the performance site. Downloading hovering dance steps is time-consuming and laborious. It is necessary to first generate hovering test steps based on the site conditions, which has certain requirements for the geographical location and environment. In summary, on-site confirmation of individual aircraft status is time-consuming and laborious. Designing a method for rapid hovering flight test of formation aircraft to verify the status of individual aircraft has become a technical problem that needs to be solved.

[0003] Based on the above analysis, the problems and shortcomings of the existing technology are as follows: In the existing technology, before a formation flight performance, a test flight is designed based on the actual latitude, longitude, and altitude of the environment, using a flight hovering dance step. This test verification flight method is too lengthy and cumbersome, and cannot flexibly and quickly perform status detection and verification of a formation of aircraft with an unknown number and placement.

[0004] Moreover, existing technology makes it impossible for formation aircraft to verify the overall aircraft status of the fleet through dance waypoint flights, resulting in low efficiency of self-checks before formation aircraft performances. Summary of the Invention

[0005] To overcome the problems existing in related technologies, the present invention discloses an embodiment of a hovering test method, system, and application for selectively designating aircraft in a formation. The purpose of this invention is to provide a method for quickly screening aircraft with abnormal flight patterns by having a ground station selectively issue hovering altitudes to designated aircraft based on the current latitude and longitude position.

[0006] The technical solution is as follows: A hovering test method for selectively designating aircraft in a formation includes:

[0007] Before takeoff, the aircraft in the formation are arranged in layers, and the distance between them is preset. They are then sorted according to the shortest straight line connection, with the shortest distance connecting them, and they are prepared for takeoff in front-to-back order.

[0008] Flight altitude setting: When multiple aircraft with similar serial numbers are placed close together, the hovering altitude spacing is set according to the horizontal spacing.

[0009] The default takeoff altitude for the aircraft group is set, and then the hovering flight altitude is issued to the individual aircraft according to the actual placement spacing, and the individual aircraft then hovers.

[0010] After the hovering test, the aircraft landed in layers, and the hovering ended.

[0011] In one embodiment of the present invention, when multiple aircraft with similar serial numbers have a preset horizontal spacing of less than 1 meter between them, the hovering height spacing is set to 2 meters.

[0012] When the horizontal spacing is greater than 1 meter and less than 2 meters, the hovering height spacing is set to 1 meter.

[0013] When the horizontal spacing is greater than 2 meters, the hovering height is consistent, and no height spacing is set.

[0014] In one embodiment of the present invention, the layered landing and hovering end includes: the aircraft near the ground first performs a descent operation, and then the upper-level aircraft gradually descends until the aircraft with the highest hovering altitude completes the landing operation, and the hovering flight ends.

[0015] In one embodiment of the present invention, the hovering test method for the formation aircraft, which may be a designated aircraft, specifically includes the following steps:

[0016] S1, the formation of aircraft is arranged according to the location of the performance;

[0017] S2, individual aircraft go online at the ground station and set up a base station to connect to the ground station;

[0018] S3, the aircraft enters GPS fixed solution status to confirm the accuracy of the formation aircraft's upcoming performance position;

[0019] S4, the ground station automatically numbers the aircraft positions and spacing.

[0020] S5, collects aircraft altitude information at the origin;

[0021] S6, the ground station presets the distance between individual aircraft in the aircraft group and sets the relative hovering altitude;

[0022] S7, issue flight test altitude; issue hovering command;

[0023] S8, other aircraft receive hovering instructions, take their current latitude and longitude and the altitude sent by the ground station as the target position, perform hovering flight, and make the default;

[0024] After completing the hovering test, the S9 landed in layers, ending the hovering process.

[0025] In one embodiment of the present invention, in step S7, after the ground station issues the flight test altitude, the aircraft conducts a flight test, which is assumed to last until the battery is low.

[0026] In one embodiment of the present invention, step S8, which involves hovering flight with the current latitude and longitude and the altitude issued by the ground station as the target position, and includes the following default settings:

[0027] The default ground station hover start time is set to 5 seconds after the current time, with no end time set. When landing is required, a landing command is issued to initiate the landing, and the hover time is 10 minutes.

[0028] Another object of the present invention is to provide an optional hovering test system for a formation of aircraft, comprising:

[0029] The RTCM data receiving module is used to receive RTCM data sent by the configured base station;

[0030] The GPS fixed solution module is used to perform GPS fixed solution for the aircraft and determine whether the current position is accurate.

[0031] The numbering processing module is used by the ground station to number the test aircraft.

[0032] Origin aircraft altitude acquisition module, used to collect origin aircraft altitude information;

[0033] The hovering relative height setting module is used by the ground station to preset the distance between individual aircraft in the aircraft group and set the hovering relative height.

[0034] The flight test altitude command sending module is used to issue flight test altitudes and hover commands.

[0035] The hovering flight command execution module is used for formation aircraft to hover based on their current latitude and longitude and the altitude position issued by the ground station;

[0036] The landing execution module is used to perform layered landings and end hovering after the test is completed.

[0037] Another object of the present invention is to provide a formation aircraft that performs a hovering test method for a selectable aircraft during flight.

[0038] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the hovering test method for selected aircraft in a formation.

[0039] Another object of the present invention is to provide an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the hovering test method for selectively designated aircraft in formation aircraft.

[0040] Another object of the present invention is to provide an application of the hovering test method for selectively designated aircraft in formation aircraft in hovering in a large-scale performance environment.

[0041] Another object of the present invention is to provide an application of the hovering test method for selectively designated aircraft in formation aircraft during hovering in different geographical environments.

[0042] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows:

[0043] First, in view of the technical problems existing in the prior art and the difficulty of solving these problems, and closely combining the technical solution to be protected by this invention with the results and data in the research and development process, this invention provides a detailed and in-depth analysis of how the technical solution of this invention solves the technical problems and the creative technical effects brought about after solving the problems. The specific description is as follows: This invention provides a hovering test method for formation aircraft that can select designated aircraft. It uses the altitude returned by the formation origin aircraft, the ground station selects the aircraft to be tested, and realizes the function of layered flight of aircraft according to the distance between aircraft. This solves the problem of verifying the overall aircraft status of the formation aircraft by flying through dance waypoints, and improves the efficiency of self-checking before formation aircraft performance.

[0044] Secondly, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by this invention are specifically described as follows: This invention optimizes the hovering test scheme for formation aircraft. After the ground station issues the flight altitude, the aircraft can conduct flight tests. The default test duration is until the battery is low, which improves the flexibility of aircraft verification. With one-click landing, it perfectly replaces the hovering test of flying at the waypoint position. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0046] Figure 1 This is a flowchart of an optional hovering test method for a formation of aircraft provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the optional hovering test method for formation aircraft provided in this embodiment of the invention;

[0048] Figure 3 This is a schematic diagram of an optional hovering test system for a formation of aircraft provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram demonstrating the flight to a set altitude and hovering, provided in an embodiment of the present invention.

[0050] In the diagram: 1. RTCM data receiving module; 2. GPS fixed solution module; 3. Numbering processing module; 4. Origin aircraft altitude acquisition module; 5. Hovering relative altitude setting module; 6. Flight test altitude command sending module; 7. Hovering flight command execution module; 8. Landing execution module. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0052] I. Explanation of the Implementation Example:

[0053] Currently, the hovering function of formation aircraft is only for individual aircraft, and cannot achieve unified hovering processing for the entire group of aircraft.

[0054] When aircraft in a formation are hovering, there is a need to ensure that the aircraft take off in layers. Direct takeoff may cause interference between the aircraft and lead to crashes.

[0055] Example 1

[0056] The optional hovering test method for formation aircraft provided in this embodiment of the invention includes:

[0057] Before taking off in a formation of aircraft, the distance between the aircraft needs to be preset, and the aircraft should be sorted according to the shortest straight line connection. The aircraft with the shortest distance should be connected to each other and prepared for takeoff in the order from front to back.

[0058] Flight Altitude Setting: When multiple aircraft with similar serial numbers are positioned close together, if the horizontal spacing between them is less than 1 meter, the hovering altitude spacing is set to 2 meters. If the horizontal spacing is greater than 1 meter but less than 2 meters, the hovering altitude spacing is set to 1 meter. If the horizontal spacing is greater than 2 meters, the hovering altitudes are uniform, and no altitude spacing setting is required. The default takeoff altitude for the entire group is 2 meters. Then, hovering flight altitudes are assigned to individual aircraft based on the actual spacing, and the individual aircraft then perform hovering flight.

[0059] To reduce interference between aircraft hovering and descending at close range, the aircraft closest to the ground descends first, followed by the upper-level aircraft, until the aircraft at the highest hovering altitude completes its landing, thus ending the hovering flight.

[0060] Example 2

[0061] like Figure 1 As shown, the optional hovering test method for a formation of aircraft provided in this embodiment of the invention includes the following steps:

[0062] S101, the formation of aircraft is arranged according to the location of the upcoming performance;

[0063] S102, individual aircraft go online at the ground station and set up a base station to connect to the ground station;

[0064] S103, the aircraft enters GPS fixed solution state (at this moment the aircraft's positioning is at the centimeter level, and the position is considered accurate and reliable);

[0065] Those skilled in the art will understand that when an aircraft receives differential data from a base station, the positioning mode will achieve a fixed solution. The GPS fixed solution involves algorithms from some board manufacturers, which can be obtained through publicly available information in the industry.

[0066] S104, the ground station automatically numbers the aircraft positions and spacing;

[0067] Those skilled in the art will understand that this means: the items are placed according to a 1.5m x 1.5m spacing and automatically numbered.

[0068] S105: Collects aircraft altitude information at the origin; Ground station presets the distance between individual aircraft in the fleet and sets the relative hovering altitude; Issues flight test altitude; Issues hovering command.

[0069] Those skilled in the art will understand that the originating aircraft is a specific aircraft, and the reference point aircraft is the basis for formation flying. It is not innovative and requires no further description. The ground station will send the reference point aircraft's altitude to each individual aircraft in the formation. Each aircraft compares this altitude with its own altitude read via GPS to obtain the altitude difference. Aircraft that do not meet the requirements only need to be equipped with a base station so that they can receive the RTCM differential data sent by the base station to meet the requirements and satisfy the hovering condition.

[0070] S106, the aircraft receives a hovering command and uses its current latitude and longitude and the altitude sent by the ground station as the target position to perform hovering flight. By default, there is no time limit.

[0071] S107: After completing the hovering test, the operations personnel landed in layers, and the hovering ended.

[0072] Example 3

[0073] Based on the optional hovering test method for formation aircraft provided in the embodiments of the invention, further, in step S106, the ground station defaults to setting the hovering start time to 5 seconds after the current time, and the end time is not set. When landing is required, the landing command is clicked to initiate the landing. The hovering time is generally within 10 minutes. When the aircraft is placed on the ground and hovering, the longitude and latitude are exactly the same in the position coordinate system, only the altitude deviates. After comparing with the current altitude, the altitude difference is obtained, and the aircraft can fly to the corresponding altitude.

[0074] Example 4

[0075] like Figure 2 As shown, the optional hovering test method for a formation of aircraft provided in this embodiment of the invention includes the following steps:

[0076] Step 1: Arrange the aircraft in formation on the field;

[0077] Step 2: Individual aircraft go online at the ground station;

[0078] Step 3: Configure the base station and send RTCM data;

[0079] Step 4, fix the aircraft's GPS location;

[0080] Step 5: The ground station assigns a serial number to the test aircraft;

[0081] Step 6: Collect the aircraft altitude information at the origin.

[0082] Step 7: The ground station presets the distance between individual aircraft in the fleet and sets the relative hovering altitude;

[0083] Step 8: Issue flight test altitude;

[0084] Step 9: The formation aircraft hovers based on their current latitude and longitude and the altitude position issued by the ground station;

[0085] Step 10: After the formation aircraft completes the hovering test, the aircraft closest to the ground will descend first, and then the upper-level aircraft will gradually descend until the aircraft with the highest hovering altitude completes the landing operation, thus ending the hovering flight.

[0086] Example 5

[0087] like Figure 3 As shown, the optional hovering test system for formation aircraft provided in this embodiment of the invention includes:

[0088] RTCM data receiving module 1 is used to receive RTCM data sent by the configured base station;

[0089] GPS fixed solution module 2 is used to perform GPS fixed solution for the aircraft and determine whether the current position is accurate.

[0090] Numbering processing module 3 is used by the ground station to number the test aircraft.

[0091] Origin aircraft altitude acquisition module 4 is used to acquire origin aircraft altitude information;

[0092] Hovering relative height setting module 5 is used by the ground station to preset the distance between individual aircraft in the aircraft group and set the hovering relative height.

[0093] Flight test altitude command sending module 6 is used to issue flight test altitude and hover command;

[0094] Hovering flight command execution module 7 is used for formation aircraft to hover based on the latitude and longitude of their current location and the altitude position issued by the ground station;

[0095] The landing execution module 8 is used to perform a layered landing and end the hovering process after the test is completed.

[0096] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0097] The information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of the present invention. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0098] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0099] II. Application Examples:

[0100] This invention also provides a computer device comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in the above embodiments of the hovering test method for any of the various formation aircraft groups.

[0101] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described embodiments of the optional hovering test methods for various formation aircraft groups.

[0102] This invention also provides an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the steps in the hovering test method embodiments of the various formation aircraft groups described above. The information data processing terminal is not limited to mobile phones, computers, or switches.

[0103] This invention also provides a server that, when executed on an electronic device, provides a user input interface to implement the steps in the hovering test method embodiments of the various formation aircraft groups described above.

[0104] This invention provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps in the above-described hovering test method embodiments for various formation aircraft groups.

[0105] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0106] III. Evidence of the relevant effects of the embodiments:

[0107] like Figure 4 As shown, the hovering height is set to 3m. After the waiting time is reached, the aircraft motors unlock, the status is 1, and the aircraft enters the hovering state. The actual flight altitude is from -5.7m to -2.7m, and then back to the set altitude. The hovering demonstration is complete.

[0108] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A hovering test method for selectively designating aircraft in a formation, characterized in that, The method includes: Before takeoff, the aircraft in the formation are arranged in layers, and the distance between them is preset. They are then sorted according to the shortest straight line connection, with the shortest distance connecting them, and they are prepared for takeoff in front-to-back order. Flight altitude setting: When multiple aircraft with similar serial numbers are placed close together, the hovering altitude spacing is set according to the horizontal spacing. The default takeoff altitude for the aircraft group is set, and then the hovering flight altitude is issued to the individual aircraft according to the actual placement spacing, and the individual aircraft then hovers. After the hovering test, the aircraft landed in layers, and the hovering ended. When multiple aircraft with similar serial numbers are positioned close together, and the horizontal spacing between them is less than 1 meter, the hovering height spacing is set to 2 meters. When the horizontal spacing is greater than 1 meter and less than 2 meters, the hovering height spacing is set to 1 meter. When the horizontal spacing is greater than 2 meters, the hovering height is consistent, and no height spacing is set. Layered landing and hovering completion include: the aircraft closest to the ground descends first, and then the upper-level aircraft gradually descend until the aircraft with the highest hovering altitude completes its landing, thus ending the hovering flight.

2. The hovering test method for selected aircraft in formation according to claim 1, characterized in that, The hovering test method for the selected aircraft in the formation includes the following steps: S1, the formation of aircraft is arranged according to the location of the performance; S2, individual aircraft go online at the ground station and set up a base station to connect to the ground station; S3, the aircraft enters GPS fixed solution status to confirm the accuracy of the formation aircraft's upcoming performance position; S4, the ground station automatically numbers the aircraft positions and spacing; S5, collects aircraft altitude information at the origin; S6, the ground station presets the distance between individual aircraft in the aircraft group and sets the relative hovering altitude; S7, issue flight test altitude; issue hovering command; S8, other aircraft receive hovering instructions, take their current latitude and longitude and the altitude sent by the ground station as the target position, perform hovering flight, and make the default; After completing the hovering test, the S9 landed in layers, ending the hovering process.

3. The hovering test method for selected aircraft in formation according to claim 2, characterized in that, In step S7, after the ground station issues the flight test altitude, the aircraft conducts a flight test, which is scheduled to continue until the battery is low.

4. The hovering test method for selectively designating aircraft in a formation as described in claim 2, characterized in that, Step S8 describes hovering flight using the current latitude and longitude and the altitude sent by the ground station as the target position, and includes the following default settings: The default ground station hover start time is set to 5 seconds after the current time, with no end time set. When landing is required, a landing command is issued to initiate the landing, and the hover time is 10 minutes.

5. A system for implementing the hovering test method for selectively designating aircraft in a formation as described in any one of claims 1-3, characterized in that, The optional hovering test systems for this formation of aircraft include: RTCM data receiving module (1) is used to receive RTCM data sent by the configured base station; GPS fixed solution module (2) is used to perform GPS fixed solution of the aircraft and determine whether the current position is accurate. The numbering processing module (3) is used by the ground station to number the test aircraft; Origin aircraft altitude acquisition module (4) is used to acquire origin aircraft altitude information; The hovering relative height setting module (5) is used by the ground station to preset the distance between individual aircraft in the aircraft group and set the hovering relative height. The flight test altitude command sending module (6) is used to issue flight test altitude and issue hovering commands. The hovering flight command execution module (7) is used for the formation aircraft to hover based on the latitude and longitude of the current position and the altitude position issued by the ground station; The landing execution module (8) is used to perform layered landing and hovering after the test is completed.

6. A formation aircraft, characterized in that, When the formation aircraft are flying, they perform the hovering test method of any one of claims 1-3, which can be selected by the formation aircraft.

7. A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the hovering test method for a selected aircraft in a formation as described in any one of claims 1-3.

8. The application of a hovering test method for selectively designated aircraft in formation aircraft as described in any one of claims 1-3 in hovering during large-scale performances and surveys in different geographical environments.

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