A method, device and computer readable storage medium for integrated flight control

Abstract

The application discloses a method and device for controlling a combined flight and a computer readable storage medium, wherein the method comprises: selecting a second aircraft whose second flight parameter meets a second order parameter when a first flight parameter of a first aircraft does not meet a first order parameter; controlling the first aircraft to be structurally and / or electrically connected with the second aircraft when preparing for takeoff; supplementing the first battery pack of the first aircraft with electric quantity from the second battery pack of the second aircraft and / or providing the first power assembly of the first aircraft with electric quantity when starting takeoff; and disconnecting the structural and / or electric connection when the first flight parameter meets the first order parameter. The application realizes an electric quantity balancing scheme based on dynamic combined flight of multiple aircrafts, and effectively solves the problem of poor timeliness of air logistics caused by temporary change of orders and limited battery endurance.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a combined flight control method, device and computer-readable storage medium. Background Technology

[0002] In the current technology, with the continuous development of unmanned aerial vehicle technology, logistics services based on drones have begun to become popular.

[0003] However, due to limitations in drone battery capacity and the ever-increasing volume of cargo, current drone battery life is insufficient to meet real-time order demands. In particular, once a drone enters the takeoff area, if it is detected that the weight of newly added cargo exceeds the limit, or if the order distance exceeds the limit due to order changes, the drone cannot be replenished with battery power in a timely and effective manner.

[0004] In conclusion, how to provide timely and effective power replenishment for drones with insufficient battery power to sustain their flight range during the pre-takeoff phase has become a pressing technical problem that needs to be solved. Summary of the Invention

[0005] To address the aforementioned technical deficiencies in the prior art, this invention proposes a combined flight control method, which includes:

[0006] When it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, the second aircraft whose second flight parameters meet the second order parameters is selected.

[0007] During takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft.

[0008] At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or supplies power to the first power unit of the first aircraft.

[0009] When the first flight parameter is detected to meet the first order parameter, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled.

[0010] Optionally, the step of selecting a second aircraft whose second flight parameters meet the second order parameters when the first aircraft's first flight parameters are detected as not meeting the first order parameters includes:

[0011] Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters;

[0012] When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

[0013] Optionally, the step of controlling the first aircraft and the second aircraft to form a combined aircraft during takeoff preparation includes:

[0014] Detect whether the difference in battery power is greater than a first preset value;

[0015] When the power difference is less than the first preset value, the first aircraft is controlled to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, the first aircraft is controlled to make the structural connection and the electrical connection with the second aircraft.

[0016] Optionally, the step of replenishing the first battery pack of the first aircraft and / or providing power to the first power unit of the first aircraft via the second battery pack of the second aircraft at the start of takeoff includes:

[0017] Detect the connection type of the combined aircraft;

[0018] When the connection type is the electrical connection, the second battery pack replenishes the first battery pack with power. When the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack with power and provides power to the first power assembly.

[0019] Optionally, the step of disconnecting the structural connection and / or the electrical connection and disassembling the combined aircraft when the first flight parameter is detected to meet the first order parameter includes:

[0020] Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type;

[0021] If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the replenishment of power to the first battery pack through the second battery pack is stopped, and power is supplied to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

[0022] The present invention also proposes a combined flight control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the following:

[0023] When it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, the second aircraft whose second flight parameters meet the second order parameters is selected.

[0024] During takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft.

[0025] At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or supplies power to the first power unit of the first aircraft.

[0026] When the first flight parameter is detected to meet the first order parameter, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled.

[0027] Optionally, the computer program is implemented when executed by the processor as follows:

[0028] Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters;

[0029] When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

[0030] Optionally, the computer program is implemented when executed by the processor as follows:

[0031] Detect whether the difference in battery power is greater than a first preset value;

[0032] When the power difference is less than the first preset value, the first aircraft is controlled to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, the first aircraft is controlled to make the structural connection and the electrical connection with the second aircraft.

[0033] Optionally, the computer program is implemented when executed by the processor as follows:

[0034] Detect the connection type of the combined aircraft;

[0035] When the connection type is the electrical connection, the second battery pack replenishes the first battery pack with power; when the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack with power and provides power to the first power assembly.

[0036] Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type;

[0037] If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the replenishment of power to the first battery pack through the second battery pack is stopped, and power is supplied to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

[0038] The present invention also proposes a computer-readable storage medium storing a combined flight control program, which, when executed by a processor, implements the steps of the combined flight control method as described in any of the preceding claims.

[0039] The combined flight control method, device, and computer-readable storage medium of this invention, when detecting that a first flight parameter of a first aircraft does not meet a first order parameter, selects a second aircraft whose second flight parameter meets the second order parameter; during takeoff preparation, controls the first aircraft and the second aircraft to form a combined aircraft through structural and / or electrical connection; at the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or provides power to the first power assembly of the first aircraft; when detecting that the first flight parameter meets the first order parameter, disconnects the structural and / or electrical connection, disassembling the combined aircraft. This achieves a power balancing scheme based on the combined flight of multiple aircraft, effectively solving the problem of poor timeliness in air logistics caused by temporary order changes and limited battery life. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0041] Figure 1 This is the first flowchart of the combined flight control method of the present invention;

[0042] Figure 2 This is the second flowchart of the combined flight control method of the present invention;

[0043] Figure 3 This is the third flowchart of the combined flight control method of the present invention;

[0044] Figure 4 This is the fourth flowchart of the combined flight control method of the present invention;

[0045] Figure 5 This is the fifth flowchart of the combined flight control method of the present invention. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0047] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0048] Figure 1 This is a first flowchart of the combined flight control method of the present invention. This embodiment proposes a combined flight control method, which includes:

[0049] S1. When it is detected that the first flight parameter of the first aircraft does not meet the first order parameter, select the second aircraft whose second flight parameter meets the second order parameter.

[0050] S2. During takeoff preparation, control the first aircraft and the second aircraft to make structural and / or electrical connections to form a combined aircraft;

[0051] S3. At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or provides power to the first power unit of the first aircraft.

[0052] S4. When the first flight parameter is detected to meet the first order parameter, disconnect the structural connection and / or the electrical connection, and disassemble the combined aircraft.

[0053] Optionally, in this embodiment, both the first aircraft and the second aircraft are fixed-wing unmanned aerial vehicles (UAVs), and such fixed-wing UAVs are provided with structural connection components and electrical connection components. The two fixed-wing UAVs can be structurally connected through the structural connection components and electrically connected through the electrical connection components.

[0054] Furthermore, the aforementioned structural connection components are of fixed length. After the two fixed-wing UAVs complete the structural connection, the two fixed-wing UAVs are rigidly connected, and the propulsion power of both parties acts on both parties.

[0055] Furthermore, the aforementioned electrical connection component is of a non-fixed length. After the two fixed-wing UAVs complete the structural connection, the length of the connecting line between the two fixed-wing UAVs is the fixed length of the aforementioned structural connection component. However, when the two fixed-wing UAVs do not complete the structural connection but only the electrical connection, the length of the electrical connection component is greater than the aforementioned fixed length. In this case, the propulsion power of both parties only acts on themselves.

[0056] Optionally, in this embodiment, considering a practical scenario where a temporary change in an order causes the battery life of a certain fixed-wing drone to be insufficient to meet the order's requirements, even if the drone's battery is fully charged or replaced with a fully charged battery, its battery life still cannot meet the order's requirements. In this case, this embodiment will temporarily allocate other fixed-wing drones with sufficient power within the takeoff and landing site to take off together with the first drone. Based on this combined aircraft, on the one hand, other fixed-wing drones can directly provide charging power to the first drone; on the other hand, other fixed-wing drones can also directly provide propulsion power to the first drone.

[0057] The beneficial effect of this embodiment is that, when it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, a second aircraft whose second flight parameters meet the second order parameters is selected; during takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft; at the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or provides power to the first power assembly of the first aircraft; when it is detected that the first flight parameters meet the first order parameters, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled. This achieves a power balancing scheme based on the combined flight of multiple aircraft, effectively solving the problem of poor timeliness in air logistics caused by temporary order changes and limited battery life.

[0058] Figure 2 This is a second flowchart of the combined flight control method of the present invention. Based on the above embodiment, the step of selecting a second aircraft whose second flight parameters meet the second order parameters when the first flight parameters of the first aircraft are detected not to meet the first order parameters includes:

[0059] S11. Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters;

[0060] S12. When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

[0061] Optionally, in this embodiment, flight parameters include battery parameters and energy consumption parameters, and order parameters include transportation distance and cargo weight.

[0062] Optionally, in this embodiment, the required electricity is calculated based on the aforementioned transportation distance, cargo weight, and energy consumption parameters, and the available electricity is obtained based on the electricity parameters. Therefore, when the required electricity is greater than the available electricity, the difference between the required electricity and the available electricity is used as the electricity difference; conversely, when the required electricity is less than or equal to the available electricity, the difference between the available electricity and the required electricity is used as the remaining electricity balance.

[0063] Optionally, in this embodiment, when the power difference of the first aircraft is positive, it is determined that the first flight parameters do not meet the first order parameters.

[0064] Optionally, in this embodiment, when the battery balance of the first aircraft is positive and less than or equal to a preset battery value, it is determined that the first flight parameters do not meet the first order parameters.

[0065] Figure 3 This is the third flowchart of the combined flight control method of the present invention. Based on the above embodiments, the step of controlling the first aircraft and the second aircraft to form a combined aircraft during takeoff preparation includes:

[0066] S21. Detect whether the power difference is greater than a first preset value;

[0067] S22. When the power difference is less than the first preset value, control the first aircraft to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, control the first aircraft to make the structural connection and the electrical connection with the second aircraft.

[0068] Optionally, in this embodiment, the first preset value is determined based on the first takeoff energy consumption of the first aircraft. For example, the first preset value is positively correlated with the first takeoff energy consumption.

[0069] Optionally, in this embodiment, the first preset value is the first takeoff energy consumption.

[0070] Optionally, in this embodiment, the first preset value is determined based on the second takeoff energy consumption of the second aircraft. For example, the first preset value is positively correlated with the second takeoff energy consumption.

[0071] Optionally, in this embodiment, the first preset value is the second takeoff energy consumption.

[0072] Optionally, in this embodiment, the first preset value is determined based on the first takeoff energy consumption of the first aircraft and the second takeoff energy consumption of the second aircraft. For example, the first preset value is positively correlated with the sum of the first takeoff energy consumption and the second takeoff energy consumption.

[0073] Optionally, in this embodiment, the first preset value is the sum of the first takeoff energy consumption and the second takeoff energy consumption, or the first preset value is the average of the sum of the first takeoff energy consumption and the second takeoff energy consumption, or the first preset value is the larger of the first takeoff energy consumption and the second takeoff energy consumption.

[0074] Figure 4 This is the fourth flowchart of the combined flight control method of the present invention. Based on the above embodiments, the step of replenishing the first battery pack of the first aircraft and / or providing power to the first power unit of the first aircraft through the second battery pack of the second aircraft at the start of takeoff includes:

[0075] S31. Detect the connection type of the combined aircraft;

[0076] S32. When the connection type is the electrical connection, the second battery pack replenishes the first battery pack with power. When the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack with power and provides power to the first power assembly.

[0077] Optionally, in this embodiment, during the ascent phase when the connection type is the structural connection and the electrical connection, the second battery pack replenishes the first battery pack with power and provides power to the first power assembly.

[0078] Optionally, in this embodiment, the connection type is the structural connection and the electrical connection, and during the cruise phase after takeoff, the second battery pack replenishes the first battery pack with power, and stops supplying power to the first power unit.

[0079] Optionally, in this embodiment, the connection type is the structural connection and the electrical connection, and during the cruise phase after takeoff, the replenishment of power to the first battery pack through the second battery pack is stopped, while the power supply to the first power unit is maintained.

[0080] Figure 5 This is the fifth flowchart of the combined flight control method of the present invention. Based on the above embodiments, the step of disconnecting the structural connection and / or the electrical connection and disassembling the combined aircraft when the first flight parameter is detected to meet the first order parameter includes:

[0081] S41. Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type;

[0082] S42. If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then stop replenishing the first battery pack with power through the second battery pack, and stop providing power to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

[0083] Optionally, in this embodiment, if the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the structural connection is disconnected, and the first battery pack is replenished with power only through the second battery pack until the first flight parameters meet the first order parameters.

[0084] Optionally, in this embodiment, if the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the electrical connection is disconnected. At this time, the replenishment of power to the first battery pack through the second battery pack is stopped, and the supply of power to the first power component through the second battery pack is also stopped. Each battery pack provides operating power to its respective power component until the first aircraft reaches its descent starting point, that is, when the first aircraft reaches its landing start time, the above-mentioned structural connection is disconnected.

[0085] Based on the above embodiments, the present invention also proposes a combined flight control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the following:

[0086] When it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, the second aircraft whose second flight parameters meet the second order parameters is selected.

[0087] During takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft.

[0088] At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or supplies power to the first power unit of the first aircraft.

[0089] When the first flight parameter is detected to meet the first order parameter, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled.

[0090] Optionally, the computer program is implemented when executed by the processor as follows:

[0091] Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters;

[0092] When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

[0093] Optionally, the computer program is implemented when executed by the processor as follows:

[0094] Detect whether the difference in battery power is greater than a first preset value;

[0095] When the power difference is less than the first preset value, the first aircraft is controlled to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, the first aircraft is controlled to make the structural connection and the electrical connection with the second aircraft.

[0096] Optionally, the computer program is implemented when executed by the processor as follows:

[0097] Detect the connection type of the combined aircraft;

[0098] When the connection type is the electrical connection, the second battery pack replenishes the first battery pack with power; when the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack with power and provides power to the first power assembly.

[0099] Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type;

[0100] If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the replenishment of power to the first battery pack through the second battery pack is stopped, and power is supplied to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

[0101] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0102] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a combined flight control program, which, when executed by a processor, implements the steps of the combined flight control method as described in any of the above embodiments.

[0103] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0104] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0105] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0107] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A combined flight control method, characterized in that, The method includes: When it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, the second aircraft whose second flight parameters meet the second order parameters is selected. During takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft. At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or provides power to the first power assembly of the first aircraft; wherein, the connection type of the combined aircraft is detected, and when the connection type is the electrical connection, the second battery pack replenishes the first battery pack; when the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack and provides power to the first power assembly. When the first flight parameter is detected to meet the first order parameter, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled.

2. The combined flight control method according to claim 1, characterized in that, The step of selecting a second aircraft whose second flight parameters meet the second order parameters when the first aircraft's first flight parameters are detected to be non-compliant with the first order parameters includes: Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters; When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

3. The combined flight control method according to claim 2, characterized in that, The step of controlling the first aircraft and the second aircraft to form a combined aircraft during takeoff preparation includes: Detect whether the difference in battery power is greater than a first preset value; When the power difference is less than the first preset value, the first aircraft is controlled to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, the first aircraft is controlled to make the structural connection and the electrical connection with the second aircraft.

4. The combined flight control method according to claim 3, characterized in that, The step of disconnecting the structural connection and / or the electrical connection and disassembling the combined aircraft when the first flight parameter is detected to meet the first order parameter includes: Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type; If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the replenishment of power to the first battery pack through the second battery pack is stopped, and power is supplied to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

5. A combined flight control device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being executed by the processor to implement: When it is detected that the first flight parameters of the first aircraft do not meet the first order parameters, the second aircraft whose second flight parameters meet the second order parameters is selected. During takeoff preparation, the first aircraft and the second aircraft are structurally and / or electrically connected to form a combined aircraft. At the start of takeoff, the second battery pack of the second aircraft replenishes the first battery pack of the first aircraft and / or provides power to the first power assembly of the first aircraft; wherein, the connection type of the combined aircraft is detected, and when the connection type is the electrical connection, the second battery pack replenishes the first battery pack; when the connection type is both the structural connection and the electrical connection, the second battery pack replenishes the first battery pack and provides power to the first power assembly. When the first flight parameter is detected to meet the first order parameter, the structural connection and / or the electrical connection is disconnected, and the combined aircraft is disassembled.

6. The combined flight control device according to claim 5, characterized in that, The computer program is implemented when executed by the processor: Calculate the battery power difference of the first aircraft based on the first flight parameters and the first order parameters; When the battery balance calculated based on the second flight parameters and the second order parameters is greater than the battery difference, the second aircraft is selected.

7. The combined flight control device according to claim 6, characterized in that, The computer program is implemented when executed by the processor: Detect whether the difference in battery power is greater than a first preset value; When the power difference is less than the first preset value, the first aircraft is controlled to make the electrical connection with the second aircraft; when the power difference is greater than or equal to the first preset value, the first aircraft is controlled to make the structural connection and the electrical connection with the second aircraft.

8. The combined flight control device according to claim 7, characterized in that, The computer program is implemented when executed by the processor: Upon completion of takeoff, monitor whether the first flight parameters meet the first order parameters and the connection type; If the first flight parameters still do not meet the first order parameters, and the connection type is the structural connection and the electrical connection, then the replenishment of power to the first battery pack through the second battery pack is stopped, and power is supplied to the first power assembly through the second battery pack, until the first flight parameters meet the first order parameters.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a combined flight control program, which, when executed by a processor, implements the steps of the combined flight control method as described in any one of claims 1 to 4.

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