Autonomous control system and control method of aircraft

Abstract

The present invention discloses an autonomous control system and control method of an aircraft, and relates to the field of autonomous control technology of aircraft. The system includes: a dynamic perception module, which is used to dynamically capture visual information in the current environment and identify blocking targets on the current route; an obstacle avoidance route planning module, which is used to control the aircraft to pass through the road section where the blocking target is located by flying around; a route correction module, which is used to correct the yaw problem caused by the aircraft flying around; and an auxiliary positioning module, which is used to generate auxiliary positioning information for the area based on the flight data of the aircraft that has passed through the signal interference area, so as to improve the efficiency of subsequent operations. The autonomous control system has a strong environmental perception capability, can perceive and adapt to the complex traffic environment in real time in the signal interference area; can automatically adjust the flight strategy according to environmental changes to ensure that the aircraft can still operate stably in the signal interference area.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous control of aircraft, and in particular to an autonomous control system of an aircraft and a control method thereof. Background Art

[0002] As a new type of aviation equipment, aircraft have been widely used in military, civil and scientific research fields. In recent years, with the continuous development of technologies such as artificial intelligence, big data, and cloud computing, the intelligence level of autonomous control aircraft has been significantly improved, but it has also ushered in a new round of technical bottlenecks. At present, high-precision positioning technology needs to rely on external signal sources, such as GPS, Beidou and other satellite navigation systems; however, in complex environments, these signal sources may be interfered by various factors, such as building obstructions, electromagnetic interference, etc., resulting in a decrease in positioning accuracy. To solve the above problems, the aircraft needs to have a certain degree of autonomous control capabilities and be able to make contingency decisions independently according to the specific situation at the time, so as to ensure the smooth operation of the aircraft. Summary of the invention

[0003] The present invention provides an autonomous control system for an aircraft, comprising:

[0004] Dynamic perception module, used to dynamically capture visual information in the current environment and identify obstructing targets on the current route;

[0005] The obstacle avoidance route planning module is used to control the aircraft to fly around the blocked section of the road;

[0006] The route correction module is used to correct the yaw problem caused by the aircraft's circling flight;

[0007] The auxiliary positioning module is used to generate auxiliary positioning information for the area based on the flight data of the aircraft that has passed through the signal interference area, so as to improve the efficiency of subsequent operations.

[0008] In the autonomous control system of an aircraft as described above, the dynamic perception module specifically includes:

[0009] The visual capture submodule is used to capture image information in the current environment through a high-resolution camera;

[0010] The target recognition submodule is used to identify the target that blocks the aircraft from the captured images;

[0011] The target tracking submodule is used to track the real-time position of the target and determine the target's motion trajectory.

[0012] In the autonomous control system of an aircraft as described above, the specific identification method of the target identification submodule is:

[0013] When the aircraft enters the signal interference area, the last point that can be clearly located is used as the forward direction, and a straight line is preset as the forward route;

[0014] Project straight routes onto captured images and expand them based on the size of the aircraft;

[0015] Identify whether there are objects located on the flight path in the captured images;

[0016] If there is no object on the route, the aircraft is controlled to continue moving forward;

[0017] If there is an object on the route, the target tracking submodule will continue to process the image of the object.

[0018] In the autonomous control system of an aircraft as described above, the obstacle avoidance route planning module comprises:

[0019] The static target bypass submodule is used to plan the bypass route when facing a static blocking target;

[0020] The dynamic target bypass submodule is used to plan the bypass route when facing dynamic blocking targets.

[0021] In the autonomous control system of an aircraft as described above, the specific implementation method of the static target bypassing submodule is as follows:

[0022] Take the critical points of the static blocking target contour in different directions;

[0023] Calculate the distance from each critical point to the current position of the aircraft;

[0024] Select the direction of the critical point with the shortest distance as the detour direction;

[0025] Control the aircraft to move in the circling direction until the static blocking target disappears within the route range;

[0026] Control the aircraft to move forward through the current section.

[0027] In the autonomous control system of an aircraft as described above, the specific implementation method of the dynamic target bypassing submodule is as follows:

[0028] Determine the motion law of the dynamic blocking target based on its motion trajectory;

[0029] Determine the activity area of ​​the dynamic blocking target within the passage time for the aircraft according to its movement law;

[0030] Control the aircraft to pass through the current route from the area outside the dynamic blocking target activity area.

[0031] In the autonomous control system of an aircraft as described above, the auxiliary positioning module comprises:

[0032] An offline map drawing submodule is used to draw an offline map for the interference area based on the flight data of the aircraft that has passed through the signal interference area;

[0033] The positioning error correction submodule is used to correct the positioning data of each target in the offline map according to the flight data brought by the subsequent passing aircraft;

[0034] The offline map sharing submodule is used to share the offline maps drawn in advance with the aircraft passing through the interference area.

[0035] The present invention also provides an autonomous control method for an aircraft, comprising:

[0036] Step 1: Use the dynamic perception module to dynamically capture the visual information in the current environment and identify the blocking targets on the current route;

[0037] Step 2: Control the aircraft to avoid obstacles through the obstacle avoidance route planning module;

[0038] Step 3: Correct the deviation problem caused by circling flight through the route correction module;

[0039] Step 4: Generate auxiliary positioning information for the signal interference area through the auxiliary positioning module to improve the efficiency of subsequent aircraft operations.

[0040] The beneficial effects achieved by the present invention are as follows: the autonomous control system has powerful environmental perception capabilities, can perceive and adapt to complex traffic environments in real time in signal interference areas; can automatically adjust flight strategies according to environmental changes to ensure that the aircraft can still operate stably in signal interference areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0042] Figure 1 This is a schematic diagram of an autonomous control system for an aircraft provided in Example 1 of the present application;

[0043] Figure 2 This is a flow chart of an autonomous control method for an aircraft provided in Example 2 of the present application. DETAILED DESCRIPTION

[0044] The following is a clear and complete description of the technical solutions in the embodiments of the present invention 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1

[0046] like Figure 1 As shown, the first embodiment of the present application provides an autonomous control system for an aircraft, including: a dynamic perception module 11, an obstacle avoidance route planning module 12, a route correction module 13, and an auxiliary positioning module 14;

[0047] (1) A dynamic perception module 11, which is used to dynamically capture visual information in the current environment and identify blocking targets on the current route; specifically, it includes: a visual capture submodule, a target recognition submodule, and a target tracking submodule;

[0048] 1. Visual capture submodule, used to capture image information in the current environment through a high-resolution camera;

[0049] The visual capture submodule mainly relies on high-resolution cameras to work. These cameras have high pixels, high sensitivity and excellent color reproduction capabilities, and can capture detailed information in the environment. When the camera captures an image, it will be transmitted to the target recognition submodule in real time for further processing.

[0050] 2. Target recognition submodule, used to identify targets that block the aircraft's progress from the captured images;

[0051] When the signal is interfered or enters a complex scene, the last point that can be clearly located can be used as the forward direction, and a straight line can be preset as the forward route. Then, objects appearing on this straight line will be identified as targets that block the aircraft's progress. The specific identification method is as follows:

[0052] ① Project the straight route onto the captured image and expand the route based on the size of the aircraft;

[0053] A straight route is a straight line, but in the actual flight process, it is also necessary to consider whether the size of the aircraft can pass through the road section ahead, so the route range needs to be expanded to the width and height that the aircraft can pass. The expanded route will be centered on the aircraft, and 10% of the space will be reserved around it as a fault tolerance to avoid collision damage caused by recognition errors.

[0054] ② Identify whether there are objects located on the route in the captured image;

[0055] Use image recognition technology to identify objects in the image. To speed up the recognition process, only the outline information of the object is considered in this recognition process. Then the camera calibration method is used to determine the three-dimensional coordinates of the object outline and the route outline. Finally, by comparing the three-dimensional coordinates of the object and the route outline to see if there is any overlap, it is determined whether the object is located on the route. The three-dimensional coordinates refer to the Y-axis in the up-down direction, the X-axis in the left-right direction, and the Z-axis in the front-back direction with the aircraft as the center.

[0056] ③ If there is no object on the route, control the aircraft to continue moving forward;

[0057] ④ If there is an object on the route, the target tracking submodule will continue to process the image of the object;

[0058] 3. Target tracking submodule, used to track the real-time position of the target and determine the target's motion trajectory;

[0059] This module will lock onto the image of the object that blocks the aircraft's progress, track the position of the image every other frame (every 10 to 20 frames), and classify the object into static targets and dynamic targets based on whether the object's position will change. The contour data are stored in a temporary data set P1 in order from near to far from the aircraft. The storage data of the dynamic target also includes the real-time motion trajectory of the object in the image, that is, the position of the object in each frame of the image; the contour data of static targets and dynamic targets are all calibrated in a three-dimensional coordinate system. It should be noted that the temporary data set P1 will be updated as the aircraft moves forward and the captured and identified objects are updated.

[0060] (2) an obstacle avoidance route planning module 12, which is used to control the aircraft to fly around the blocked target; specifically, it includes a static target bypassing submodule and a dynamic target bypassing submodule;

[0061] The temporary data set P1 is traversed. If the current blocking target is a static target, it is placed in the static target bypass submodule. If the current blocking target is a dynamic target, it is placed in the dynamic target bypass submodule.

[0062] 1. Static target bypass submodule, used to plan bypass routes when facing static blocking targets;

[0063] Take the critical points of the static blocking target outline in different directions (8 to 16 directions around the static blocking target); calculate the distance from each critical point to the current position of the aircraft; select the direction of the critical point with the shortest distance as the detour direction; control the aircraft to translate in the detour direction until the static blocking target disappears within the route range and the aircraft can successfully pass through the section.

[0064] 2. Dynamic target bypass submodule, used to plan bypass routes when facing dynamic blocking targets;

[0065] Firstly, the motion law of the target is determined according to the motion trajectory of the dynamic blocking target;

[0066] Read the target's motion trajectory, that is, the position where the dynamic blocking target appears in different image frames, using the formula: Calculate the velocity vector of the dynamic blocking target in different image frames, denoted as ,in Indicates the values ​​of the center point of the dynamic blocking target on the X-axis, Y-axis, and Z-axis in the captured image frame t. , , Indicates the values ​​of the center point of the dynamic blocking target on the X-axis, Y-axis, and Z-axis in the captured image frame t-1. , , The calculated velocity vector is annotated with the timestamp of the image frame and stored as data set P2. So far, data set P2 describes the motion law of the current dynamic blocking target.

[0067] Then, according to its movement law, the activity area of ​​the dynamic blocking target within the passage time is determined for the aircraft;

[0068] Use the function: To calculate the position where the center point of the dynamic blocking target will appear at the jth moment in the future, j takes a value of 1~m, m is the estimated passing time of the aircraft, which is obtained by dividing the passing distance by the current speed of the aircraft. The return value of F(A) is recorded as ,in is the position of the center point of the current dynamic blocking target, is the motion vector of the current dynamic blocking target, is the motion vector of the dynamic blocking target at the jth moment in the past, is the timestamp of the jth moment in the future, is the current timestamp;

[0069] Restore the center position in the aircraft's field of view The dynamic blocking target contour on the road is detected, and then the flight speed of the aircraft is increased (the speed is increased to increase the passing probability and avoid calculation errors), and the aircraft is controlled to pass through the section outside the active area composed of the dynamic blocking target contour.

[0070] (3) A route correction module 13, used to correct the deviation problem caused by circling;

[0071] After circling, the aircraft will deviate from the original route. At this time, it is necessary to reset a straight route so that the aircraft can continue to move towards the point that was clearly received before the signal was lost.

[0072] (4) Auxiliary positioning module 14, used to generate auxiliary positioning information for the area based on the flight data of the aircraft that has passed through the signal interference area, so as to improve the efficiency of subsequent operations; specifically including: offline map drawing submodule, positioning error correction submodule, and offline map sharing submodule;

[0073] 1. Offline map drawing submodule, used to draw offline map for interference area based on flight data of aircraft that have passed through the signal interference area;

[0074] Using the original navigation map of the aircraft as the base map, mark the location, size and shape of the interference area. Then, draw the flight trajectory of the aircraft in the interference area based on the flight speed, altitude, attitude and timestamp data of the aircraft. Project the flight trajectory onto the map at the same scale. According to its flight trajectory (because the route of the aircraft is a straight line before encountering an obstacle, and the route will only be changed when encountering an obstacle, so it is easy to see that there may be an obstacle at that position), estimate the position of the obstructing target that has been bypassed in the interference area and mark it in the interference area.

[0075] 2. Positioning error correction submodule, used to correct the positioning data of each target in the offline map according to the flight data brought by subsequent passing aircraft;

[0076] As more and more flight data are brought out from the interference area, when estimating the position of the blocking target in the interference area, the flight data of multiple aircraft can be combined for comprehensive positioning, thereby reducing the positioning error. The formula for comprehensive positioning is expressed as: ,in is the comprehensive positioning of the kth blocking target in the interference area, return The calculation result is the minimum , is the positioning data provided by the i-th aircraft for the k-th blocking target in the interference area, is the mean value of the positioning data provided by all aircraft for the kth blocking target on the X-axis, is the mean of the positioning data provided by all aircraft for the kth blocking target on the Y axis, It is the mean value of the positioning data provided by all aircraft for the kth blocking target on the Z axis.

[0077] Finally, the positioning data of the kth blocking target in the interference area is updated as , error correction is completed.

[0078] 3. Offline map sharing submodule, used to share the offline maps drawn in advance for the aircraft passing through the interference area.

[0079] Embodiment 2

[0080] like Figure 2 As shown, Embodiment 2 of the present application provides an autonomous control method for an aircraft, comprising:

[0081] Step S10: dynamically capture visual information in the current environment through the dynamic perception module to identify blocking targets on the current route, which specifically includes the following sub-steps:

[0082] Step S11: using the visual capture submodule to capture image information in the current environment;

[0083] The visual capture submodule mainly relies on high-resolution cameras to work. These cameras have high pixels, high sensitivity and excellent color reproduction capabilities, and can capture detailed information in the environment. When the camera captures an image, it will be transmitted to the target recognition submodule in real time for further processing.

[0084] Step S12: using the target recognition submodule to identify the target that blocks the aircraft from the captured image;

[0085] When the signal is interfered or enters a complex scene, the last point that can be clearly located can be used as the forward direction, and a straight line can be preset as the forward route. Then, objects appearing on this straight line will be identified as targets that block the aircraft's progress. The specific identification method is as follows:

[0086] Step S121: Projecting the straight line route onto the captured image and expanding the route based on the size of the aircraft;

[0087] A straight route is a straight line, but in the actual flight process, it is also necessary to consider whether the size of the aircraft can pass through the road section ahead, so the route range needs to be expanded to the width and height that the aircraft can pass. The expanded route will be centered on the aircraft, and 10% of the space will be reserved around it as a fault tolerance to avoid collision damage caused by recognition errors.

[0088] Step S122: Identify whether there is an object located on the flight path in the captured image;

[0089] Use image recognition technology to identify objects in the image. To speed up the recognition process, only the outline information of the object is considered in this recognition process. Then the camera calibration method is used to determine the three-dimensional coordinates of the object outline and the route outline. Finally, by comparing the three-dimensional coordinates of the object and the route outline to see if there is any overlap, it is determined whether the object is located on the route. The three-dimensional coordinates refer to the Y-axis in the up-down direction, the X-axis in the left-right direction, and the Z-axis in the front-back direction with the aircraft as the center.

[0090] Step S123: If there is no object on the route, the aircraft is controlled to continue moving forward;

[0091] Step S124: If there is an object on the flight path, the target tracking submodule continues to further process the image of the object;

[0092] Step S13: using the target tracking submodule to determine the motion trajectory of the target;

[0093] This module will lock onto the image of the object that blocks the aircraft's progress, track the position of the image every other frame (every 10 to 20 frames), and classify the object into static targets and dynamic targets based on whether the object's position will change. The contour data are stored in a temporary data set P1 in order from near to far from the aircraft. The storage data of the dynamic target also includes the real-time motion trajectory of the object in the image, that is, the position of the object in each frame of the image; the contour data of static targets and dynamic targets are all calibrated in a three-dimensional coordinate system. It should be noted that the temporary data set P1 will be updated as the aircraft moves forward and the captured and identified objects are updated.

[0094] Step S20: Controlling the aircraft to bypass the blocking target through the obstacle avoidance route planning module;

[0095] The temporary data set P1 is traversed. If the current blocking target is a static target, it is placed in the static target bypass submodule. If the current blocking target is a dynamic target, it is placed in the dynamic target bypass submodule.

[0096] Step S30: Correcting the yaw problem caused by circling flight through a route correction module;

[0097] After circling, the aircraft will deviate from the original route. At this time, it is necessary to reset a straight route so that the aircraft can continue to move towards the point that was clearly received before the signal was lost.

[0098] Step S40: Generate auxiliary positioning information for the signal interference area through the auxiliary positioning module to improve the efficiency of subsequent aircraft operations, which specifically includes the following sub-steps:

[0099] Step S41: using the offline map drawing submodule to draw an offline map for the interference area according to the flight data of the aircraft that have passed through the signal interference area;

[0100] Using the original navigation map of the aircraft as the base map, mark the location, size and shape of the interference area. Then, draw the flight trajectory of the aircraft in the interference area based on the flight speed, altitude, attitude and timestamp data of the aircraft. Project the flight trajectory onto the map at the same scale. According to its flight trajectory (because the route of the aircraft is a straight line before encountering an obstacle, and the route will only be changed when encountering an obstacle, so it is easy to see that there may be an obstacle at that position), estimate the position of the obstructing target that has been bypassed in the interference area and mark it in the interference area.

[0101] Step S42: using the positioning error correction submodule to perform error correction on the positioning data of each target in the offline map according to the flight data brought by the subsequent passing aircraft;

[0102] As more and more flight data are brought out from the interference area, when estimating the position of the blocking target in the interference area, the flight data of multiple aircraft can be combined for comprehensive positioning, thereby reducing the positioning error. The formula for comprehensive positioning is expressed as: ,in is the comprehensive positioning of the kth blocking target in the interference area, return The calculation result is the minimum , is the positioning data provided by the i-th aircraft for the k-th blocking target in the interference area, is the mean value of the positioning data provided by all aircraft for the kth blocking target on the X-axis, is the mean of the positioning data provided by all aircraft for the kth blocking target on the Y axis, It is the mean value of the positioning data provided by all aircraft for the kth blocking target on the Z axis.

[0103] Step S43: Use the offline map sharing submodule to share the offline map drawn in advance with the aircraft passing through the interference area.

[0104] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, including: at least one memory and at least one processor;

[0105] The memory is used to store one or more program instructions;

[0106] The processor is used to run one or more program instructions to execute an autonomous control method of an aircraft.

[0107] Corresponding to the above-mentioned embodiment, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer storage medium contains one or more program instructions, and the one or more program instructions are used by a processor to execute an autonomous control method for an aircraft.

[0108] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned autonomous control method of an aircraft.

[0109] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0110] The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware.

[0111] The storage medium may be a memory, which may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0112] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0113] The volatile memory may be a random access memory (RAM) which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus DRAM (DRRAM).

[0114] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0115] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the present invention can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0116] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. An autonomous control system for an aircraft, characterized in that: include: Dynamic perception module, used to dynamically capture visual information in the current environment and identify obstructing targets on the current route; The obstacle avoidance route planning module is used to control the aircraft to fly around the blocked section of the road; The route correction module is used to correct the yaw problem caused by the aircraft's circling flight; The auxiliary positioning module is used to generate auxiliary positioning information for the signal interference area based on the flight data of the aircraft that has passed through the signal interference area to improve the efficiency of subsequent operations. Specifically, it includes: An offline map drawing submodule is used to draw an offline map for the interference area based on the flight data of the aircraft that has passed through the signal interference area; Using the original navigation map of the aircraft as the base map, mark the location, size and shape of the interference area. Then, draw the flight trajectory of the aircraft in the interference area based on the flight speed, flight altitude, flight attitude, and timestamp data of the aircraft, and project the flight trajectory onto the map in the same proportion. Because the route of the aircraft in the interference area is set as a straight line, it will only change the route when encountering an obstructing target. Therefore, the position where the flight trajectory changes is the position where the obstructing target exists. The position of these targets is marked on the map. The positioning error correction submodule is used to correct the positioning data of each target in the offline map according to the flight data brought by the aircraft that subsequently passes through the interference area; Combine the flight data brought out by multiple aircraft from the interference zone to comprehensively locate each target in the map and reduce positioning errors; The offline map sharing submodule is used to share the offline maps drawn in advance with the aircraft passing through the interference area.

2. The autonomous control system of an aircraft according to claim 1, characterized in that: The dynamic perception module specifically includes: The visual capture submodule is used to capture image information in the current environment through a high-resolution camera; The target recognition submodule is used to identify the target that blocks the aircraft from the captured images; The target tracking submodule is used to track the real-time position of the target and determine the target's motion trajectory.

3. The autonomous control system of an aircraft according to claim 2, characterized in that: The specific recognition method of the target recognition submodule is: When the aircraft enters the signal interference area, the last point that can be clearly located is used as the forward direction, and a straight line is preset as the forward route; Project straight routes onto captured images and expand them based on the size of the aircraft; Identify whether there are objects located on the flight path in the captured images; If there is no object on the route, the aircraft is controlled to continue moving forward; If there is an object on the route, the target tracking submodule will continue to process the image of the object.

4. The autonomous control system of an aircraft according to claim 1, characterized in that: The obstacle avoidance route planning module includes: The static target bypass submodule is used to plan the bypass route when facing a static blocking target; The dynamic target bypass submodule is used to plan the bypass route when facing dynamic blocking targets.

5. The autonomous control system of an aircraft according to claim 4, characterized in that: The specific implementation method of the static target detour submodule is: Take the critical points of the static blocking target contour in different directions; Calculate the distance from each critical point to the current position of the aircraft; Select the direction of the critical point with the shortest distance as the detour direction; Control the aircraft to move in the circling direction until the static blocking target disappears within the route range; Control the aircraft to move forward through the current section.

6. The autonomous control system of an aircraft according to claim 4, characterized in that: The specific implementation method of the dynamic target bypass submodule is as follows: Determine the motion law of the dynamic blocking target based on its motion trajectory; Determine the activity area of ​​the dynamic blocking target within the passage time for the aircraft according to its movement law; Control the aircraft to pass through the current route from the area outside the dynamic blocking target activity area.

7. An autonomous control method for an aircraft, characterized in that: include: Step 1: Use the dynamic perception module to dynamically capture the visual information in the current environment and identify the blocking targets on the current route; Step 2: Control the aircraft to avoid obstacles through the obstacle avoidance route planning module; Step 3: Correct the deviation problem caused by circling flight through the route correction module; Step 4: Generate auxiliary positioning information for the signal interference area through the auxiliary positioning module to improve the efficiency of subsequent aircraft operations, which specifically includes the following sub-steps: Using the offline map drawing submodule to draw an offline map for the interference area based on the flight data of the aircraft that have passed through the signal interference area; Using the original navigation map of the aircraft as the base map, mark the location, size and shape of the interference area. Then, draw the flight trajectory of the aircraft in the interference area based on the flight speed, flight altitude, flight attitude, and timestamp data of the aircraft, and project the flight trajectory onto the map in the same proportion. Because the route of the aircraft in the interference area is set as a straight line, it will only change the route when encountering an obstructing target. Therefore, the position where the flight trajectory changes is the position where the obstructing target exists. The position of these targets is marked on the map. Use the positioning error correction submodule to correct the positioning data of each target in the offline map according to the flight data brought by the subsequent passing aircraft; Combine the flight data brought out by multiple aircraft from the interference zone to comprehensively locate each target in the map and reduce positioning errors; Use the offline map sharing submodule to share the offline maps drawn in advance for the aircraft passing through the interference area.

8. A computer storage medium, characterized in that: include: at least one memory and at least one processor; A memory for storing one or more program instructions; A processor, used to run one or more program instructions to execute the autonomous control method of an aircraft as claimed in claim 7.

Images