UAV flight trajectory detection method and equipment

Abstract

The embodiment of the present application provides a method and device for detecting the flight trajectory of a drone. The scheme first determines the flight plan of the drone, and then generates a flight track line and a first space-time envelope corresponding to the flight plan according to the flight plan. After the drone takes off, the flight attitude data of the drone is monitored, and the second space-time envelope can be obtained according to the first time point, and the first distance between the spatial position information of the drone at the first time point and the flight track point in the second space-time envelope is calculated, and whether the drone deviates from the first space-time envelope is judged according to the first distance. This scheme predicts the flight trajectory of the drone at a specific time by introducing a flight plan, a flight track line and a flight space-time envelope, and grasps the overall picture of the flight process in the entire flight plan. At the same time, it calculates the distance relationship between the real-time position of the drone and the corresponding space-time envelope, and accurately identifies the possible deviation risk of the drone.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a method and device for detecting the flight trajectory of an unmanned aerial vehicle. Background Art

[0002] A drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device. In the field of low-altitude drone flight, drone operators only require drones to fly along a predetermined route, and are not sensitive to whether the drones arrive at the corresponding track points on time or whether the drones exceed the route operation space range. However, this extensive management model is only applicable to isolated airspaces independently occupied by operators. When the same airspace needs to be used by multiple drone operators, this extensive management model will lead to the risk of drones colliding in the air, and the risk can only be avoided by independently occupying the airspace for a long time.

[0003] With the development of drone technology, the scale of drone operations has gradually increased, and the utilization rate of low-altitude infrastructure has become increasingly higher. This extensive drone flight management model has gradually exposed problems such as low efficiency and low airspace utilization. Therefore, it is urgent to study a method that can accurately and efficiently detect drone flight trajectories, so as to improve airspace utilization and achieve more refined drone management. Summary of the invention

[0004] One purpose of the present application is to provide a method and device for detecting the flight trajectory of an unmanned aerial vehicle.

[0005] To achieve the above object, the present invention provides a method for detecting a flight trajectory of a drone, the method comprising:

[0006] Determine the flight plan for the drone;

[0007] According to the flight plan, a flight track line and a first space-time envelope corresponding to the flight plan are generated, wherein the flight track line includes flight track points corresponding to each time point of the UAV in the flight plan, and the first space-time envelope includes spatial range information where the UAV may appear at each time point in the flight plan, and the spatial range information is calculated and determined based on the spatial position information of the flight track line;

[0008] Monitoring flight attitude data of the UAV, wherein the flight attitude data at least includes spatial position information of the UAV at a first time point;

[0009] According to the first time point, a corresponding second space-time envelope is obtained, a first distance between the spatial position information of the UAV at the first time point and the flight track point within the second space-time envelope is calculated, and according to the first distance, it is determined whether the UAV deviates from the space-time envelope, wherein the second space-time envelope includes spatial range information where the UAV may appear at the first time point in the flight plan.

[0010] Further, according to the flight plan, generating a flight track line and a first space-time envelope corresponding to the flight plan includes:

[0011] According to the flight plan, calculating and generating flight track points corresponding to each time point of the flight plan after take-off, and combining the flight track points into a flight track line;

[0012] For each flight track point, the flight space corresponding to each flight track point is determined based on the UAV's appearance parameters and safe meeting distance;

[0013] The flight spaces corresponding to each flight track point on the flight track line are combined to generate the first space-time envelope.

[0014] Further, the flight space corresponding to each flight track point on the flight track line is combined to generate the first space-time envelope, including:

[0015] The flight space corresponding to the current flight track point, the first M flight track points and the last N flight track points is constructed as a third space-time envelope corresponding to the time point of the current flight track point;

[0016] The third space-time envelope corresponding to each flight track point on the flight track line is combined to generate the first space-time envelope.

[0017] Further, obtaining a corresponding second space-time envelope according to the first time point, calculating a first distance between the spatial position information of the UAV at the first time point and a flight track point within the second space-time envelope, and judging whether the UAV deviates from the space-time envelope according to the first distance, including:

[0018] Acquire a corresponding second space-time envelope according to the first time point, and parse spatial position information of a plurality of flight track points contained in the second space-time envelope;

[0019] Calculating first distances between the spatial position information of the UAV at a first time point and the spatial position information of the plurality of flight track points respectively;

[0020] If any of the first distances is less than or equal to the safe meeting distance, it is recognized that the UAV has not deviated from the space-time envelope;

[0021] If the first distance is not less than or equal to the safe meeting distance, it is identified as the UAV deviating from the space-time envelope.

[0022] Furthermore, the method further comprises:

[0023] After determining that the UAV deviates from the space-time envelope according to the first distance, calculating a second distance between the spatial position information of the UAV at the first time point and the flight track line;

[0024] Whether the UAV deviates from the route flight zone is determined according to the second distance, and the spatial range of the route flight zone is determined according to the spatial range information corresponding to the first space-time envelope and the preset flight zone space parameters.

[0025] Further, calculating a second distance between the spatial position information of the UAV at the first time point and the flight track line includes:

[0026] Calculating the distance between the spatial position information of the UAV at the first time point and each track segment in the flight track line, wherein each track segment is formed by a line connecting two adjacent flight track points;

[0027] The distances corresponding to each track segment are compared, and the minimum value thereof is determined as the second distance between the spatial position information of the UAV at the first time point and the flight track line.

[0028] Furthermore, the flight attitude data also includes flight phase information of the UAV at a first time point;

[0029] Determining whether the UAV deviates from the flight path according to the second distance includes:

[0030] Determining, according to the flight phase information of the drone at the first time point, whether the drone is in a cruising phase or a take-off and landing phase;

[0031] If the UAV is in a cruising phase, the second distance is compared with the first cruising judgment threshold, and it is determined whether the UAV deviates from the route flight zone in the cruising phase according to the comparison result, wherein the first cruising judgment threshold is determined according to preset flight zone space parameters and UAV shape parameters;

[0032] If the UAV is in the take-off and landing stage, the second distance is compared with the first take-off and landing judgment threshold, and whether the UAV deviates from the route flight zone during the take-off and landing stage is determined based on the comparison result, wherein the first take-off and landing judgment threshold is determined based on pre-set flight zone space parameters and UAV shape parameters.

[0033] Furthermore, the method further comprises:

[0034] When it is determined according to the second distance that the UAV has not deviated from the route flight zone, a third distance between the first flight track point and the second flight track point in the flight plan, and a fourth distance between the spatial position information of the UAV at a first time point and the second flight track point are calculated, wherein the first flight track point is a flight track point corresponding to the first time point of the UAV in the flight plan, and the second flight track point is a flight track point corresponding to the next time point of the UAV after the first time point in the flight plan;

[0035] The flight speed of the UAV is controlled according to the third distance and the fourth distance to correct a state in which the UAV deviates from the space-time envelope.

[0036] Further, according to the third distance and the fourth distance, the flight speed of the UAV is controlled to correct the state where the UAV deviates from the space-time envelope, including:

[0037] Decomposing the third distance into a third horizontal distance in the horizontal direction and a third vertical distance in the vertical direction, and decomposing the fourth distance into a fourth horizontal distance in the horizontal direction and a fourth vertical distance in the vertical direction;

[0038] comparing the third horizontal distance and the fourth horizontal distance, and if the third horizontal distance is greater than the fourth horizontal distance, reducing the horizontal flight speed of the UAV; if the third horizontal distance is less than the fourth horizontal distance, increasing the horizontal flight speed of the UAV;

[0039] The third vertical distance and the fourth vertical distance are compared. If the third vertical distance is greater than the fourth vertical distance, the vertical flight speed of the UAV is reduced; if the third vertical distance is less than the fourth vertical distance, the vertical flight speed of the UAV is increased.

[0040] Furthermore, the method further comprises:

[0041] When it is determined that the UAV deviates from the space-time envelope but does not deviate from the route flight area, a UAV deviation from the space-time envelope alarm is triggered.

[0042] Furthermore, the method further comprises:

[0043] After determining that the UAV has deviated from the route flight zone according to the second distance, determine whether the UAV has deviated from the route operation zone according to the second distance, wherein the spatial range of the route operation zone is determined according to the spatial range information corresponding to the first space-time envelope and the pre-set operation zone spatial parameters, and the spatial range of the route operation zone is greater than the spatial range of the route flight zone.

[0044] Furthermore, the flight attitude data also includes flight phase information of the UAV at a first time point;

[0045] Determining whether the UAV deviates from the route operation area according to the second distance includes:

[0046] Determining, according to the flight phase information of the drone at the first time point, whether the drone is in a cruising phase or a take-off and landing phase;

[0047] If the UAV is in a cruising phase, the second distance is compared with the second cruising judgment threshold, and it is determined whether the UAV deviates from the route operation area in the cruising phase according to the comparison result, wherein the second cruising judgment threshold is determined according to preset operation area space parameters and UAV shape parameters;

[0048] If the UAV is in the take-off and landing stage, the second distance is compared with the second take-off and landing judgment threshold, and it is determined whether the UAV deviates from the route operation area during the take-off and landing stage based on the comparison result, wherein the second take-off and landing judgment threshold is determined based on pre-set operating area space parameters and UAV shape parameters.

[0049] Furthermore, the method further comprises:

[0050] When it is determined that the UAV deviates from the route operation area, controlling the UAV to perform an alternate landing;

[0051] When it is determined that the UAV deviates from the route flight area but does not deviate from the route operation area, the UAV is controlled to return.

[0052] Furthermore, the method further comprises:

[0053] When it is determined that the UAV deviates from the route operation area, triggering a UAV deviation from the route operation area alarm;

[0054] When it is determined that the UAV deviates from the route flight zone but does not deviate from the route operation area, a UAV deviation from the route flight zone alarm is triggered.

[0055] Some embodiments of the present application also provide a drone flight trajectory detection device, wherein the device includes a memory for storing computer program instructions and a processor for executing computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned drone flight trajectory detection method.

[0056] Other embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the UAV flight trajectory detection method.

[0057] Compared with the prior art, in a method for detecting the flight trajectory of a drone provided in an embodiment of the present application, the flight plan of the drone is first determined, and then the flight track line and the first space-time envelope corresponding to the flight plan are generated according to the flight plan, and the flight attitude data of the drone is monitored after the drone takes off, wherein the first space-time envelope includes the spatial range information that the drone may appear at each time point in the flight plan, and the flight attitude data at least includes the spatial position information of the drone at the first time point, thereby obtaining the corresponding second space-time envelope according to the first time point, calculating the first distance between the spatial position information of the drone at the first time point and the flight track point in the second space-time envelope, and judging whether the drone deviates from the space-time envelope according to the first distance. This scheme predicts the flight trajectory of the drone at a specific time by introducing the flight plan, the flight track line and the space-time envelope of the flight, grasps the overall picture of the flight process in the entire flight plan, and simultaneously calculates the distance relationship between the real-time position of the drone and the corresponding space-time envelope, and accurately identifies the possible deviation risk of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0059] Figure 1 A processing flow chart of a method for detecting a drone flight trajectory provided in an embodiment of the present application;

[0060] Figure 2 A processing flow chart of another drone flight trajectory detection method provided in an embodiment of the present application;

[0061] Figure 3 This is a processing flow chart for implementing the flight trajectory detection of a UAV using the solution of an embodiment of the present application;

[0062] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0063] The present application is described in further detail below in conjunction with the accompanying drawings.

[0064] In a typical configuration of the present application, the terminal and the equipment of the service network each include one or more processors (CPU), input / output interface, network interface and memory.

[0065] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0066] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer program instructions, data structures, program devices or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0067] The embodiment of the present application provides a method for detecting the flight trajectory of a drone, which first determines the flight plan of the drone, then generates a flight track line and a first space-time envelope corresponding to the flight plan according to the flight plan, and monitors the flight attitude data of the drone after the drone takes off, wherein the first space-time envelope includes the spatial range information of the drone that may appear at each time point in the flight plan, and the flight attitude data at least includes the spatial position information of the drone at the first time point, thereby obtaining the corresponding second space-time envelope according to the first time point, calculating the first distance between the spatial position information of the drone at the first time point and the flight track point in the second space-time envelope, and judging whether the drone deviates from the space-time envelope according to the first distance. This scheme predicts the flight trajectory of the drone at a specific time by introducing the flight plan, the flight track line and the space-time envelope of the flight, grasps the overall picture of the flight process in the entire flight plan, and simultaneously calculates the distance relationship between the real-time position of the drone and the corresponding space-time envelope, and accurately identifies the possible deviation risk of the drone.

[0068] In actual scenarios, the device that executes the method may be a user device, a network device, or a device formed by integrating a user device and a network device through a network, or may be an application running on the above device. The user device includes but is not limited to various terminal devices such as computers, mobile phones, and tablet computers; the network device includes but is not limited to network hosts, single network servers, multiple network server sets, or cloud computing-based computer sets. Here, the cloud is composed of a large number of hosts or network servers based on cloud computing, where cloud computing is a type of distributed computing, a virtual computer composed of a group of loosely coupled computer sets.

[0069] Figure 1 The following is a processing flow of a method for detecting the flight trajectory of a drone provided in an embodiment of the present application. The method includes at least the following processing steps:

[0070] Step S101, determining the flight plan of the UAV.

[0071] The flight plan of the drone refers to relevant information about the drone flight process created based on simulation or actual operation data. For example, the flight plan may include at least parameters such as drone model, route information, take-off field, landing field, mission start time, take-off time, landing time, and mission end time.

[0072] In actual scenarios, relevant basic data and parameters can be pre-configured for use when creating a flight plan. For example, in this embodiment, basic data such as drone models, take-off fields, landing fields, and routes can be pre-configured, wherein the route data needs to maintain parameters such as the route centerline, the radius of the flight zone in the take-off and landing phase, the radius of the operating zone in the take-off and landing phase, the width and height of the flight zone in the cruise phase, and the width and height of the operating zone in the cruise phase. For different drone models, the drone appearance parameters corresponding to the model, the safe meeting distance and other parameters can also be further configured. In addition, it can also include redundant parameters of the space-time envelope (for example, M seconds in advance, N seconds in the rear, etc.), ground operation time parameters before the flight plan takes off, self-check time parameters before the flight plan takes off, and ground operation time parameters after the flight plan lands. Through the above-mentioned pre-configured basic data or parameters, it is convenient for users to create flight plans for drones more efficiently.

[0073] Step S102: generating a flight track line and a first space-time envelope corresponding to the flight plan according to the flight plan.

[0074] The flight track line includes the flight track points corresponding to each time point of the UAV in the flight plan. In actual scenarios, the flight track points of the flight plan at each time point after takeoff can be obtained through simulation calculation based on the flight performance of the UAV or by using historical flight data statistics, and then these flight track points can be combined into a flight track line. For example, in actual scenarios, the interval between each time point can be set to 1 second, so that the flight track points of the UAV every 1 second after takeoff can be obtained first, and then the adjacent flight track points can be connected to form the flight track line corresponding to the flight plan.

[0075] The first spatiotemporal envelope includes the spatial range information of the possible appearance of the drone at each time point in the flight plan. In actual scenarios, the spatial position where the drone may appear at each time point in the flight plan and the confidence level of the drone appearing at the spatial position can be calculated in combination with actual external disturbance factors such as the environment, and then the spatial range corresponding to the spatial position where the drone may appear under the preset confidence level (such as 99% confidence level) is used to generate the first spatiotemporal envelope corresponding to the flight plan.

[0076] In the solution of the embodiment of the present application, according to the flight plan, the flight track points corresponding to each time point of the flight plan after take-off are calculated and generated, and the flight track points are combined into a flight track line, and the following steps can be used to generate the space-time envelope, which are as follows:

[0077] First, for each flight track point, the flight space corresponding to each flight track point is determined based on the UAV's shape parameters and safe meeting distance.

[0078] For example, based on the model of the drone, the maximum vertical height difference of the body surface relative to the body center of mass, the maximum horizontal distance difference of the wing / nose / tail relative to the body center of mass, and other specific drone appearance parameters can be obtained. Due to the different flight postures of the drone in the cruising stage and the take-off and landing stage, for the flight track points in the take-off and landing stage, the flight track point is used as the center of the circle, the maximum horizontal distance difference is used as the radius, and the distance corresponding to the preset time length before and after is taken as the height to form a columnar flight space in the vertical direction. For the flight track points in the cruising stage, the flight track point is used as the center, the maximum vertical height difference is used as the half-height, the maximum horizontal distance difference is used as the half-width, and the distance corresponding to the preset time length before and after is taken as the length to form a columnar flight space in the horizontal direction.

[0079] Based on the UAV's appearance parameters, the safe meeting distance can be further combined to obtain a larger cylindrical flight space, which can be used as the flight space corresponding to each flight track point. Specifically, the safe meeting distance can be further increased to the radius, half-height and half-width of the cylindrical flight space, thereby obtaining a flight space with a larger spatial range.

[0080] After the flight space is generated, the flight space corresponding to each flight track point on the flight track line may be combined to generate the first space-time envelope.

[0081] In some embodiments of the present application, in order to improve the redundancy of detection, the flight space corresponding to the current flight track point, the first M flight track points and the last N flight track points can be constructed as the third space-time envelope corresponding to the time point of the current flight track point. For example, for the time point t0, the corresponding current flight track point is p0. If the time interval of data sampling is 1 second, then M flight track points M seconds before t0 and N flight track points N seconds after t0 can be taken, totaling M+N+1 flight track points. The flight space combination corresponding to these M+N+1 flight track points is constructed as the third space-time envelope corresponding to the current flight track point p0 at the time point t0. For ease of explanation, in this solution, each time point of the flight plan can be defined as a frame, and the third space-time envelope corresponding to each flight track point can be defined as a frame space-time envelope. Then, the third space-time envelope corresponding to each flight track point on the flight track line can be combined to generate the first space-time envelope.

[0082] In this process, the ground operation time parameters before the drone takes off, the self-check time parameters, and the ground operation time parameters after landing can be further considered, and corrections can be made in the time dimension so that the first space-time envelope can accurately represent the spatial range information that the drone may appear at each time point in the flight plan.

[0083] Step S103: monitoring the flight attitude data of the UAV, wherein the flight attitude data at least includes the spatial position information of the UAV at a first time point.

[0084] The first time point refers to the time point when the spatial position information is collected. After the UAV actually takes off, the flight attitude data of the UAV can be monitored in real time, which at least includes the spatial position information of the UAV at each time point, specifically including longitude, latitude, altitude, etc., thereby determining the actual spatial position of the UAV at any data collection time point.

[0085] Step S104, obtaining the corresponding second space-time envelope according to the first time point, calculating the first distance between the spatial position information of the UAV at the first time point and the flight track point in the second space-time envelope, and judging whether the UAV deviates from the space-time envelope according to the first distance.

[0086] In actual scenarios, drones may deviate due to various factors, so the possible yaw risk of drones can be accurately detected and determined by real-time monitoring of flight attitude data combined with the first space-time envelope introduced in this solution. The second space-time envelope includes the spatial range information where the drone may appear at the first time point in the flight plan, that is, the second space-time envelope is a part of the first space-time envelope, corresponding to the spatial range information where the drone may appear at the first time point.

[0087] Since the spatial position information of the UAV at the first time point in the flight attitude data represents the actual spatial position of the UAV during the actual flight process, and the flight track points in the second space-time envelope represent the spatial position where the UAV should theoretically be located in the flight plan, by calculating the first distance between the spatial position information of the UAV at the first time point and the flight track points in the second space-time envelope, it is possible to accurately determine whether the UAV has deviated from the spatial position where it should be located in the first space-time envelope in terms of time and space based on the numerical value of the first distance, thereby accurately identifying the possible deviation risk of the UAV.

[0088] In actual scenarios, a certain degree of redundancy can be set according to the accuracy requirements. For example, the setting method of the third space-time envelope can be referred to to determine the frame corresponding to the first time point in the flight plan, and then the third space-time envelope corresponding to the frame is obtained as the second space-time envelope in this step. At this time, the spatial position information of the M+N+1 flight track points contained in the second space-time envelope can be parsed based on the second space-time envelope, and the first distance between the spatial position information of the first time point can be calculated respectively, and then the UAV can be judged whether it deviates from the space-time envelope based on the calculation result.

[0089] Specifically, in the solution of the embodiment of the present application, in the process of obtaining the corresponding second space-time envelope according to the first time point, calculating the first distance between the spatial position information of the drone at the first time point and the flight track point in the second space-time envelope, and judging whether the drone deviates from the space-time envelope according to the first distance, firstly, the corresponding second space-time envelope can be obtained according to the first time point, and the spatial position information of multiple flight track points contained in the second space-time envelope can be parsed, for example, in this embodiment, the flight track point p1 corresponding to the first time point and the first M and the last N flight track points, a total of M+N+1 flight track points. Then, the first distances between the spatial position information of the drone at the first time point and the spatial position information of the multiple flight track points are calculated respectively, and the calculation results of M+N+1 first distances are obtained.

[0090] At this time, each first distance can be compared with the preset safe meeting distance. If any first distance is less than or equal to the safe meeting distance, it can be identified that the drone has not deviated from the space-time envelope. If no first distance is less than or equal to the safe meeting distance, that is, when the calculation result of each first distance is greater than the safe meeting distance, it can be identified that the drone has deviated from the space-time envelope.

[0091] In other embodiments of the present application, after determining that the drone deviates from the space-time envelope, it is possible to further detect whether the drone deviates from the route operation area or the route flight area, so as to more accurately identify the deviation risk corresponding to different conditions, thereby avoiding collision and improving the utilization rate of airspace. Therefore, the drone flight trajectory detection method provided in the embodiment of the present application can also include further detection processes, such as Figure 2 As shown, based on step S101 to step S104, the following steps are further included:

[0092] Step S105, after determining that the UAV deviates from the space-time envelope according to the first distance, calculate a second distance between the spatial position information of the UAV at the first time point and the flight track line.

[0093] In actual scenarios, since the flight track line is composed of multiple flight track points, a flight track line composed of K flight track points may include K-1 track segments, wherein each track segment is composed of a line connecting two adjacent flight track points. Therefore, when calculating the second distance between the spatial position information of the UAV at the first time point and the flight track line, the distance between the spatial position information of the UAV at the first time point and each track segment in the flight track line may be calculated first.

[0094] In this embodiment, the distance formula from point to line segment can be used to calculate the distance between the spatial position information of the drone at the first time point and each track segment in the flight track line, as follows: First, define a vector AB representing the starting point A (x1, y1, z1) and the end point B (x2, y2, z2) of a certain track segment. Then, define a vector AP pointing from the starting point A to the target point P (x3, y3, z3), where the target point P refers to the spatial position corresponding to the spatial position information of the drone at the first time point. Then use the inner product operation to calculate the projection length h between the two vectors AB and the vector AP.

[0095] At this time, the specific value of the projection length h can be used to make a judgment and perform corresponding processing. If h is less than 0, the target point P is located before the starting point A. The distance from the target point P to the starting point A is calculated as the distance d between the spatial position information of the drone at the first time point and the track segment. The formula is:

[0096] ;

[0097] If h is greater than the length of the track segment AB, the target point P is located after the end point B. The distance from the target point P to the end point B is calculated as the distance d between the spatial position information of the drone at the first time point and the track segment. The formula is:

[0098] ;

[0099] If h is greater than or equal to 0 and less than or equal to the length of the track segment AB, calculate the distance between the target point P and the nearest point C (i.e., the foot of the perpendicular) on the track segment AB as the distance d between the spatial position information of the drone at the first time point and the track segment. The formula is:

[0100] d = ||AC|| = h / ||AB||×||AB||.

[0101] After calculating the distance between the spatial position information of the UAV at the first time point and each track segment in the flight track line in the above manner, the distance corresponding to each track segment can be compared, and the minimum value therebetween can be determined as the second distance between the spatial position information of the UAV at the first time point and the flight track line.

[0102] Step S106: determining whether the UAV deviates from the flight path according to the second distance.

[0103] The spatial range of the route flight zone is determined according to the spatial range information corresponding to the first space-time envelope and the pre-set flight zone spatial parameters. In actual scenarios, the size of the spatial range of the route flight zone is generally larger than the size of the spatial range corresponding to the first space-time envelope. For example, the flight zone spatial parameters may include the width of the flight zone in the cruising phase, the height of the flight zone in the cruising phase, the radius of the flight zone in the take-off and landing phase, etc. By pre-setting reasonable values, a route flight zone with a larger spatial range than the first space-time envelope can be determined.

[0104] In actual scenarios, since the flight attitudes of the drone in the take-off and landing phase and the cruising phase are different, different methods can be used to judge whether the drone deviates from the route flight zone according to the second distance. In order to perform detection more efficiently, when monitoring the flight attitude data of the drone in step S103, the flight attitude data can also include the flight phase information of the drone at the first time point. Among them, the flight phase information can include two specific information, namely the cruising phase or the take-off and landing phase.

[0105] Therefore, when judging whether the UAV deviates from the route flight zone according to the second distance, it is possible to first determine whether the UAV is in the cruising stage or the take-off and landing stage according to the flight stage information of the UAV at the first time point.

[0106] If the UAV is in the cruising stage, the second distance is compared with the first cruising judgment threshold, and it is determined whether the UAV deviates from the route flight zone in the cruising stage according to the comparison result.

[0107] Among them, the first cruise judgment threshold is determined according to the preset flight zone space parameters and the UAV shape parameters. For example, in this embodiment, the flight zone space parameters used to determine the first cruise judgment threshold may include the flight zone width in the cruise stage and the flight zone height in the cruise stage, and the UAV shape parameters may include the maximum horizontal distance difference between the wing / nose / tail and the body center of mass and the maximum vertical height difference between the body surface and the body center of mass. Thus, two first cruise judgment thresholds can be obtained, namely the first cruise judgment threshold in the horizontal direction: "flight zone width in the cruise stage / 2-the maximum horizontal distance difference between the wing / nose / tail and the body center of mass", and the first cruise judgment threshold in the vertical direction: "flight zone height in the cruise stage / 2-the maximum vertical height difference between the body surface and the body center of mass".

[0108] When making a judgment based on the above-mentioned first cruise judgment threshold, the second distance can be decomposed in the vertical direction and the horizontal direction to obtain the second vertical distance and the second horizontal distance. Then, first determine whether the second horizontal distance is less than "the width of the flight zone in the cruise phase / 2-the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the fuselage". If the judgment result in the horizontal direction is less than, then further determine whether the second vertical distance is less than "the height of the flight zone in the cruise phase / 2-the maximum vertical height difference between the body surface and the center of mass of the fuselage". If the judgment result in the vertical direction is also less than, it is determined that the UAV has not deviated from the route flight zone during the cruise phase.

[0109] At this time, it can be determined that the state of the drone is: deviating from the space-time envelope and not deviating from the route flight area, thereby triggering the drone deviation from the space-time envelope alarm, notifying the drone user that the current drone's yaw state is: deviating from the space-time envelope, but not deviating from the route flight area.

[0110] If any of the above horizontal and vertical judgment results is negative, that is, the second horizontal distance is greater than or equal to "the width of the flight zone in the cruise phase / 2-the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the body" or the second vertical distance is greater than or equal to "the height of the flight zone in the cruise phase / 2-the maximum vertical height difference between the body surface and the center of mass of the body", then it can be determined that the UAV has deviated from the route flight zone. In this way, the detection of whether the UAV has deviated from the route flight zone can be completed during the cruise phase.

[0111] If the UAV is in the take-off and landing stage, the second distance can be compared with the first take-off and landing judgment threshold, and according to the comparison result, it is determined whether the UAV deviates from the route flight zone during the take-off and landing stage.

[0112] The first take-off and landing judgment threshold is determined according to the preset flight zone space parameters and the UAV shape parameters. For example, in this embodiment, the flight zone space parameters used to determine the first take-off and landing judgment threshold may include the flight zone radius during the take-off and landing phase, and the UAV shape parameters may include the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the aircraft body, thereby obtaining the first take-off and landing judgment threshold: "the flight zone radius during the take-off and landing phase - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the aircraft body".

[0113] When making a judgment based on the above-mentioned first take-off and landing judgment threshold, the component of the second distance in the horizontal direction (i.e., the second horizontal distance) can be compared with the first take-off and landing judgment threshold to judge whether the second horizontal distance is less than "the radius of the flight zone in the take-off and landing phase - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the fuselage". If the judgment result is less than, it can be determined that the state of the drone is: deviating from the first space-time envelope, and not deviating from the route flight zone, thereby triggering the drone deviation space-time envelope alarm, notifying the drone user that the current yaw state of the drone is: deviating from the space-time envelope, but not deviating from the route flight zone. On the contrary, if the judgment result is greater than or equal to, it can be determined that the drone has deviated from the route flight zone. In this way, the detection of whether the drone has deviated from the route flight zone can be completed during the take-off and landing phase of the drone.

[0114] In the case where the drone does not deviate from the route flight zone, the flight speed of the drone can be adjusted to correct the state of the drone deviating from the space-time envelope, so that the drone can complete the flight mission more accurately according to the flight plan, improving the safety of the flight and the utilization rate of the airspace. Therefore, the solution of the embodiment of the present application can also calculate the third distance between the first flight track point and the second flight track point in the flight plan when judging that the drone has not deviated from the route flight zone according to the second distance, and the fourth distance between the spatial position information of the drone at the first time point and the second flight track point.

[0115] Among them, the first flight track point is the flight track point corresponding to the first time point of the UAV in the flight plan, and the second flight track point is the flight track point corresponding to the next time point after the first time point in the flight plan. The third distance obtained by calculating the distance between the two refers to the theoretical distance between the theoretical position of the UAV at the first time point and the theoretical position at the next time point in the flight plan. Since the spatial position information of the UAV at the first time point is the information actually monitored after the UAV takes off, it represents the actual spatial position of the UAV at the first time point. Therefore, the fourth distance refers to the actual distance between the actual position of the UAV at the first time point and the theoretical position at the next time point.

[0116] By comparing the difference between the two, the flight process of the UAV can be corrected in a targeted manner. Therefore, this solution can control the flight speed of the UAV according to the third distance and the fourth distance to correct the state of the UAV deviating from the space-time envelope.

[0117] In the embodiment of the present application, when the flight speed of the drone is controlled according to the third distance and the fourth distance, the third distance can be decomposed into a third horizontal distance in the horizontal direction and a third vertical distance in the vertical direction, and the fourth distance can also be decomposed into a fourth horizontal distance in the horizontal direction and a fourth vertical distance in the vertical direction. For example, if the third distance is recorded as d3 and the fourth distance is recorded as d4, the third horizontal distance d31 in the horizontal direction and the third vertical distance d32 in the vertical direction, as well as the fourth horizontal distance d41 in the horizontal direction and the fourth vertical distance d42 in the vertical direction can be decomposed respectively.

[0118] Then, the third horizontal distance d31 and the fourth horizontal distance d41 can be compared. If the third horizontal distance d31 is greater than the fourth horizontal distance d41, it indicates that the UAV is flying too fast in the horizontal direction, and the horizontal flight speed of the UAV can be reduced; if the third horizontal distance d31 is less than the fourth horizontal distance d41, it indicates that the UAV is flying too slow in the horizontal direction, and the horizontal flight speed of the UAV can be increased, thereby correcting the state of the UAV deviating from the space-time envelope in the horizontal direction.

[0119] Similarly, in the vertical direction, the third vertical distance d32 and the fourth vertical distance d42 can be compared. If the third vertical distance d32 is greater than the fourth vertical distance d42, it indicates that the UAV is flying too fast in the vertical direction, and the vertical flight speed of the UAV can be reduced; if the third vertical distance d32 is less than the fourth vertical distance d42, it indicates that the UAV is flying too slow in the vertical direction, and the vertical flight speed of the UAV can be increased, thereby correcting the state of the UAV deviating from the space-time envelope in the vertical direction.

[0120] In some other embodiments of the present application, step S107 may be further included, after judging that the UAV deviates from the route flight zone according to the second distance, judging whether the UAV deviates from the route operation zone according to the second distance.

[0121] The spatial range of the route operation area is determined according to the spatial range information corresponding to the first space-time envelope and the preset operation area spatial parameters, and the spatial range of the route operation area is greater than the spatial range of the route flight area. It can be seen that the route operation area is a spatial area with a larger spatial range than the route flight area, and generally a certain amount of redundant space is added on the basis of the route flight area.

[0122] In actual drone application scenarios, the route flight zone generally refers to the space area that the drone may pass through according to the planned flight, that is, the drone within this space area is relatively safe. The route operation area refers to the drone deviating from the original route flight area, but still within the redundant boundary of the route setting. In this redundant space, it is easy for the drone to deviate from the route and collide with drones on other routes. Therefore, in the scheme of the application embodiment, when it is determined that the drone deviates from the route operation area, the drone can be controlled to make an alternate landing, and the drone deviation from the route operation area alarm can also be triggered to notify the user of the drone of the current deviation. When it is determined that the drone deviates from the route flight area and does not deviate from the route operation area, the drone is controlled to return, and the drone deviation from the route flight area alarm can also be triggered to notify the user of the drone of the current deviation.

[0123] In actual scenarios, since the flight attitudes of the drone in the take-off and landing phase and the cruising phase are different, different methods can be used to judge whether the drone deviates from the route operation area according to the second distance. In order to perform detection more efficiently, when monitoring the flight attitude data of the drone in step S103, the flight attitude data can also include the flight phase information of the drone at the first time point. Among them, the flight phase information can include two specific information, namely the cruising phase or the take-off and landing phase.

[0124] Therefore, when judging whether the UAV deviates from the route operation area according to the second distance, this solution can first determine whether the UAV is in the cruising stage or the take-off and landing stage according to the flight stage information of the UAV at the first time point.

[0125] If the UAV is in a cruising phase, the second distance is compared with the second cruise judgment threshold, and it is determined whether the UAV deviates from the route operation area in the cruising phase based on the comparison result, wherein the second cruise judgment threshold is determined based on pre-set operation area space parameters and UAV shape parameters.

[0126] Among them, the second cruise judgment threshold is determined according to the preset operating area space parameters and the UAV shape parameters. For example, in this embodiment, the operating area space parameters used to determine the second cruise judgment threshold may include the cruise stage operating area width and the cruise stage operating area height, and the UAV shape parameters may include the maximum horizontal distance difference between the wing / nose / tail and the body center of mass and the maximum vertical height difference between the body surface and the body center of mass. Thus, two second cruise judgment thresholds can be obtained, namely the second cruise judgment threshold in the horizontal direction: "cruise stage operating area width / 2-maximum horizontal distance difference between the wing / nose / tail and the body center of mass", and the second cruise judgment threshold in the vertical direction: "cruise stage operating area height / 2-maximum vertical height difference between the body surface and the body center of mass".

[0127] When making a judgment based on the above-mentioned second cruise judgment threshold, the second distance can be decomposed in the vertical direction and the horizontal direction to obtain the second vertical distance and the second horizontal distance. Then, first determine whether the second horizontal distance is less than "the width of the cruise phase operation area / 2-the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the fuselage". If the judgment result in the horizontal direction is less than, then further determine whether the second vertical distance is less than "the height of the cruise phase operation area / 2-the maximum vertical height difference between the body surface and the center of mass of the fuselage". If the judgment result in the vertical direction is also less than, it is determined that the UAV has not deviated from the route operation area during the cruise phase.

[0128] At this time, it can be determined that the state of the drone is: deviating from the route flight area, but not deviating from the route operation area, thereby triggering the drone deviation from the route operation area alarm, notifying the drone user that the current drone deviation state is: deviating from the route flight area, but not deviating from the route operation area.

[0129] If any of the above horizontal and vertical judgment results is negative, that is, the second horizontal distance is greater than or equal to "the width of the cruise phase operation area / 2-the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the body" or the second vertical distance is greater than or equal to "the height of the cruise phase operation area / 2-the maximum vertical height difference between the body surface and the center of mass of the body", then it can be determined that the UAV has deviated from the route operation area. In this way, the detection of whether the UAV has deviated from the route operation area can be completed during the cruise phase of the UAV.

[0130] If the UAV is in the take-off and landing stage, the second distance can be compared with the second take-off and landing judgment threshold, and according to the comparison result, it is determined whether the UAV deviates from the route operation area during the take-off and landing stage.

[0131] The second take-off and landing judgment threshold is determined according to the preset operation area space parameters and the UAV shape parameters. For example, in this embodiment, the operation area space parameters used to determine the second take-off and landing judgment threshold may include the radius of the operation area during the take-off and landing phase, and the UAV shape parameters may include the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the body, thereby obtaining the second take-off and landing judgment threshold: "the radius of the operation area during the take-off and landing phase - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the body".

[0132] When making a judgment based on the second take-off and landing judgment threshold, the component of the second distance in the horizontal direction (i.e., the second horizontal distance) can be compared with the second take-off and landing judgment threshold to judge whether the second horizontal distance is less than "the radius of the operating area in the take-off and landing phase - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the fuselage". If the judgment result is less than, it can be determined that the state of the drone is: deviating from the route flight area, and not deviating from the route operation area, thereby triggering the drone deviation route operation area alarm, notifying the drone user that the current drone yaw state is: deviating from the route flight area, but not deviating from the route operation area. On the contrary, if the judgment result is greater than or equal to, it can be determined that the drone has deviated from the route operation area, triggering the drone deviation route operation area alarm, notifying the drone user that the current drone yaw state is: deviating from the route operation area. In this way, the detection of whether the drone has deviated from the route operation area can be completed during the take-off and landing phase of the drone.

[0133] Figure 3The processing flow for implementing drone aircraft trajectory detection using a solution provided by an embodiment of the present application is shown, which at least includes the following steps:

[0134] Step S301, configure basic data and parameters.

[0135] Configure basic data such as drone models, take-off fields, landing fields, and routes. Among them, the route data needs to maintain parameters such as route centerline, take-off and landing flight zone radius, take-off and landing operation zone radius, cruising flight zone width and height, cruising operation zone width and height. You can also further configure the drone appearance parameters corresponding to the model, safe meeting distance, redundant parameters of the space-time envelope leading M seconds and trailing N seconds, ground operation time parameters before take-off of the flight plan, self-check time parameters before take-off of the flight plan, and ground operation time parameters after landing of the flight plan.

[0136] Step S302, creating a flight plan.

[0137] Based on the data from simulation or actual operation, select the drone, the route, the take-off field and the landing field, and calculate the mission start time, take-off time, landing time and mission end time based on the ground operation time parameters before take-off of the flight plan, the self-check time parameters before take-off of the flight plan, and the ground operation time parameters after landing of the flight plan, thereby creating a flight plan.

[0138] Step S303, generating a flight track line and a space-time envelope corresponding to the flight plan.

[0139] Based on the principles of aerodynamics and the flight performance of drones, simulation calculations are performed to generate a flight track point every second after the take-off time of a flight plan, and these points are combined into a flight trajectory line. Then, combined with historical data and taking into account actual external disturbances, the spatial range corresponding to the spatial position where the drone may appear at a 99% confidence level is used to generate the space-time envelope corresponding to the flight plan.

[0140] Step S304, launching the UAV according to the flight plan and monitoring the flight attitude data of the UAV, wherein the flight attitude data may include longitude, latitude, altitude, time, frames corresponding to the flight plan, corresponding flight phase information, etc.

[0141] Step S305: space-time envelope deviation detection.

[0142] Based on the UAV's flight attitude data, the real-time position (longitude, latitude and altitude) of the UAV is obtained, and according to the frame of the flight plan corresponding to the flight attitude data, the space-time envelope of the corresponding frame is obtained. Based on the space-time envelope of the frame, the positions (longitude, latitude and altitude) of the M+N+1 flight track points in the space-time envelope are parsed. The distances between the real-time position of the UAV and the M+N+1 flight track points in the space-time envelope are calculated respectively, that is, the first distances. If any of the first distances is less than or equal to the safe meeting distance, the UAV has not deviated from the space-time envelope, and the calculation ends and waits for the next frame of UAV flight attitude data. Otherwise, it is identified as the UAV deviating from the space-time envelope, and the next step S306 is entered.

[0143] Step S306, calculating the distance between the real-time position of the UAV and the centerline of the route.

[0144] The route centerline is the flight track line in the flight plan, which is composed of the lines connecting each adjacent flight track point. The specific calculation method is as follows:

[0145] 1. Determine all route segments on the route centerline. If the route centerline consists of K flight track points, it contains K-1 route segments.

[0146] 2. For each route segment, use the point-to-line segment distance formula to calculate the distance from the drone’s real-time position to the route segment:

[0147] 2.1. Define a vector AB representing the starting point A (x1, y1, z1) and the ending point B (x2, y2, z2) of a certain track segment;

[0148] 2.2. Define a vector AP pointing from the starting point A to the target point P (x3, y3, z3), where the target point P is the real-time position of the drone;

[0149] 2.3. Use the inner product operation to find the projection length h between the two vectors AB and the vector AP;

[0150] 2.4. If h is less than 0, the target point P is located before the starting point A. The distance from the target point P to the starting point A is calculated as the distance d between the real-time position of the drone and the track segment. The formula is:

[0151] ;

[0152] If h is greater than the length of the track segment AB, the target point P is located after the end point B. The distance from the target point P to the end point B is calculated as the distance d between the real-time position of the drone and the track segment. The formula is:

[0153] ;

[0154] If h is greater than or equal to 0 and less than or equal to the length of the track segment AB, calculate the distance between the target point P and the nearest point C (i.e., the foot of the perpendicular) on the track segment AB as the distance d between the real-time position of the drone and the track segment. The formula is:

[0155] d = ||AC|| = h / ||AB||×||AB||.

[0156] 3. Compare the distance d corresponding to each track segment and the real-time position of the drone, and record the minimum value as the shortest distance from the target point to the centerline of the entire route, i.e., the second distance. Further calculation decomposes the second distance into the horizontal direction and the vertical direction, recorded as the second horizontal distance and the second vertical distance.

[0157] Step S307: route and flight zone deviation detection.

[0158] S7-1, determine whether the real-time position of the drone is in the cruising stage, if so, proceed to step S7-2; if not, proceed to step S7-3.

[0159] S7-2. Determine whether the second horizontal distance from the real-time position of the UAV to the centerline of the route is less than "the maximum horizontal distance difference between the width of the flight zone in the cruise phase / 2-the wing / nose / tail relative to the center of mass of the aircraft body". If so, proceed to step S7-4; if not, identify that the UAV has deviated from the route flight zone and proceed to step S308.

[0160] S7-3. Determine whether the second horizontal distance from the real-time position of the UAV to the centerline of the route is less than "the radius of the flight zone during take-off and landing - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the fuselage". If so, trigger the UAV deviation from the space-time envelope alarm and enter step S7-5; if not, identify that the UAV has deviated from the route flight zone and enter step S308.

[0161] S7-4. Determine whether the second vertical distance from the real-time position of the UAV to the centerline of the route is less than "cruise phase flight zone altitude / 2-maximum vertical height difference of the body surface relative to the body center of mass". If so, trigger the UAV deviation from the space-time envelope alarm and enter step S7-5; if not, identify that the UAV has deviated from the route flight zone and enter step S308.

[0162] S7-5. Calculate the third distance d3 between the first flight track point and the second flight track point in the flight plan, and the fourth distance d4 between the spatial position information of the UAV at the first time point and the second flight track point, and further decompose it into a third horizontal distance d31 in the horizontal direction and a third vertical distance d32 in the vertical direction, as well as a fourth horizontal distance d41 in the horizontal direction and a fourth vertical distance d42 in the vertical direction.

[0163] S7-6. Compare the sizes of d31 and d41. If the third horizontal distance d31 is greater than the fourth horizontal distance d41, it indicates that the UAV is flying too fast in the horizontal direction, and the horizontal flight speed of the UAV can be reduced. If the third horizontal distance d31 is less than the fourth horizontal distance d41, it indicates that the UAV is flying too slow in the horizontal direction, and the horizontal flight speed of the UAV can be increased, thereby correcting the state of the UAV deviating from the space-time envelope in the horizontal direction.

[0164] S7-7. Compare the sizes of d32 and d42. If the third vertical distance d32 is greater than the fourth vertical distance d42, it indicates that the UAV is flying too fast in the vertical direction, and the vertical flight speed of the UAV can be reduced. If the third vertical distance d32 is less than the fourth vertical distance d42, it indicates that the UAV is flying too slow in the vertical direction, and the vertical flight speed of the UAV can be increased, thereby correcting the state of the UAV deviating from the space-time envelope in the vertical direction.

[0165] Step S308: route operation area deviation detection.

[0166] S8-1, determine whether the real-time position of the drone is in the cruising stage, if so, proceed to step S8-2; if not, proceed to step S8-3.

[0167] S8-2. Determine whether the second horizontal distance from the real-time position of the UAV to the centerline of the route is less than "the maximum horizontal distance difference between the wing / nose / tail relative to the center of mass of the aircraft during the cruise phase". If not, identify that the UAV has deviated from the route operation area, trigger an alarm that the UAV has deviated from the route operation area, and control the UAV to make an alternate landing; if so, enter step S8-4.

[0168] S8-3. Determine whether the second horizontal distance from the real-time position of the drone to the centerline of the route is less than "the radius of the operating area during take-off and landing phase - the maximum horizontal distance difference between the wing / nose / tail and the center of mass of the aircraft body". If not, identify the drone as deviating from the route operating area, trigger the drone deviation from the route operating area alarm, and control the drone to make an alternate landing; if so, trigger the drone deviation from the route flight area alarm, and control the drone to return.

[0169] S8-4. Determine whether the second vertical distance from the real-time position of the UAV to the centerline of the route is less than "cruise phase operating area height / 2-maximum vertical height difference of the body surface relative to the body center of mass". If not, identify the UAV as deviating from the route operating area, trigger the UAV deviation from the route operating area alarm, and control the UAV to make an alternate landing; if so, trigger the UAV deviation from the route flight area alarm, and control the UAV to return.

[0170] Based on another aspect of the present application, an embodiment of the present application also provides a drone flight trajectory detection device, which includes a memory for storing computer program instructions and a processor for executing computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned drone flight trajectory detection method.

[0171] In particular, the methods and / or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. When the computer program is executed by the processing unit, the above functions defined in the method of the present application are executed.

[0172] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0173] In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0174] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0175] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0176] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer program instructions, which may be executed by a processor to implement the methods and / or technical solutions of the above multiple embodiments of the present application.

[0177] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application can be implemented in hardware, for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0178] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to represent names, and do not represent any specific order. The numbers corresponding to the steps are used to mark and distinguish different steps, and the size of the numbers does not limit any specific execution order.

Claims

1. A method for detecting the flight trajectory of an unmanned aerial vehicle, characterized in that: The method comprises: Determine the flight plan of the drone; According to the flight plan, a flight track line and a first space-time envelope corresponding to the flight plan are generated, wherein the flight track line includes flight track points corresponding to each time point of the UAV in the flight plan, and the first space-time envelope includes spatial range information where the UAV may appear at each time point in the flight plan, and the spatial range information is calculated and determined based on the spatial position information of the flight track line; Monitoring flight attitude data of the UAV, wherein the flight attitude data at least includes spatial position information of the UAV at a first time point; Acquire a corresponding second space-time envelope according to the first time point, and parse spatial position information of a plurality of flight track points contained in the second space-time envelope; Calculating first distances between the spatial position information of the UAV at a first time point and the spatial position information of the plurality of flight track points respectively; If any of the first distances is less than or equal to the safe meeting distance, it is recognized that the UAV has not deviated from the space-time envelope; If there is no first distance less than or equal to the safe meeting distance, it is identified as the UAV deviating from the space-time envelope, wherein the second space-time envelope includes spatial range information where the UAV may appear at the first time point in the flight plan.

2. The method according to claim 1, characterized in that Generating a flight track line and a first space-time envelope corresponding to the flight plan according to the flight plan, including: According to the flight plan, calculating and generating flight track points corresponding to each time point of the flight plan after take-off, and combining the flight track points into a flight track line; For each flight track point, the flight space corresponding to each flight track point is determined based on the UAV's appearance parameters and safe meeting distance; The flight spaces corresponding to each flight track point on the flight track line are combined to generate the first space-time envelope.

3. The method according to claim 2, characterized in that Combining the flight spaces corresponding to each flight track point on the flight track line to generate the first space-time envelope includes: The flight space corresponding to the current flight track point, the first M flight track points and the last N flight track points is constructed as a third space-time envelope corresponding to the time point of the current flight track point; The third space-time envelope corresponding to each flight track point on the flight track line is combined to generate the first space-time envelope.

4. The method according to claim 1, characterized in that: The method further comprises: After determining that the UAV deviates from the space-time envelope according to the first distance, calculating a second distance between the spatial position information of the UAV at the first time point and the flight track line; Whether the UAV deviates from the route flight zone is determined according to the second distance, and the spatial range of the route flight zone is determined according to the spatial range information corresponding to the first space-time envelope and the preset flight zone space parameters.

5. The method according to claim 4, characterized in that Calculating a second distance between the spatial position information of the UAV at the first time point and the flight track line includes: Calculating the distance between the spatial position information of the UAV at the first time point and each track segment in the flight track line, wherein each track segment is formed by a line connecting two adjacent flight track points; The distances corresponding to each track segment are compared, and the minimum value thereof is determined as the second distance between the spatial position information of the UAV at the first time point and the flight track line.

6. The method according to claim 4, characterized in that The flight attitude data also includes flight phase information of the UAV at a first time point; Determining whether the UAV deviates from the flight path according to the second distance includes: Determining, according to the flight phase information of the drone at the first time point, whether the drone is in a cruising phase or a take-off and landing phase; If the UAV is in a cruising phase, the second distance is compared with a first cruising judgment threshold, and it is determined whether the UAV deviates from the route flight zone in the cruising phase according to the comparison result, wherein the first cruising judgment threshold is determined according to preset flight zone space parameters and UAV shape parameters; If the UAV is in the take-off and landing stage, the second distance is compared with the first take-off and landing judgment threshold, and whether the UAV deviates from the route flight zone during the take-off and landing stage is determined based on the comparison result, wherein the first take-off and landing judgment threshold is determined based on pre-set flight zone space parameters and UAV shape parameters.

7. The method according to claim 4, characterized in that The method further comprises: When it is determined according to the second distance that the UAV has not deviated from the route flight zone, a third distance between the first flight track point and the second flight track point in the flight plan, and a fourth distance between the spatial position information of the UAV at a first time point and the second flight track point are calculated, wherein the first flight track point is a flight track point corresponding to the first time point of the UAV in the flight plan, and the second flight track point is a flight track point corresponding to the next time point of the UAV after the first time point in the flight plan; The flight speed of the UAV is controlled according to the third distance and the fourth distance to correct a state in which the UAV deviates from the space-time envelope.

8. The method according to claim 7, characterized in that According to the third distance and the fourth distance, controlling the flight speed of the UAV to correct the state of the UAV deviating from the space-time envelope includes: Decomposing the third distance into a third horizontal distance in the horizontal direction and a third vertical distance in the vertical direction, and decomposing the fourth distance into a fourth horizontal distance in the horizontal direction and a fourth vertical distance in the vertical direction; comparing the third horizontal distance and the fourth horizontal distance, and if the third horizontal distance is greater than the fourth horizontal distance, reducing the horizontal flight speed of the UAV; if the third horizontal distance is less than the fourth horizontal distance, increasing the horizontal flight speed of the UAV; The third vertical distance and the fourth vertical distance are compared. If the third vertical distance is greater than the fourth vertical distance, the vertical flight speed of the UAV is reduced; if the third vertical distance is less than the fourth vertical distance, the vertical flight speed of the UAV is increased.

9. The method according to claim 4, characterized in that The method further comprises: When it is determined that the UAV deviates from the space-time envelope but does not deviate from the route flight area, a UAV deviation from the space-time envelope alarm is triggered.

10. The method according to claim 4, characterized in that The method further comprises: After determining that the UAV has deviated from the route flight zone according to the second distance, determine whether the UAV has deviated from the route operation zone according to the second distance, wherein the spatial range of the route operation zone is determined according to the spatial range information corresponding to the first space-time envelope and the pre-set operation zone spatial parameters, and the spatial range of the route operation zone is greater than the spatial range of the route flight zone.

11. The method according to claim 10, characterized in that The flight attitude data also includes flight phase information of the UAV at a first time point; Determining whether the UAV deviates from the route operation area according to the second distance includes: Determining, according to the flight phase information of the drone at the first time point, whether the drone is in a cruising phase or a take-off and landing phase; If the UAV is in a cruising phase, the second distance is compared with a second cruising judgment threshold, and it is determined whether the UAV deviates from the route operation area in the cruising phase according to the comparison result, wherein the second cruising judgment threshold is determined according to preset operation area space parameters and UAV shape parameters; If the UAV is in the take-off and landing stage, the second distance is compared with a second take-off and landing judgment threshold, and it is determined whether the UAV deviates from the route operation area during the take-off and landing stage based on the comparison result, wherein the second take-off and landing judgment threshold is determined based on pre-set operation area space parameters and UAV shape parameters.

12. The method according to claim 10, characterized in that The method further comprises: When it is determined that the UAV deviates from the route operation area, controlling the UAV to perform an alternate landing; When it is determined that the UAV deviates from the route flight area but does not deviate from the route operation area, the UAV is controlled to return.

13. The method according to claim 10, characterized in that The method further comprises: When it is determined that the UAV deviates from the route operation area, triggering a UAV deviation from the route operation area alarm; When it is determined that the UAV deviates from the route flight zone but does not deviate from the route operation area, a UAV deviation from the route flight zone alarm is triggered.

14. A drone flight trajectory detection device, wherein: The device comprises a memory for storing computer program instructions and a processor for executing the computer program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the method according to any one of claims 1 to 13.

15. A computer readable medium having computer program instructions stored thereon, the computer program instructions being executable by a processor to implement the method according to any one of claims 1 to 13.

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