Method, device and medium for guiding slave aircraft to intercept target based on master aircraft of unmanned aerial vehicle

Abstract

The invention discloses a method and equipment for guiding a sub-aircraft to intercept a target based on a mother aircraft of an unmanned aerial vehicle, and a medium, and relates to the technical field of unmanned aerial vehicle navigation and control, and the method comprises the steps: obtaining a patrol target, and constructing and determining the attitude data of an aircraft body through real-time attitude information based on the patrol target; performing binocular north-east coordinate system mapping on the patrol target to determine an initial relative coordinate of the patrol target; based on the initial relative coordinates of the patrol target, obtaining shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, sub-machine tracking state parameters are determined through sub-machine navigation control analysis; and feeding back the sub-machine tracking state parameter to the master machine, and updating a navigation instruction through the master machine to obtain a real-time interception state parameter of the sub-machine. According to the method, the technical problem that in the prior art, under the condition that no GPS exists, the mother aircraft and the son aircraft of the unmanned aerial vehicle cannot achieve accurate target interception is solved.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicle navigation and control technology, and in particular to a method, device and medium for a mother drone to guide a child drone to intercept a target based on a unmanned aerial vehicle. Background Art

[0002] With the continuous development of drone technology, the application fields and application scenarios of drones are becoming increasingly extensive. In drone applications, GPS navigation systems are widely used for positioning and navigation. However, in some environments, GPS signals may be interfered with, blocked or unavailable (such as urban canyons, densely forested areas or hostile environments), causing abnormal communication between the drone's sub-machine and the main machine.

[0003] Traditional navigation methods are difficult to achieve accurate positioning and tracking of targets without GPS, limiting the scope of application of drones. In addition, existing methods often rely on expensive sensors or complex algorithms, lack effective communication support, and cannot achieve real-time information sharing between the main and sub-machines; it is difficult to meet the requirements of real-time and cost-effectiveness, limiting the coordination ability of drone formations, and unable to achieve accurate interception of targets by drones. Summary of the invention

[0004] The embodiments of the present application provide a method, device and medium for a drone-based mother machine to guide a child machine to intercept a target, which solves the technical problem in the prior art that a drone mother machine and a child machine cannot achieve accurate target interception in the absence of GPS.

[0005] In the first aspect, an embodiment of the present application provides a method for a mother aircraft based on an unmanned aerial vehicle to guide a child aircraft to intercept a target, the method comprising: obtaining a patrol target, and based on the patrol target, determining the body posture data through real-time posture information construction; performing binocular north-east coordinate system mapping on the patrol target to determine the initial relative coordinates of the patrol target; based on the initial relative coordinates of the patrol target, obtaining shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, determining the child aircraft tracking state parameters through child aircraft navigation control analysis; feeding back the child aircraft tracking state parameters to the mother aircraft, and updating the navigation instructions through the mother aircraft to obtain the real-time interception state parameters of the child aircraft.

[0006] In one implementation of the present application, based on the inspection target, the body posture data is determined through real-time posture information construction, specifically including: based on the inspection target, releasing the sub-machine, and setting the release position of the sub-machine as the origin of the coordinate system; according to the origin of the coordinate system, determining the inspection north-east coordinate system through pointing coordinate construction; based on the inspection north-east coordinate system, determining the body posture data through inertial detection of the mother-child aircraft; wherein the body posture data includes: the yaw angle of the mother-child aircraft, the pitch angle of the mother-child aircraft, and the roll angle of the mother-child aircraft.

[0007] In one implementation of the present application, a binocular North-East coordinate system mapping is performed on the inspection target to determine the initial relative coordinates of the inspection target, specifically including: based on the inspection target, the inspection target pixel coordinates are obtained through non-coaxial binocular recognition of the mother machine; wherein the inspection target pixel coordinates include: left-eye camera pixel coordinates, right-eye camera pixel coordinates; binocular visual ranging is performed on the inspection target pixel coordinates to determine the initial three-dimensional coordinates of the inspection target relative to the mother machine; based on the initial three-dimensional coordinates, the initial relative coordinates of the inspection target are obtained through North-East coordinate system conversion.

[0008] In one implementation of the present application, based on the initial relative coordinates of the patrol target, shared target dynamic data is obtained through target dynamic state analysis, specifically including: based on the initial relative coordinates of the patrol target, determining the dynamic coordinates of the patrol target by updating the patrol target position; performing target continuous speed analysis on the patrol target dynamic coordinates to obtain target dynamic speed parameters; and obtaining shared target dynamic data based on the patrol target dynamic coordinates and the target dynamic speed parameters.

[0009] In one implementation of the present application, based on the shared target dynamic data, the sub-machine tracking state parameters are determined through the sub-machine navigation control analysis, specifically including: determining the sub-machine state parameters in the north-east ground coordinate system through the sub-machine visual inertial analysis; wherein the sub-machine state parameters in the north-east ground coordinate system include: the sub-machine north-east ground coordinates, and the sub-machine attitude parameters; performing target relative position analysis on the shared target dynamic data to determine the relative position difference of the target relative to the sub-machine; based on the relative position difference, determining the azimuth parameters of the target relative to the sub-machine through relative azimuth parameter analysis; wherein the azimuth parameters include: relative distance, azimuth, and pitch angle; based on the azimuth parameters, determining the sub-machine tracking state parameters through the sub-machine flight parameter analysis; wherein the sub-machine tracking state parameters include: the sub-machine flight path, and the sub-machine flight speed component.

[0010] In one implementation of the present application, the navigation instructions are updated by the mother machine to obtain the real-time interception state parameters of the sub-machine, specifically including: performing a sub-machine continuous state analysis on the sub-machine tracking state parameters to obtain the real-time interception state parameters of the first sub-machine; obtaining the patrol target update state parameters, and performing a target movement state analysis on the patrol target update state parameters to determine the real-time interception state parameters of the second sub-machine; based on the real-time interception state parameters of the first sub-machine and the real-time interception state parameters of the second sub-machine, obtaining the real-time interception state parameters of the sub-machine.

[0011] In one implementation of the present application, after updating the navigation instructions through the mother machine to obtain the real-time interception status parameters of the sub-machine, the method also includes: obtaining environmental perception parameters, and performing optical flow analysis on the environmental perception parameters to determine environmental obstacle data; based on the environmental obstacle data, performing sub-machine tracking and obstacle avoidance analysis to obtain the sub-machine obstacle avoidance tracking path.

[0012] In one implementation of the present application, based on the environmental obstacle data, a sub-machine obstacle avoidance tracking path is obtained through sub-machine tracking and obstacle avoidance analysis, which specifically includes: inputting the environmental obstacle data into a preset sub-machine obstacle avoidance algorithm to obtain the sub-machine initial obstacle avoidance tracking path; performing sub-machine travel dynamic iteration on the sub-machine initial obstacle avoidance tracking path to determine the sub-machine obstacle avoidance tracking path.

[0013] In the second aspect, an embodiment of the present application also provides a device based on a mother machine of an unmanned aerial vehicle to guide a child machine to intercept a target, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can: obtain a patrol target, and based on the patrol target, determine the body posture data through real-time posture information construction; perform binocular north-east coordinate system mapping on the patrol target to determine the initial relative coordinates of the patrol target; based on the initial relative coordinates of the patrol target, obtain shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, determine the child machine tracking state parameters through child machine navigation control analysis; feed back the child machine tracking state parameters to the mother machine, and update the navigation instructions through the mother machine to obtain the real-time interception state parameters of the child machine.

[0014] On the third aspect, the embodiment of the present application also provides a non-volatile computer storage medium based on a mother machine of an unmanned aerial vehicle to guide a child machine to intercept a target, storing computer executable instructions, and the computer executable instructions are set to: obtain a patrol target, and based on the patrol target, determine the body posture data through real-time posture information construction; perform binocular north-east coordinate system mapping on the patrol target to determine the initial relative coordinates of the patrol target; based on the initial relative coordinates of the patrol target, obtain shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, determine the child machine tracking state parameters through child machine navigation control analysis; feed back the child machine tracking state parameters to the mother machine, and update the navigation instructions through the mother machine to obtain the real-time interception state parameters of the child machine.

[0015] The embodiments of the present application provide a method, device and medium for a mother drone to guide a child drone to intercept a target. By analyzing the position information of the patrol target, capturing the conversion and performing real-time tracking and control of the mother and child drones without GPS, the technical problem in the prior art that a mother drone and a child drone cannot achieve precise target interception in the absence of GPS is solved. In the case of limited or no GPS signal, the mother and child drones can cooperate to accurately intercept the patrol target, thereby improving the versatility of drone interception and the reliability of mother-child communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A flow chart of a method for a drone-based mother aircraft to guide a child aircraft to intercept a target provided in an embodiment of the present application; Figure 2 A schematic diagram of the internal structure of a drone-based mother machine guiding a child machine to intercept a target device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0018] The embodiments of the present application provide a method, device and medium for a mother drone to guide a child drone to intercept a target. By analyzing the position information of the patrol target, capturing the conversion and performing real-time tracking and control of the mother and child drones without GPS, the technical problem in the prior art that a mother drone and a child drone cannot achieve precise target interception in the absence of GPS is solved. In the case of limited or no GPS signal, the mother and child drones can cooperate to accurately intercept the patrol target, thereby improving the versatility of drone interception and the reliability of mother-child communication.

[0019] The technical solution proposed in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0020] Figure 1 A flow chart of a method for guiding a sub-machine to intercept a target based on a mother machine of an unmanned aerial vehicle provided in an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a method for a mother aircraft to guide a child aircraft to intercept a target based on a drone, which specifically includes the following steps: Step 101: Obtain an inspection target, and based on the inspection target, determine the body posture data through real-time posture information construction.

[0021] Specifically, it includes: based on the inspection target, releasing the sub-machine, and setting the release position of the sub-machine as the origin of the coordinate system; according to the origin of the coordinate system, determining the inspection north-east coordinate system through pointing coordinate construction; based on the inspection north-east coordinate system, determining the body attitude data through inertial detection of the mother-and-child aircraft; wherein the body attitude data includes: the yaw angle of the mother-and-child aircraft, the pitch angle of the mother-and-child aircraft, and the roll angle of the mother-and-child aircraft.

[0022] This application obtains the inspection target and, based on the inspection target, determines the body attitude data through real-time attitude information construction, thereby realizing the construction of the North-East coordinate system of the UAV for the inspection target and the real-time analysis of the body attitude.

[0023] In the examples of the present application, detailed explanation is given by the following Example 1.

[0024] Example 1: NED coordinate system, namely North East Earth coordinate system, referred to as N coordinate system, also called navigation coordinate system. It is selected according to the needs of navigation system work during navigation and is used as a reference coordinate system for navigation solution. In this coordinate system, the X axis usually points to the north, the Y axis points to the east, and the Z axis points to the center of the earth (or downward).

[0025] The drone consists of a sub-machine and a mother machine. The sub-machine is usually mounted under the mother machine, and the center of gravity of the two is coaxial (the position is adjusted according to actual needs). The position where the mother machine releases the sub-machine is used as the origin to construct the NED coordinate system; the north direction is the X-axis, the east direction is the Y-axis, and the center of the earth points to the negative direction of the Z-axis.

[0026] Both the main aircraft and the sub-aircraft are equipped with an inertial measurement unit (IMU) to obtain their own attitude information in real time, including the yaw angle , Pitch angle and roll angle .

[0027] It should be noted that both the slave and the master need to obtain their posture information.

[0028] Step 102: Map the inspection target to the binocular north-east coordinate system to determine the initial relative coordinates of the inspection target.

[0029] Specifically, it includes: based on the inspection target, the pixel coordinates of the inspection target are obtained through non-coaxial binocular recognition of the mother machine; wherein the pixel coordinates of the inspection target include: the pixel coordinates of the left camera and the pixel coordinates of the right camera; binocular visual ranging is performed on the pixel coordinates of the inspection target to determine the initial three-dimensional coordinates of the inspection target relative to the mother machine; according to the initial three-dimensional coordinates, the initial relative coordinates of the inspection target are obtained through north-east coordinate system conversion.

[0030] This application determines the initial relative coordinates of the inspection target by performing binocular north-east coordinate system mapping on the inspection target, thereby realizing the position information of the UAV inspection target relative to the UAV NED coordinate system.

[0031] In the examples of the present application, detailed explanation is given by the following Example 2.

[0032] Example 2: The drone mother machine is equipped with a binocular camera, which is not coaxially mounted and has a known baseline distance and relative attitude. The mother machine uses the binocular camera and image processing algorithms (such as YOLO, etc.) to identify and locate dynamic targets on the ground and obtain the pixel coordinates of the target in the left and right camera images.

[0033] First, the left and right images are acquired through the binocular camera of the mother machine, the dynamic target is detected, and the pixel coordinates of the target in the left and right images are obtained. and .

[0034] Then, the three-dimensional coordinates of the target relative to the mother machine are calculated using the binocular vision ranging formula, which is explained in the following formula: (1) in, is the focal length of the binocular camera of the mother machine; , is the main point coordinate; , , That is, the Z-axis coordinate, X-axis coordinate, and Y-axis coordinate of the target relative to the mother machine.

[0035] It should be noted that each camera in binocular ranging has its own internal parameters, that is, each has its own focal length and principal point. In this embodiment, two cameras with the same focal length are used.

[0036] The main point of the left camera is , ; The main point of the right camera is , ; Usually in binocular vision, the images of the two cameras are stereo corrected to make the coordinates of the principal points of the left and right cameras consistent, which is explained specifically by the following formula: (2) Therefore, for The calculation of the target depth (also called target depth) requires determining the coordinates of the patrol target relative to the principal point in the camera, which is explained by the following formula: (3) in, is the horizontal coordinate of the target relative to the principal point in the left camera; is the vertical coordinate of the target relative to the principal point in the left camera; is the horizontal coordinate of the target relative to the principal point in the right camera.

[0037] The calculation of target depth is explained by the following formula: (4) Similar to the above formula (1), the left side can be determined later.

[0038] The focal length of the cameras is 8mm, the resolution is 1920x1080, and the pixel value corresponding to the focal length is about 2489.8 pixels; the main point of the left camera , 960, 540, right camera main point , 960, 540; the limit distance is 0.1m / 10cm.

[0039] Under the above conditions, the coordinates of the target obtained by the drone in the picture are the left camera , :970,540; right camera , :965,540.

[0040] At this time, the pixel coordinates of the target image need to be corrected by the principal point, that is, the difference between the obtained coordinates and the principal point coordinates, as follows: Left side: (Unit: pixel)

[0041] Right side: (Unit: pixel)

[0042] From this we can see that the parallax is = 5 (unit: pixel), substituting into the above coordinate calculation formula, we can see that the coordinate for rice, for rice,, is 0 meters.

[0043] At this time, the coordinates of the inspection target can be obtained as , taking into account the attitude and position of the mother machine, the coordinates are converted into the coordinates of the NED coordinate system, which is explained by the following formula: (5) (6) in, is the rotation matrix of the mother machine's attitude; , , They are the rotation matrices around the Z, Y, and X axes respectively; , , Right now , is the coordinate position of the mother machine in the NED coordinate system; Similarly, is the coordinate position of the inspection target in the NED coordinate system, that is, the initial relative coordinate of the inspection target.

[0044] Step 103: Based on the initial relative coordinates of the patrol target, the shared target dynamic data is obtained by analyzing the target dynamic state.

[0045] Specifically, it includes: based on the initial relative coordinates of the patrol target, the dynamic coordinates of the patrol target are determined by updating the patrol target position; the dynamic coordinates of the patrol target are subjected to target continuous speed analysis to obtain the target dynamic speed parameters; and the shared target dynamic data are obtained according to the dynamic coordinates of the patrol target and the target dynamic speed parameters.

[0046] This application is based on the initial relative coordinates of the patrol target and obtains shared target dynamic data through target dynamic state analysis, thereby realizing motion state analysis of the patrol target and improving the accuracy of drone target tracking.

[0047] In the examples of the present application, this is explained in detail through the following Example 3.

[0048] Example 3: The master machine continuously updates the position of the inspection target in the NED coordinate system, that is, the dynamic coordinates of the inspection target , and calculate the speed parameter of the inspection target through continuous target position measurement, which is explained by the following formula: (7) in, It is the velocity component of the patrol target on the X axis in the NED coordinate system; for The X-axis coordinate of the inspection target at all times (i.e. exist The coordinate value at the time), for The X-axis coordinate of the inspection target at all times.

[0049] Step 104: According to the shared target dynamic data, the sub-machine tracking state parameters are determined through sub-machine navigation control analysis.

[0050] Specifically, it includes: determining the sub-machine state parameters in the north-east ground coordinate system through visual inertial analysis of the sub-machine; wherein the sub-machine state parameters in the north-east ground coordinate system include: the sub-machine north-east ground coordinates and the sub-machine attitude parameters; performing target relative position analysis on the shared target dynamic data to determine the relative position difference of the target relative to the sub-machine; based on the relative position difference, determining the azimuth parameters of the target relative to the sub-machine through relative azimuth parameter analysis; wherein the azimuth parameters include: relative distance, azimuth angle, pitch angle; according to the azimuth parameters, determining the sub-machine tracking state parameters through sub-machine flight parameter analysis; wherein the sub-machine tracking state parameters include: the sub-machine flight path and the sub-machine flight speed component.

[0051] This application determines the sub-machine tracking state parameters based on the shared target dynamic data through sub-machine navigation control analysis, realizes the mother machine's flight tracking control of the sub-machine, and improves the UAV's interception efficiency of patrol targets.

[0052] In the examples of the present application, a detailed explanation is given by the following Example 4.

[0053] Example 4: First, the slave receives the target position and speed information sent by the master, and uses its own monocular camera and IMU, adopts visual inertial odometry (VIO), and fuses visual and inertial data to determine its own position in the NED coordinate system. and posture.

[0054] Then, the relative position information of the slave unit and the inspection target is analyzed, which is specifically explained by the following formula: (8) (9) in, , , is the relative position difference in each direction; For relative distance, is the azimuth, is the pitch angle.

[0055] Finally, according to the relative position and speed of the target, the flight path and speed of the sub-machine are planned, and control instructions are generated. The flight control module of the sub-machine executes the navigation instructions, adjusts the flight attitude and speed, and realizes target interception in a GPS-free environment.

[0056] It should be noted that the key parameters of the slave aircraft flight control are azimuth and pitch angle, and the speed parameter can be adjusted according to actual use.

[0057] Step 105: Feedback the tracking state parameters of the slave unit to the master unit, and update the navigation instructions through the master unit to obtain the real-time interception state parameters of the slave unit.

[0058] Specifically, it includes: performing a sub-machine continuous state analysis on the sub-machine tracking state parameters to obtain the real-time interception state parameters of the first sub-machine; obtaining the patrol target update state parameters, and performing a target movement state analysis on the patrol target update state parameters to determine the real-time interception state parameters of the second sub-machine; based on the real-time interception state parameters of the first sub-machine and the real-time interception state parameters of the second sub-machine, obtaining the real-time interception state parameters of the sub-machine.

[0059] In one implementation of the present application, after updating the navigation instructions through the mother machine to obtain the real-time interception status parameters of the sub-machine, the method also includes: obtaining environmental perception parameters, and performing optical flow analysis on the environmental perception parameters to determine environmental obstacle data; based on the environmental obstacle data, performing sub-machine tracking and obstacle avoidance analysis to obtain the sub-machine obstacle avoidance tracking path.

[0060] According to the environmental obstacle data, the child machine obstacle avoidance tracking path is obtained through child machine tracking and obstacle avoidance analysis, which specifically includes: inputting the environmental obstacle data into a preset child machine obstacle avoidance algorithm to obtain the child machine's initial obstacle avoidance tracking path; performing child machine travel dynamic iteration on the child machine's initial obstacle avoidance tracking path to determine the child machine's obstacle avoidance tracking path.

[0061] The present application realizes real-time feedback and coordination between the sub-machine and the mother-machine by feeding back the tracking state parameters of the sub-machine to the mother-machine and updating the navigation instructions through the mother-machine to obtain the real-time interception state parameters of the sub-machine, thereby realizing the precise interception of the inspection target by the sub-machine and the mother-machine in coordination when the GPS signal is limited or there is no GPS signal, thereby improving the accuracy of the interception of the inspection target, the versatility of the drone interception and the reliability of the communication between the mother-machine and the sub-machine.

[0062] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, the embodiment of this application also provides a method for a mother machine based on a drone to guide a child machine to intercept a target device, and its structure is as follows: Figure 2 shown.

[0063] Figure 2 The schematic diagram of the internal structure of a drone-based mother machine guiding a child machine to intercept a target device provided in an embodiment of the present application. Figure 2 As shown, the device includes: at least one processor 201; and, a memory 202 communicatively connected to the at least one processor; The memory 202 stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor 201 to enable at least one processor 201 to: Obtain the patrol target, and based on the patrol target, determine the body posture data through real-time posture information construction; perform binocular north-east coordinate system mapping on the patrol target to determine the initial relative coordinates of the patrol target; based on the initial relative coordinates of the patrol target, obtain the shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, determine the sub-machine tracking state parameters through sub-machine navigation control analysis; feed back the sub-machine tracking state parameters to the mother machine, and update the navigation instructions through the mother machine to obtain the real-time interception state parameters of the sub-machine.

[0064] Some embodiments of the present application provide corresponding Figure 1 A non-volatile computer storage medium based on a mother aircraft guiding a child aircraft to intercept a target by an unmanned aerial vehicle, storing computer executable instructions, wherein the computer executable instructions are set as follows: Obtain the patrol target, and based on the patrol target, determine the body posture data through real-time posture information construction; perform binocular north-east coordinate system mapping on the patrol target to determine the initial relative coordinates of the patrol target; based on the initial relative coordinates of the patrol target, obtain the shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, determine the sub-machine tracking state parameters through sub-machine navigation control analysis; feed back the sub-machine tracking state parameters to the mother machine, and update the navigation instructions through the mother machine to obtain the real-time interception state parameters of the sub-machine.

[0065] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the IoT device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0066] The system and medium provided in the embodiments of the present application correspond one-to-one to the method. Therefore, the system and medium also have similar beneficial technical effects to the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the system and medium will not be repeated here.

[0067] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0068] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0069] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] 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.

[0073] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0075] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for a drone-based mother aircraft to guide a child aircraft to intercept a target, characterized in that: The method comprises: Obtaining an inspection target, and based on the inspection target, determining the body posture data through real-time posture information construction; Perform binocular north-east coordinate system mapping on the inspection target to determine the initial relative coordinates of the inspection target; Based on the initial relative coordinates of the patrol target, shared target dynamic data is obtained through target dynamic state analysis; According to the shared target dynamic data, the sub-machine tracking state parameters are determined through sub-machine navigation control analysis; The tracking state parameters of the slave unit are fed back to the master unit, and the navigation instructions are updated through the master unit to obtain the real-time interception state parameters of the slave unit.

2. According to claim 1, a method for a drone-based mother aircraft to guide a child aircraft to intercept a target, characterized in that: Based on the inspection target, the body posture data is determined through real-time posture information construction, including: Based on the inspection target, releasing the sub-machine, and setting the release position of the sub-machine as the origin of the coordinate system; According to the origin of the coordinate system, the inspection north-east ground coordinate system is determined by pointing to the coordinate construction; Based on the patrol north-east coordinate system, the aircraft body posture data is determined through inertial detection of the mother-and-child aircraft; wherein the aircraft body posture data includes: the mother-and-child aircraft yaw angle, the mother-and-child aircraft pitch angle, and the mother-and-child aircraft roll angle.

3. The method of using a drone as a mother aircraft to guide a child aircraft to intercept a target according to claim 1, characterized in that: The inspection target is mapped to a binocular north-east coordinate system to determine the initial relative coordinates of the inspection target, specifically including: Based on the inspection target, the inspection target pixel coordinates are obtained through non-coaxial binocular recognition of the mother machine; wherein the inspection target pixel coordinates include: left-eye camera pixel coordinates and right-eye camera pixel coordinates; Perform binocular vision ranging on the inspection target pixel coordinates to determine the initial three-dimensional coordinates of the inspection target relative to the mother machine; According to the initial three-dimensional coordinates, the initial relative coordinates of the inspection target are obtained through north-east coordinate system conversion.

4. The method of using a drone as a mother aircraft to guide a child aircraft to intercept a target according to claim 1, characterized in that: Based on the initial relative coordinates of the patrol target, the shared target dynamic data is obtained through target dynamic state analysis, specifically including: Based on the initial relative coordinates of the inspection target, the dynamic coordinates of the inspection target are determined by updating the position of the inspection target; Performing target continuous speed analysis on the dynamic coordinates of the patrol target to obtain target dynamic speed parameters; The shared target dynamic data is obtained according to the patrol target dynamic coordinates and the target dynamic speed parameters.

5. The method of using a drone as a mother aircraft to guide a child aircraft to intercept a target according to claim 1, characterized in that: According to the shared target dynamic data, the sub-machine tracking state parameters are determined through sub-machine navigation control analysis, specifically including: Determine the state parameters of the sub-machine in the north-east coordinate system through the sub-machine visual inertial analysis; wherein the state parameters of the sub-machine in the north-east coordinate system include: the north-east coordinates of the sub-machine and the attitude parameters of the sub-machine; Performing target relative position analysis on the shared target dynamic data to determine the relative position difference of the target with respect to the slave; Based on the relative position difference, the azimuth parameters of the target relative to the sub-machine are determined by relative azimuth parameter analysis; wherein the azimuth parameters include: relative distance, azimuth angle, and pitch angle; According to the orientation parameters, the sub-machine tracking state parameters are determined by analyzing the sub-machine flight parameters; wherein the sub-machine tracking state parameters include: the sub-machine flight path and the sub-machine flight speed component.

6. The method of using a drone-based mother aircraft to guide a child aircraft to intercept a target according to claim 1, characterized in that: The navigation instruction is updated by the master machine to obtain the real-time interception status parameters of the slave machine, specifically including: Performing sub-machine continuous state analysis on the sub-machine tracking state parameter to obtain the first sub-machine real-time interception state parameter; Obtaining patrol target update state parameters, and performing target movement state analysis on the patrol target update state parameters to determine the second sub-machine real-time interception state parameters; Based on the real-time interception state parameter of the first sub-machine and the real-time interception state parameter of the second sub-machine, the real-time interception state parameter of the sub-machine is obtained.

7. The method of using a drone as a mother aircraft to guide a child aircraft to intercept a target according to claim 1, characterized in that: After the navigation instruction is updated by the master machine to obtain the real-time interception state parameter of the slave machine, the method further includes: Acquire environmental perception parameters, and perform optical flow analysis on the environmental perception parameters to determine environmental obstacle data; According to the environmental obstacle data, the obstacle avoidance tracking path of the sub-machine is obtained through sub-machine tracking and obstacle avoidance analysis.

8. The method of using a drone as a mother aircraft to guide a child aircraft to intercept a target according to claim 7, characterized in that: According to the environmental obstacle data, the obstacle avoidance tracking path of the slave unit is obtained through the slave unit tracking and obstacle avoidance analysis, which specifically includes: Inputting the environmental obstacle data into a preset slave machine obstacle avoidance algorithm to obtain an initial obstacle avoidance tracking path of the slave machine; The sub-machine moving dynamic iteration is performed on the initial obstacle avoidance tracking path of the sub-machine to determine the obstacle avoidance tracking path of the sub-machine.

9. A drone-based mother machine guides a child machine to intercept a target device, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: Obtaining an inspection target, and based on the inspection target, determining the body posture data through real-time posture information construction; Perform binocular north-east coordinate system mapping on the inspection target to determine the initial relative coordinates of the inspection target; Based on the initial relative coordinates of the patrol target, shared target dynamic data is obtained through target dynamic state analysis; According to the shared target dynamic data, the sub-machine tracking state parameters are determined through sub-machine navigation control analysis; The tracking state parameters of the slave unit are fed back to the master unit, and the navigation instructions are updated through the master unit to obtain the real-time interception state parameters of the slave unit.

10. A non-volatile computer storage medium based on a drone to guide a sub-machine to intercept a target, storing computer executable instructions, characterized in that: The computer executable instructions are configured to: Obtaining an inspection target, and based on the inspection target, determining the body posture data through real-time posture information construction; Perform binocular north-east coordinate system mapping on the inspection target to determine the initial relative coordinates of the inspection target; Based on the initial relative coordinates of the patrol target, shared target dynamic data is obtained through target dynamic state analysis; According to the shared target dynamic data, the sub-machine tracking state parameters are determined through sub-machine navigation control analysis; The tracking state parameters of the slave unit are fed back to the master unit, and the navigation instructions are updated through the master unit to obtain the real-time interception state parameters of the slave unit.

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