Speed instruction correction method and system for fixed-speed flight of fixed-wing unmanned aerial vehicle in wind field

Abstract

The invention discloses a speed instruction correction method and system for fixed-speed flight of a fixed-wing unmanned aerial vehicle in a wind field, and the method and system are used for the fixed-wing unmanned aerial vehicle which is not provided with an atmosphere information system and carries out fixed-speed flight, and the method comprises the steps: obtaining a preset flight route of the unmanned aerial vehicle and a planned flight date of the unmanned aerial vehicle; acquiring the course of the unmanned aerial vehicle on the planned flight date in the predetermined flight airspace; and according to the acquired preset flight route of the unmanned aerial vehicle and the planned flight date of the unmanned aerial vehicle, calculating a corrected flight speed instruction, and updating a constant-speed flight instruction in the flight route of the unmanned aerial vehicle according to the corrected flight speed instruction. According to the invention, the performance and safety of the fixed-wing unmanned aerial vehicle without an atmosphere information system during flight in a wind field are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a speed instruction correction method and system for a fixed-wing unmanned aerial vehicle flying at a constant speed in a wind field. Background Art

[0002] For some fixed-wing UAVs that are not equipped with an atmospheric information system (pitot tube) due to the installation of special mission payloads or to reduce costs, they generally rely on the ground speed calculated by satellite navigation information to control their speed during flight; and often adopt a constant-speed flight mode when planning routes. However, during actual flight, it is very likely to be affected by the wind field in the air, resulting in a large deviation between the actual flight airspeed and the economic cruising speed of this type of UAV, thereby reducing the flight performance of the UAV, and even the actual flight airspeed exceeds the speed limit range for safe flight, threatening flight safety.

[0003] At present, the accuracy of weather forecasts is getting higher and higher. Before the flight, the wind field information of the scheduled flight airspace can be predicted with high precision, and information such as wind speed and wind direction on the scheduled route can be obtained.

[0004] In the prior art, fixed-wing UAVs are usually equipped with an atmospheric information system, which can collect the flight airspeed in real time during flight to adjust the current flight status or remotely control the flight through a data link. However, for some fixed-wing UAVs that are not equipped with an atmospheric information system (pitos tube) due to the installation of special mission payloads or to reduce costs, and are performing tasks outside the scope of the link, when flying in a wind field, the airspeed is generally calculated using the information from the onboard sensors, or the ground speed calculated directly using the satellite navigation information is used as the airspeed; the accuracy of the calculated airspeed is easily affected by the accuracy of the UAV's onboard sensors and the accuracy of the UAV's own aerodynamic data, and the ground speed calculated directly using the satellite navigation information is greatly different from the actual flight airspeed when the wind field is large. Therefore, in the prior art, it is difficult for fixed-wing UAVs that are not equipped with an atmospheric information system (pitos tube) to maintain optimal flight in a wind field. Summary of the invention

[0005] In view of this, the present invention provides a method and system for correcting a speed instruction of a fixed-wing UAV flying at a constant speed in a wind field.

[0006] The present invention discloses a speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field, which is used for a fixed-wing UAV that is not equipped with an atmospheric information system and is flying at a constant speed, and comprises: Step 1: Obtain the preset drone flight route and the planned flight date of the drone; Step 2: Obtain the heading of the drone within the scheduled flight airspace on the planned flight date; Step 3: Calculate the corrected flight speed instruction based on the preset UAV flight route and the planned flight date of the UAV, and update the fixed-speed flight instruction in the UAV flight route with the corrected flight speed instruction.

[0007] Furthermore, the step 1 comprises: Get the longitude of the i-th waypoint on the preset drone flight route ,latitude ,high and the predetermined flight speed command , is the number of the i-th waypoint in the preset route; obtains the altitude on the planned flight date of the drone Wind speed at the waypoint and wind direction .

[0008] Furthermore, the step 2 comprises: When the drone is scheduled to fly on a date, the heading of each waypoint on the preset flight route is calculated based on the longitude and latitude coordinates of the waypoints on the preset flight route.

[0009] Further, the calculating the heading of each waypoint on the preset flight route according to the coordinates of the longitude and latitude of the waypoint on the preset flight route includes: According to the preset flight route and The longitude and latitude coordinates of the waypoints, calculate the The heading of the waypoint is ;when season , that is, the heading of the first waypoint takes the heading value of the second waypoint; or the heading of the first waypoint is determined according to the actual take-off direction of the drone.

[0010] Furthermore, the calculated heading range is [0~360°). and The direction of the line connecting the waypoints is defined as 0° towards the north, 90° towards the east, 180° towards the south, and 270° towards the west.

[0011] Furthermore, the step 3 comprises: According to the heading, wind speed, wind direction and predetermined flight speed instructions at each waypoint on the preset flight route, the flight speed instruction is corrected to obtain the first Corrected bound flight speed instructions for waypoints , update the fixed speed flight instructions in the UAV flight route to .

[0012] Furthermore, the flight speed command The calculation formula is:

[0013] in, The flight speed instruction scheduled for the i-th waypoint, is the wind speed at the ith waypoint, is the wind direction of the ith waypoint, is the heading of the ith waypoint.

[0014] Furthermore, the corrected bound flight speed instructions corresponding to all waypoints on the preset flight route are calculated respectively, and added to the corresponding waypoint information. Finally, the UAV actually flies according to the flight speed instructions in the waypoint information.

[0015] The present invention also discloses a speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, which implements the speed instruction correction method for the fixed-wing UAV flying at a constant speed in a wind field, and comprises: A first acquisition module is used to acquire a preset UAV flight route and a planned flight date of the UAV; The second acquisition module is used to obtain the heading of the UAV within the scheduled flight airspace on the planned flight date; The speed correction module is used to calculate the corrected flight speed instruction according to the acquired preset UAV flight route and the planned flight date of the UAV, and update the fixed speed flight instruction in the UAV flight route with the corrected flight speed instruction.

[0016] The present invention also discloses a speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the speed instruction correction method for the fixed-wing UAV flying at a constant speed in a wind field described above is implemented.

[0017] Due to the adoption of the above technical solution, the present invention has the following advantages: 1. The present invention is aimed at fixed-wing UAVs that are not equipped with an atmospheric information system (pitot tube), and effectively solves the problem that the actual true airspeed caused by the wind in the air during constant speed flight is greatly deviated from the economic cruising speed, and the UAV cannot fly in the best state, thereby improving the performance and safety of fixed-wing UAVs that are not equipped with an atmospheric information system when flying in a wind field; 2. The method of the present invention has a simple calculation principle, does not require a lot of preparation work and data support, is easy to deploy and use, has a fast calculation speed, and is more desirable in practical applications; 3. The method of the present invention can be flexibly applied and can be transplanted into the airborne system of a UAV after simple improvement for online real-time use during flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 The present invention is a flowchart of a method for correcting a speed instruction of a fixed-wing UAV flying at a constant speed in a wind field according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention is further described in conjunction with the accompanying drawings and embodiments, and the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present invention.

[0021] See also Figure 1 The present invention provides an embodiment of a speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field, which is applicable to a fixed-wing UAV that is not equipped with an atmospheric information system and is flying at a constant speed, and comprises: Step 1: Obtain the preset drone flight route and the planned flight date of the drone; Step 2: Obtain the heading of the drone within the scheduled flight airspace on the planned flight date; Step 3: Calculate the corrected flight speed instruction based on the preset UAV flight route and the planned flight date of the UAV, and update the fixed-speed flight instruction in the UAV flight route with the corrected flight speed instruction.

[0022] In this embodiment, the step 1 includes: Get the longitude of the i-th waypoint on the preset drone flight route ,latitude ,high and the predetermined flight speed command , is the number of the i-th waypoint in the preset route; obtains the altitude on the planned flight date of the drone Wind speed at the waypoint and wind direction .

[0023] In this embodiment, step 2 includes: When the drone is scheduled to fly on a date, the heading of each waypoint on the preset flight route is calculated based on the longitude and latitude coordinates of the waypoints on the preset flight route.

[0024] In this embodiment, the calculation of the heading of each waypoint on the preset flight route according to the coordinates of the longitude and latitude of the waypoint on the preset flight route includes: According to the preset flight route and The longitude and latitude coordinates of the waypoints, calculate the The heading of the waypoint is ;when season , that is, the heading of the first waypoint takes the heading value of the second waypoint; or the heading of the first waypoint is determined according to the actual take-off direction of the drone.

[0025] In this embodiment, the calculated heading range is [0-360°). and The direction of the line connecting the waypoints is defined as 0° towards the north, 90° towards the east, 180° towards the south, and 270° towards the west.

[0026] In this embodiment, step 3 includes: According to the heading, wind speed, wind direction and predetermined flight speed instructions at each waypoint on the preset flight route, the flight speed instruction is corrected to obtain the first Corrected bound flight speed instructions for waypoints , update the fixed speed flight instructions in the UAV flight route to .

[0027] In this embodiment, the flight speed instruction The calculation formula is:

[0028] in, The flight speed instruction scheduled for the i-th waypoint, is the wind speed at the ith waypoint, is the wind direction of the ith waypoint, is the heading of the ith waypoint.

[0029] In this embodiment, the corrected bound flight speed instructions corresponding to all waypoints on the preset flight route are calculated respectively, and added to the corresponding waypoint information. Finally, the UAV actually flies according to the flight speed instructions in the waypoint information.

[0030] The present invention also provides an embodiment of a speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, which implements the speed instruction correction method for the fixed-wing UAV flying at a constant speed in a wind field, and comprises: A first acquisition module is used to acquire a preset UAV flight route and a planned flight date of the UAV; The second acquisition module is used to obtain the heading of the UAV within the scheduled flight airspace on the planned flight date; The speed correction module is used to calculate the corrected flight speed instruction according to the acquired preset UAV flight route and the planned flight date of the UAV, and update the fixed speed flight instruction in the UAV flight route with the corrected flight speed instruction.

[0031] The present invention also provides an embodiment of a speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the speed instruction correction method for the fixed-wing UAV flying at a constant speed in a wind field described above is implemented.

[0032] In summary, the present invention can effectively correct the speed instruction of the fixed-wing UAV when there is no atmospheric system or the atmospheric system fails.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field, which is used for a fixed-wing UAV that is not equipped with an atmospheric information system and is flying at a constant speed, characterized in that: include: Step 1: Obtain the preset drone flight route and the planned flight date of the drone; Step 2: Obtain the heading of the drone within the scheduled flight airspace on the planned flight date; Step 3: Calculate the corrected flight speed instruction based on the preset UAV flight route and the planned flight date of the UAV, and update the fixed-speed flight instruction in the UAV flight route with the corrected flight speed instruction.

2. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 1 is characterized in that: The step 1 comprises: Get the longitude of the i-th waypoint on the preset drone flight route ,latitude ,high and the predetermined flight speed command , is the number of the i-th waypoint in the preset route; obtains the altitude on the planned flight date of the drone Wind speed at the waypoint and wind direction .

3. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 1, characterized in that: The step 2 comprises: When the drone is scheduled to fly on a date, the heading of each waypoint on the preset flight route is calculated based on the longitude and latitude coordinates of the waypoints on the preset flight route.

4. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 3 is characterized in that: The method of calculating the heading of each waypoint on the preset flight route according to the coordinates of the longitude and latitude of the waypoint on the preset flight route includes: According to the preset flight route and The longitude and latitude coordinates of the waypoints, calculate the The heading of the waypoint is ;when season , that is, the heading of the first waypoint takes the heading value of the second waypoint; or the heading of the first waypoint is determined according to the actual take-off direction of the drone.

5. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 4, characterized in that: The calculated heading range is [0~360°). and The direction of the line connecting the waypoints is defined as 0° towards the north, 90° towards the east, 180° towards the south, and 270° towards the west.

6. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 1, characterized in that: The step 3 comprises: According to the heading, wind speed, wind direction and predetermined flight speed instructions at each waypoint on the preset flight route, the flight speed instruction is corrected to obtain the first Corrected bound flight speed instructions for waypoints , update the fixed speed flight instructions in the UAV flight route to .

7. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 6, characterized in that: Flight speed command The calculation formula is: in, The flight speed instruction scheduled for the i-th waypoint, is the wind speed at the ith waypoint, is the wind direction of the ith waypoint, is the heading of the ith waypoint.

8. The speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field according to claim 6, characterized in that: The corrected bound flight speed instructions corresponding to all waypoints on the preset flight route are calculated respectively, and added to the corresponding waypoint information. Finally, the UAV actually flies according to the flight speed instructions in the waypoint information.

9. A speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, which implements the speed instruction correction method for a fixed-wing UAV flying at a constant speed in a wind field as described in any one of claims 1 to 8, characterized in that: include: A first acquisition module is used to acquire a preset UAV flight route and a planned flight date of the UAV; The second acquisition module is used to obtain the heading of the UAV within the scheduled flight airspace on the planned flight date; The speed correction module is used to calculate the corrected flight speed instruction according to the acquired preset UAV flight route and the planned flight date of the UAV, and update the fixed speed flight instruction in the UAV flight route with the corrected flight speed instruction.

10. A speed instruction correction system for a fixed-wing UAV flying at a constant speed in a wind field, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the computer program is executed by the processor, the speed instruction correction method for the fixed-wing UAV flying at a constant speed in a wind field according to any one of claims 1 to 8 is implemented.

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