Unmanned aerial vehicle jet system cooperation method and device and storage medium

Abstract

The invention discloses an unmanned aerial vehicle jet system cooperation method and device and a storage medium, and relates to the field of unmanned aerial vehicles. The specific implementation scheme comprises the following steps: determining the gas distribution amount of the current flight stage according to the current flight stage and the total jet flow amount; according to the current flight parameters of the flight control system, determining the optimal required gas amount of the current flight stage; determining a gas flow state according to the distributed gas flow and the optimal required gas flow in the current flight stage; and according to the gas flow state, determining a jet system cooperation strategy of the current flight stage so as to cooperate with a flight control system. The problem that in the prior art, the flight efficiency and stability of the unmanned aerial vehicle are poor due to the fact that the cooperation effect of the jet system and the flight control system of the unmanned aerial vehicle is poor is solved, dynamic cooperation of the jet system is achieved, and the flight efficiency and stability of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a UAV jet system coordination method, device and storage medium. Background Art

[0002] The jet system sprays high-speed airflow on the wings or other surfaces of the drone to change the flow state of the airflow, thereby providing additional thrust and correction torque for the drone, thereby effectively improving the drone's flight capabilities in complex environments. The advantage of the jet system is that it can enable the drone to quickly achieve efficient aerodynamic effects, thereby reducing energy consumption, reducing air resistance, and extending the drone's flight time.

[0003] However, the coordination between the jet system and the flight control system of the current UAV is poor, resulting in poor flight efficiency and stability of the UAV. Summary of the invention

[0004] The embodiments of the present application provide a UAV jet system coordination method, device and storage medium, thereby solving the problem in the prior art that the coordination effect between the UAV's jet system and the flight control system is poor, resulting in poor UAV flight efficiency and stability. The embodiments of the present application realize dynamic coordination of the jet system and improve the UAV's flight efficiency and stability.

[0005] In a first aspect, an embodiment of the present application provides a UAV jet system coordination method, comprising: Determine the allocated air volume for the current flight phase based on the current flight phase and the total jet air volume; determine the optimal required air volume for the current flight phase based on the current flight parameters of the flight control system; determine the air volume state based on the allocated air volume and the optimal required air volume for the current flight phase; determine the jet system coordination strategy for the current flight phase based on the air volume state to coordinate with the flight control system.

[0006] Furthermore, according to the current flight parameters of the flight control system, the optimal required gas volume for the current flight phase is determined, including: The unit thrust contribution is determined according to the current flight parameters of the flight control system; the optimal required gas volume corresponding to the current flight stage is determined according to the unit thrust contribution, the jet outlet velocity and the jet outlet cross-sectional area.

[0007] Furthermore, according to the air volume state, the jet system coordination strategy of the current flight phase is determined, including: When the gas volume status is sufficient, the jet system coordination strategy for the current flight phase includes the jet system providing the optimal required gas volume; when the gas volume status is insufficient, the jet system coordination strategy for the current flight phase includes limiting the actual gas consumption of the current flight phase to the maximum allocated gas volume for the current flight phase while meeting the requirements of flight safety and executing the flight mission; when the allocated gas volume for the current flight phase cannot meet flight safety, the allocated gas volume for the subsequent flight phase is used.

[0008] Furthermore, the method further comprises: It is determined that the actual gas consumption of the previous flight phase does not match the corresponding allocated gas volume, and the allocated gas volume corresponding to the current flight phase and the subsequent flight phase is updated according to the remaining gas volume.

[0009] Further, according to the remaining gas volume, the allocated gas volume corresponding to the current flight phase and the subsequent flight phase is updated, including: Determine the target gas volume that needs to be reallocated based on the remaining gas volume, the current flight phase before update, and the allocated gas volume corresponding to the subsequent flight phase; update the allocated gas volume corresponding to the current flight phase and the subsequent flight phase based on the target gas volume, the current flight phase, and the subsequent flight phase.

[0010] Furthermore, according to the current flight stage and the total jet air volume, the distributed air volume of the current flight stage is determined, including: The allocation weights corresponding to each flight stage are determined according to the total flight stage and the preset flight mission requirements; the allocated air volume for the current flight stage is determined according to the current flight stage, the total jet air volume and the allocation weights corresponding to each flight stage.

[0011] Furthermore, the total flight phase includes a take-off phase, a cruising phase and a landing phase. The allocation weight of the take-off phase is greater than the allocation weights of the cruising phase and the landing phase. The allocation weight of the cruising phase is determined according to preset flight mission requirements.

[0012] Furthermore, the method further comprises: Record and analyze the jet data to optimize the jet system coordination strategy.

[0013] In a second aspect, an embodiment of the present application provides a UAV jet system coordination device, comprising: A distribution module, used for determining the distribution air volume of the current flight stage according to the current flight stage and the total jet air volume; The optimal gas volume module is used to determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system; A gas volume status module is used to determine the gas volume status according to the allocated gas volume and the optimal required gas volume in the current flight phase; The strategy determination module is used to determine the jet system coordination strategy for the current flight phase according to the gas volume state, so as to coordinate with the flight control system.

[0014] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor executable instructions; and a method for implementing the first aspect or any possible implementation of the first aspect when the processor executes the executable instructions.

[0015] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, which includes a device for storing a computer program or instruction. When the computer program or instruction is executed, the method of the first aspect or any possible implementation method of the first aspect is implemented.

[0016] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: The embodiment of the present application determines the allocated air volume for the current flight stage according to the current flight stage and the total jet air volume, so as to pre-allocate the air volume for each flight stage; determines the optimal required air volume for the current flight stage according to the current flight parameters, so as to predict the air volume required for the UAV; determines the air volume state according to the allocated air volume and the optimal required air volume for the current flight stage; determines the jet system coordination strategy for the current flight stage according to the air volume state, so as to realize dynamic coordination between the jet system and the flight control system and improve the flight efficiency and stability of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the flow chart of the UAV jet system coordination method provided in the embodiment of the present application; Figure 2 A schematic diagram of the composition of the UAV jet system coordination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0021] With the rapid development of drone technology, its application scenarios are becoming increasingly extensive, from logistics distribution to agricultural monitoring, from emergency rescue to complex environment detection, drones have become an indispensable tool in many fields. However, with the increase in application complexity, the performance requirements of drones in high-precision and complex environment tasks are also constantly increasing. For example: how can drones maintain a stable attitude under conditions of strong winds, air pressure changes or sudden environmental disturbances; how to maximize the use of resources to complete tasks under the constraints of limited resources.

[0022] In order to meet the above challenges, jet systems that assist flight control are gradually introduced into drones. The application of jet systems in drone flight can significantly improve the flight performance of drones, especially in terms of increasing lift, improving maneuverability, and optimizing energy efficiency. The jet lift system sprays high-speed airflow on the wings or other surfaces to change the flow state of the airflow, provide additional thrust and correction torque, and thus effectively improve the flight capability of drones in complex environments.

[0023] In addition, the jet system can also control the airflow in different parts by adjusting the direction and intensity of the airflow to optimize the flight attitude and stability of the drone. The advantage of the jet system is that it can enable the drone to quickly achieve efficient aerodynamic effects, thereby reducing energy consumption, reducing air resistance, and extending the drone's flight time.

[0024] However, the introduction of the fluidic system also brings new technical problems, such as how to dynamically coordinate with the flight control system, how to adapt to different flight phases, and how to optimize resource efficiency.

[0025] The jet system sprays high-speed airflow on the wings or other surfaces of the drone to change the flow state of the airflow, thereby providing additional thrust and correction torque for the drone, thereby effectively improving the drone's flight capabilities in complex environments. The advantage of the jet system is that it can enable the drone to quickly achieve efficient aerodynamic effects, thereby reducing energy consumption, reducing air resistance, and extending the drone's flight time.

[0026] However, the coordination between the jet system and the flight control system of the current UAV is poor, resulting in poor flight efficiency and stability of the UAV.

[0027] Against this background technology, the present disclosure provides a UAV jet system coordination method, which can achieve dynamic coordination between the jet system and the flight control system and improve the flight efficiency and stability of the UAV.

[0028] The execution subject of the UAV jet system coordination method provided by the embodiment of the present disclosure may be a computer or a server, or may also be other electronic devices with data processing capabilities; or, the execution subject of the method may also be a processor (such as a central processing unit (CPU)) in the above electronic device; or, the execution subject of the method may also be an application (application, APP) installed in the above electronic device that can realize the function of the method; or, the execution subject of the method may be a functional module or unit in the above electronic device that has the function of the method, etc. There is no limitation on the execution subject of the method herein.

[0029] The UAV jet system collaboration method is exemplarily described below with reference to the accompanying drawings.

[0030] Figure 1 : is a flow chart of the UAV jet system coordination method provided in the embodiment of the present application. Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the UAV jet system collaborative method. If the final result can be achieved, Figure 1 The steps shown can be performed in parallel or in reverse. Figure 1 As shown, the method may include: S101. Determine the allocated air volume for the current flight phase according to the current flight phase and the total jet air volume.

[0031] Exemplarily, the total jet air volume may be evenly distributed to each flight stage, or the total jet air volume may be distributed according to the importance of each flight stage.

[0032] Specifically, determining the distributed air volume for the current flight phase according to the current flight phase and the total jet air volume may include: The allocation weights corresponding to each flight stage are determined according to the total flight stage and preset mission requirements; the allocated gas volume for the current flight stage is determined according to the current flight stage, the total jet gas volume and the allocation weights corresponding to each flight stage.

[0033] Specifically, the total flight phase may include a take-off phase, a cruising phase, and a landing phase. The allocation weight of the take-off phase is greater than the allocation weights of the cruising phase and the landing phase. The allocation weight of the cruising phase is determined based on preset flight mission requirements.

[0034] For example, a greater allocation weight can be determined for a flight phase with a high priority. For example, since the take-off phase needs to overcome gravity, the thrust demand is the largest, so the allocation weight is large; the landing phase requires high precision control, so resources should be prioritized and the allocation weight is large; the cruising phase has a stable thrust demand and the allocation weight is small.

[0035] For example, the weights may be determined according to the importance of the flight missions in each flight phase. For example, the non-maneuvering flight missions in the cruise phase are assigned a smaller weight, while the maneuvering missions (such as turning, speed change, etc.) in the take-off phase and the cruise phase are assigned a relatively larger weight.

[0036] For example, when the UAV has no large demand for maneuvering thrust during the cruise phase, the allocation weight of the take-off phase is the largest, which can be [0.55, 0.65]; the allocation weight of the cruise phase is the smallest, which can be [0.15, 0.20]; the allocation weight of the landing phase is relatively large, which can be [0.20, 0.25]. When the UAV has a large demand for maneuvering thrust during the cruise process, the allocation weight of the take-off phase is the largest, which can be [0.45, 0.55]; the allocation weight of the cruise phase is relatively large, which can be [0.30, 0.45], and the allocation weight of the landing phase is the smallest, which can be [0.55, 0.65].

[0037] It can be understood that after determining the allocation weight of each flight stage, the allocated air volume for each flight stage can be obtained by calculating the product of the total jet air volume and the allocation weight of each flight stage, and the allocated air volume corresponding to the current flight stage can be determined.

[0038] S102: Determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system.

[0039] Specifically, determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system may include: The unit thrust contribution is determined according to the current flight parameters of the flight control system; the optimal required gas volume corresponding to the current flight stage is determined according to the unit thrust contribution, the jet outlet velocity and the jet outlet cross-sectional area.

[0040] Specifically, according to the current flight parameters of the flight control system, determining the unit thrust contribution may include: The unit thrust contribution is determined based on the current flight parameters of the flight control system, the current flight phase, and the current flight mission.

[0041] Exemplarily, the unit tension contribution may be determined according to the formula shown in the following formula (1); (1) In formula (1), represents the unit tensile contribution, Indicates the flap rudder amount of the drone, Indicates the amount of elevator rudder of the drone. Indicates the throttle value of the drone. Indicates the speed of the drone. represents the drone's angle of attack, Indicates the pitch angle of the drone. represents the UAV trajectory angle, Indicates the vertical speed of the drone, Indicates the altitude of the drone; Indicates the take-off phase, represents the climb task during the cruise phase, represents the maneuvering task during the cruise phase, Indicates the landing phase.

[0042] S103: Determine the gas volume state according to the allocated gas volume and the optimal required gas volume in the current flight phase.

[0043] Exemplarily, the allocated gas volume for the current flight phase and the optimal required gas volume for the current flight phase can be compared to determine the size of the two; when the allocated gas volume for the current flight phase is larger or the allocated gas volume for the current flight phase is equal to the optimal required gas volume, the gas volume status is determined to be sufficient; when the optimal required gas volume for the current flight phase is larger, the gas volume status is determined to be insufficient.

[0044] S104. Determine the jet system coordination strategy for the current flight phase according to the gas volume state, so as to coordinate with the flight control system.

[0045] Furthermore, according to the air volume state, determining the jet system coordination strategy for the current flight phase may include: When the air volume status is sufficient, the jet system coordination strategy for the current flight phase includes the jet system providing the optimal required air volume.

[0046] When the gas volume status is insufficient, the jet system coordination strategy of the current flight phase includes limiting the actual gas consumption of the current flight phase to the maximum allocated gas volume of the current flight phase while meeting the requirements of flight safety and executing the flight mission; when the allocated gas volume of the current flight phase cannot meet the flight safety, the allocated gas volume of the subsequent flight phase is used.

[0047] Exemplarily, when the air volume is sufficient, the jet system coordination strategy for the current flight phase can be determined to include: First, give priority to ensuring attitude stability. According to the needs of the flight control system, the jet system gives priority to meeting the optimal attitude stability requirements for air output to ensure that the UAV maintains a good flight attitude (such as pitch angle and roll angle stability). Second, mission execution requirements. After the optimal attitude stability is guaranteed, the jet system outputs air volume according to the optimal demand. If there are sudden environmental conditions (such as turbulence, crosswinds and other unpredictable situations) during the stage, the jet system will further optimize the air volume distribution to adapt to dynamic needs.

[0048] Exemplarily, when the air volume is insufficient, the jet system coordination strategy for the current flight phase can be determined to include: first, giving priority to flight safety. If flight safety may be affected, the jet system outputs air volume to give priority to flight safety, ignoring the optimal attitude requirements, and the flight control system maintains stable and safe flight through rudder adjustment or power compensation. Second, secondary task restrictions. If the flight safety requirements have been met, the jet system outputs all the preset air volume. If the flight mission requirements still cannot be fully achieved, the dynamic performance of the current mission is limited (such as reducing the maneuvering range, reducing sharp turns, reducing the climb rate, etc.) to save air. If flight safety cannot be met, the allocated air volume for subsequent flight phases can be allocated to the current flight phase to ensure the safety of the drone in the current flight phase.

[0049] It should be noted that when the UAV encounters an emergency situation such as sudden airflow, flight control instability, etc., which leads to a sudden increase in gas demand, the jet system coordination strategy of the current flight phase can be changed to an emergency coordination strategy. The emergency coordination strategy includes: First, global resources give priority to safety, and the gas required for the current flight phase can be borrowed for the subsequent flight phase. Second, the scheduling of subsequent tasks. After safety is guaranteed, the gas volume of the subsequent phase can be reallocated, giving priority to necessary tasks and reducing minor tasks.

[0050] This embodiment determines the allocated air volume for the current flight stage according to the current flight stage and the total jet air volume; determines the optimal required air volume for the current flight stage according to the current flight parameters; determines the air volume state according to the allocated air volume and the optimal required air volume for the current flight stage; and determines the jet system coordination strategy for the current flight stage according to the air volume state, thereby achieving dynamic coordination between the jet system and the flight control system and improving the flight efficiency and stability of the UAV.

[0051] In some possible implementations, the method may further include: It is determined that the actual gas consumption of the previous flight phase does not match the corresponding allocated gas volume, and the allocated gas volume corresponding to the current flight phase and the subsequent flight phase is updated according to the remaining gas volume.

[0052] Exemplarily, after any flight phase is completed, the actual gas consumption of the phase can be compared with the allocated gas volume of the phase. When the two are different, the allocated gas volume corresponding to the current flight phase and subsequent flight phases is updated according to the remaining gas volume.

[0053] Exemplarily, when the remaining gas volume is less than the sum of the allocated gas volumes of the unfinished flight stages, the allocated gas volume of each unfinished flight stage can be reduced; when the remaining gas volume is greater than the sum of the allocated gas volumes of the unfinished flight stages, the allocated gas volume of each unfinished flight stage can be increased; when the remaining gas volume is equal to the sum of the allocated gas volumes of the unfinished flight stages, the allocated gas volume of each unfinished flight stage can be reduced or increased.

[0054] Further, according to the remaining gas volume, the allocated gas volume corresponding to the current flight phase and the subsequent flight phase is updated, including: Determine the target gas volume that needs to be reallocated based on the remaining gas volume, the current flight phase before update, and the allocated gas volume corresponding to the subsequent flight phase; update the allocated gas volume corresponding to the current flight phase and the subsequent flight phase based on the target gas volume, the current flight phase, and the subsequent flight phase.

[0055] Exemplarily, the difference between the remaining gas volume and the sum of the allocated gas volumes corresponding to the current flight phase before updating and the subsequent flight phases may be calculated and determined as the target gas volume.

[0056] Exemplarily, when updating the allocated gas volume corresponding to the current flight stage and the subsequent flight stage, a proportional allocation method (i.e., allocating the target gas volume proportionally to the current flight stage and the subsequent flight stage according to the proportion of the allocated gas volume of each flight stage in the total jet gas volume), a priority allocation method (presetting the corresponding weight according to the importance of the unfinished flight stage, and allocating the target gas volume to the current flight stage and the subsequent flight stage according to the weight), a dynamic demand method (allocating the target gas volume to the current flight stage and the subsequent flight stage by predicting the minimum gas volume required for the unfinished flight stage), a segmented priority strategy allocation method (dividing the unfinished flight stage into key flight stages, and the target gas volume is allocated to the current flight stage and the subsequent flight stage according to the weight). stage and ordinary stage, the target gas volume is allocated to the key stage first. After the demand of the key stage is met, the remaining target gas volume is allocated to the ordinary stage), dynamic adjustment compensation method (combining real-time monitoring data and historical gas allocation deviations to make compensatory allocations for unfinished flight stages), multi-objective optimization allocation method (through a multi-objective optimization algorithm, the target gas volume is optimally allocated according to the mission objectives corresponding to the unfinished flight stages), equal allocation method (according to the number of the current flight stage and the subsequent flight stages, the target gas volume is equally allocated to the current flight stage and the subsequent flight stages), and the target gas volume is allocated to the current flight stage and the subsequent flight stages.

[0057] It should be noted that when the actual gas consumption of the previous flight phase matches the corresponding allocated gas volume, there is no need to update the allocated gas volume corresponding to the current flight phase and the subsequent flight phases.

[0058] Specifically, allocating the target gas volume according to the equal allocation method based on the remaining gas volume may include: Calculating the difference between the remaining gas volume and the sum of the allocated gas volumes corresponding to the uncompleted flight stages to obtain a first difference; calculating the difference between the total number of flight stages and the number of completed flight stages to obtain a second difference; calculating the ratio of the first difference to the second difference to obtain a first ratio; The allocated gas volumes corresponding to the current flight phase and the subsequent flight phase are respectively updated to the sum of the allocated gas volumes corresponding to the current flight phase and the subsequent flight phase before the update and the first ratio.

[0059] For example, the updated allocated gas volume corresponding to the current flight phase and the subsequent flight phases can be realized by using the secondary allocation formula shown in formula (2).

[0060] (2) in, .

[0061] In formula (2), represents the updated allocated gas volume for the kth flight phase, represents the amount of gas allocated before the update of the kth flight phase, Indicates the distribution correction value, Indicates the current remaining gas volume (i.e. remaining gas volume), Indicates the number of completed flight phases, Indicates the total number of flight phases.

[0062] It can be understood that the first difference is the aforementioned target gas volume, and the distribution correction value That is the aforementioned first ratio. In this implementation, the target gas volume is evenly distributed to the current flight phase and the subsequent flight phases.

[0063] For example, the current remaining gas volume It can be expressed as the difference between the total jet gas volume and the actual gas consumption during the completed flight phase.

[0064] For example, , , , , (i.e. the flight phase includes the first phase, the second phase and the third phase, the first phase has been completed, the remaining gas volume is 60L (taking the total jet gas volume as 100L, that is, the actual gas consumption of the completed first phase is 40L), the second phase pre-update allocated gas volume is 35L, and the third phase pre-update allocated gas volume is 15L) as an example, the allocation correction value is , the updated allocated gas volume for the second phase, that is, the updated allocated gas volume for the second flight phase , the updated allocated gas volume for the third phase, that is, the updated allocated gas volume for the third flight phase .

[0065] This embodiment can maximize the use of jet gas resources, avoid waste, and ensure the smooth completion of key stage tasks, thereby further improving the synergy effect of the jet system by updating the allocated gas volume corresponding to the current flight stage and the subsequent flight stages according to the remaining gas volume when the actual gas consumption in the previous flight stage does not match the corresponding allocated gas volume.

[0066] In some possible implementations, the method may further include: Record and analyze the jet data to optimize the jet system coordination strategy.

[0067] This embodiment records the jet data and analyzes the jet data to optimize the jet system coordination strategy, thereby continuously improving the coordination efficiency of the jet system and the flight control system.

[0068] Although the present application provides method operation steps such as embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in this embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0069] like Figure 2 As shown, the embodiment of the present application also provides a UAV jet system coordination device. The device includes: a distribution module 201, an optimal gas volume module 202, a gas volume state module 203 and a strategy determination module 204.

[0070] The allocation module 201 is used to determine the allocated air volume for the current flight phase according to the current flight phase and the total jet air volume.

[0071] The optimal gas volume module 202 is used to determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system.

[0072] The gas volume status module 203 is used to determine the gas volume status according to the allocated gas volume and the optimal required gas volume in the current flight phase.

[0073] The strategy determination module 204 is used to determine the jet system coordination strategy of the current flight phase according to the gas volume state, so as to coordinate with the flight control system.

[0074] The beneficial effects and specific implementation methods of the device embodiment can be referred to the aforementioned method embodiment, and will not be described in detail here.

[0075] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0076] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0077] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0078] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0079] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0080] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0081] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD) or memory card. The memory can be used to store computer program instructions.

[0082] It can be seen from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application can be essentially or partly reflected in the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0083] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0084] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A UAV jet system coordination method, characterized in that: include: Determine the allocated air volume for the current flight phase according to the current flight phase and the total jet air volume; Determine the optimal required gas volume for the current flight phase based on the current flight parameters of the flight control system; Determine the gas volume status according to the allocated gas volume and the optimal required gas volume in the current flight phase; According to the gas volume status, the jet system coordination strategy for the current flight phase is determined to coordinate with the flight control system.

2. The method according to claim 1, characterized in that Determining the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system includes: Determine the unit thrust contribution based on the current flight parameters of the flight control system; The optimal required gas volume corresponding to the current flight stage is determined based on the unit drag contribution, jet outlet velocity and jet outlet cross-sectional area.

3. The method according to claim 1, characterized in that: Determining the jet system coordination strategy of the current flight phase according to the gas volume state includes: When the air volume state is sufficient, the jet system coordination strategy for the current flight phase includes the jet system providing the optimal required air volume; When the gas volume status is insufficient, the jet system coordination strategy of the current flight phase includes limiting the actual gas consumption of the current flight phase to the maximum allocated gas volume of the current flight phase while meeting the requirements of flight safety and executing the flight mission; when the allocated gas volume of the current flight phase cannot meet the flight safety, the allocated gas volume of the subsequent flight phase is used.

4. The method according to claim 1, characterized in that: The method further comprises: It is determined that the actual gas consumption of the previous flight phase does not match the corresponding allocated gas volume, and the allocated gas volume corresponding to the current flight phase and the subsequent flight phase is updated according to the remaining gas volume.

5. The method according to claim 4, characterized in that The updating of the allocated gas volume corresponding to the current flight phase and the subsequent flight phase according to the remaining gas volume includes: Determine the target gas volume to be redistributed based on the remaining gas volume, the current flight phase before the update, and the allocated gas volume corresponding to the subsequent flight phase; According to the target gas volume, the current flight phase and the subsequent flight phase, the allocated gas volumes corresponding to the current flight phase and the subsequent flight phase are updated.

6. The method according to claim 1, characterized in that Determining the distributed air volume of the current flight stage according to the current flight stage and the total jet air volume includes: Determine the allocation weights corresponding to each flight phase based on the total flight phase and preset flight mission requirements; The allocated air volume for the current flight phase is determined according to the current flight phase, the total jet air volume and the allocation weights corresponding to each flight phase.

7. The method according to claim 6, characterized in that The total flight phase includes a take-off phase, a cruising phase and a landing phase. The allocation weight of the take-off phase is greater than the allocation weights of the cruising phase and the landing phase. The allocation weight of the cruising phase is determined according to preset flight mission requirements.

8. The method according to claim 1, characterized in that The method further comprises: Record and analyze the jet data to optimize the jet system coordination strategy.

9. A UAV jet system coordination device, characterized in that: include: A distribution module, used for determining the distribution air volume of the current flight stage according to the current flight stage and the total jet air volume; The optimal gas volume module is used to determine the optimal required gas volume for the current flight phase according to the current flight parameters of the flight control system; A gas volume status module, used to determine the gas volume status according to the allocated gas volume and the optimal required gas volume of the current flight phase; The strategy determination module is used to determine the jet system coordination strategy for the current flight phase according to the gas volume state, so as to coordinate with the flight control system.

10. A non-volatile computer-readable storage medium, characterized in that: The device comprises a computer program or an instruction for storing the computer program or the instruction, which, when executed, enables the method according to any one of claims 1 to 8 to be implemented.

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