Aircraft control method, computer program product, device and storage medium

Abstract

The present application relates to an aircraft control method, a computer program product, a device and a storage medium. The method includes: obtaining multiple boundary points of the aircraft's permitted flight airspace, determining a first electronic fence based on the multiple boundary points; determining a second electronic fence based on the first electronic fence, scaling and dividing the second electronic fence to obtain multiple sub-electronic fences; obtaining aircraft coordinates, calculating the distance value between the aircraft coordinates and each boundary of the second electronic fence; traversing the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, taking the distance value with the smallest value as the target distance value, and taking the boundary involved in the target distance value calculation as the target boundary; determining the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, and obtaining the target control strategy corresponding to the target sub-electronic fence, and controlling the aircraft's navigation based on the target control strategy. The use of this method can save aircraft control costs.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to an aircraft control method, computer program product, device and storage medium. Background Art

[0002] With the rapid development of aircraft technology, Geofencing, as an emerging safety measure, is gradually becoming a standard configuration for aircraft operations. This technology not only ensures that aircraft fly safely within the preset area, but also effectively prevents equipment from losing control or flying in violation of regulations.

[0003] Since the control system of the aircraft is usually a 32-bit single-chip microcomputer with limited resources, and the electronic fence technology needs to calculate the position of the aircraft and the fence boundary in real time, which requires a lot of computing power, the existing technology usually uses a relatively high-performance on-board computer to process the fence calculation and transmit the result to the aircraft control system through data. Although the off-board control method can reduce the amount of calculation of the aircraft control system, it also increases the extra cost of the on-board computer, which also increases the weight of the aircraft and the cost of aircraft control. Therefore, there is an urgent need for a method that can achieve precise control of aircraft flight on a single-chip microcomputer control system with limited resources. Summary of the invention

[0004] Based on this, it is necessary to provide an aircraft control method, computer program product, device and storage medium that can save aircraft control costs in response to the above technical problems.

[0005] In order to solve the above technical problems, in a first aspect, a method for controlling an aircraft is provided, the method comprising:

[0006] Acquire multiple boundary points of the aircraft's permitted flight airspace, and determine a first electronic fence based on the multiple boundary points;

[0007] Determine a second electronic fence based on the first electronic fence, and scale and divide the second electronic fence to obtain a plurality of sub-electronic fences;

[0008] Obtaining the coordinates of the aircraft, and calculating the distance between the coordinates of the aircraft and each boundary of the second electronic fence;

[0009] Traverse the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the target distance value calculation as the target boundary;

[0010] The target sub-electronic fence where the aircraft is located is determined based on the target distance value and the target boundary, and the target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0011] In one embodiment, obtaining a plurality of boundary points of an aircraft permitted flight airspace, and determining a first electronic fence based on the plurality of boundary points comprises:

[0012] Obtain the permitted flight airspace information and unpermitted flight airspace information corresponding to the target mission;

[0013] Determine multiple boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information;

[0014] Multiple boundary points are sequentially connected using connecting lines to form a closed first electronic fence.

[0015] In one embodiment, determining the second electronic fence based on the first electronic fence includes:

[0016] Determine a scaling ratio according to the distance between the aircraft coordinates and each boundary of the first electronic fence;

[0017] A second geo-fence is determined based on the zoom ratio.

[0018] In one embodiment, scaling and dividing the second electronic fence to obtain a plurality of sub-electronic fences includes:

[0019] Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided;

[0020] The second electronic fence is scaled and divided based on the division ratio to obtain a plurality of sub-electronic fences.

[0021] In one embodiment, obtaining the aircraft coordinates and calculating the distance between the aircraft coordinates and each boundary of the second electronic fence includes:

[0022] Obtaining real-time aircraft position information and converting the real-time aircraft position information into aircraft coordinates;

[0023] Project the aircraft coordinates onto each boundary of the second electronic fence to obtain the projection point corresponding to each boundary;

[0024] The distance value between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

[0025] In one embodiment, the target sub-electronic fence where the aircraft is located is determined based on the target distance value and the target boundary, and the target control strategy corresponding to the target sub-electronic fence is obtained. The navigation of the aircraft is controlled based on the target control strategy, including:

[0026] Obtain the target projection point projected from the aircraft coordinates onto the target boundary;

[0027] Make a target connection line based on the target projection point and the aircraft coordinate point, and obtain the intersection point of each sub-electronic fence and the target connection line;

[0028] Determine the preset distance value range corresponding to each sub-electronic fence based on the intersection of the aircraft coordinate point and each sub-electronic fence and the target connection line;

[0029] Matching the target distance value with the preset distance value range corresponding to each sub-electronic fence;

[0030] The sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence;

[0031] The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0032] In one embodiment, the plurality of sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence, obtaining a target control strategy corresponding to a target sub-electronic fence, and controlling the navigation of the aircraft based on the target control strategy includes:

[0033] When the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and records the aircraft coordinates;

[0034] When the target sub-electronic fence is the second sub-electronic fence, obtain the critical value of the aircraft flight speed corresponding to the second e-fence, control the current aircraft flight speed not to exceed the critical value of the aircraft flight speed, and record the position coordinates in the flight airspace corresponding to the second e-fence;

[0035] When the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates. The current aircraft coordinates are used as the starting point and the target position coordinates are used as the end point to form a return route, and the aircraft is controlled to navigate along the return route.

[0036] In one embodiment, the method further comprises:

[0037] Obtain target missions, and filter the historical flight trajectories of target aircraft based on the target missions;

[0038] Predicting the trajectory of the aircraft based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory;

[0039] Preprocess the historical flight trajectory of the target aircraft within the target flight airspace, and perform grid differentiation on the target flight airspace to obtain multiple sub-target flight airspaces;

[0040] Obtain the danger index of the target flight airspace, analyze each sub-target flight airspace based on the danger index of the target flight airspace range, and obtain the analysis result;

[0041] A second electronic fence is determined based on the predicted trajectory and the analysis result.

[0042] In one embodiment, the method further comprises:

[0043] During the flight of the aircraft, real-time perception of whether there are obstacles in the environment within the preset range of the aircraft;

[0044] When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed;

[0045] A second electronic fence is determined based on the obstacle fence information.

[0046] In one embodiment, there are multiple aircrafts, and the method includes:

[0047] Randomly select any aircraft from multiple aircraft as a reference aircraft, and use aircraft other than the reference aircraft from the multiple aircraft as other aircraft;

[0048] Acquire the pending flight trajectory of the reference aircraft in the aircraft formation, and generate a time and position change diagram of the reference aircraft based on the pending flight trajectory of the reference aircraft;

[0049] Selecting the position mutation point of the target time node of the reference aircraft based on the time and position change diagram of the reference aircraft;

[0050] Record the relative positions of other aircraft compared to the reference aircraft at each position change point;

[0051] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft.

[0052] In one embodiment, the method further comprises:

[0053] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft, including:

[0054] The relative positions of other aircraft at each position mutation point compared to the reference aircraft are taken as amplification nodes and recorded in the data table;

[0055] Obtain the adjacent other aircraft at each position mutation point of the reference aircraft, obtain the distance values ​​between the adjacent other aircraft and the reference aircraft, and amplify the amplified nodes based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form an electronic fence of the reference aircraft at each target time node.

[0056] In one embodiment, obtaining multiple boundary points of the aircraft's permitted flight airspace further includes:

[0057] Obtain environmental information by taking photos, and determine the type of environment based on the environmental information;

[0058] Determine a first electronic fence generation strategy based on the environment type;

[0059] Multiple boundary points of the aircraft's permitted flight airspace are selected based on the electronic fence generation strategy.

[0060] In order to solve the above technical problem, in a second aspect, a computer program product is provided, including a computer program, which implements the steps of the method in the first aspect when executed by a processor.

[0061] In order to solve the above technical problem, a third aspect provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: the processor implements the steps of the above first aspect method when executing the computer program.

[0062] In order to solve the above technical problems, in a fourth aspect, the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the above first aspect are implemented.

[0063] Different from the prior art, the present application obtains multiple boundary points of the aircraft's permitted flight airspace, and determines a first electronic fence based on the multiple boundary points; determines a second electronic fence based on the first electronic fence, and scales and divides the second electronic fence to obtain multiple sub-electronic fences; obtains the aircraft coordinates, and calculates the distance value between the aircraft coordinates and each boundary of the second electronic fence; traverses the distance values ​​between all the aircraft coordinates and each boundary of the second electronic fence, takes the distance value with the smallest value as the target distance value, and takes the boundary involved in the target distance value calculation as the target boundary; determines the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, and obtains the target control strategy corresponding to the target sub-electronic fence, and controls the aircraft's navigation based on the target control strategy. In this way, different sub-electronic fences can be set by calculating the distance values ​​between the aircraft and the boundaries of the first and second electronic fences, without applying a large number of complex algorithms for calculation, which can reduce the aircraft control cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a schematic flow chart of an aircraft control method in one embodiment;

[0065] Figure 2 is a schematic diagram of a second electronic fence in one embodiment;

[0066] Figure 3 is a structural block diagram of an aircraft control device in one embodiment;

[0067] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] Electronic fences are virtual boundaries based on geographic location, which are defined by the Global Positioning System (GPS), Wi-Fi or other positioning technologies. When an aircraft flies out of or enters these preset areas, the system will sound an alarm or take corresponding actions. This technology is particularly important in application scenarios such as aerial photography, plant protection, and spraying. It can effectively prevent aircraft from flying in sensitive areas such as schools, hospitals, airports, and military bases, while protecting the user's licensing rights.

[0070] The implementation of electronic fences relies on the combination of multiple technologies. First, GPS positioning is its foundation. By acquiring the aircraft's location information in real time and combining it with excellent algorithms, the system can quickly determine whether the aircraft is within the safe flight area. At the moment the aircraft flies out of the boundary, the system can immediately take control measures and cut off the flight instructions to prevent accidents. This real-time performance is crucial to ensure the safety of aircraft.

[0071] Although electronic fence technology can effectively improve the safety of aircraft operations, its potential risks should also be guarded against. As a technology-dependent solution, electronic fences are highly dependent on equipment, and once a technical failure occurs, it may cause the aircraft to lose control. Therefore, it is very necessary to design a stable and reliable precise control electronic fence technology that can be applied to a single-chip microcomputer with limited computing power.

[0072] In view of the above technical problems, in one embodiment, Figure 1 As shown, the present application provides an aircraft control method, which specifically includes the following steps:

[0073] Step 101, obtaining multiple boundary points of the aircraft's permitted flight airspace, and determining a first electronic fence based on the multiple boundary points.

[0074] Specifically, obtain the permitted flight airspace information and the unpermitted flight airspace information corresponding to the target task; determine multiple boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information; use connecting lines to connect the multiple boundary points in sequence to form a closed first electronic fence.

[0075] Aircraft may include airplanes, drones, and the like. The target mission is the mission that the aircraft is about to perform, and the permitted flight airspace corresponding to the target mission is the airspace in which the aircraft can fly. Unpermitted flight airspace is an area where aircraft are prohibited from flying. Assuming that the target mission is to take pictures at school, the permitted flight airspace may be a playground within the school area and other places with low privacy, while places with high privacy, such as classrooms, may be set as no-fly areas. In the present application, it is provided to first select multiple boundary points according to the boundaries of the permitted flight airspace and the unpermitted flight airspace to generate a first electronic fence.

[0076] In one embodiment, environmental information can be obtained by taking photos, and the environment type can be determined based on the environmental information; a first electronic fence generation strategy can be determined based on the environment type; and multiple boundary points of the aircraft's permitted flight airspace can be selected based on the electronic fence generation strategy.

[0077] The current environment can be photographed, and the photograph includes the environment information of the aircraft. The environment information may include the types of reference objects such as buildings, animals, people, vegetation, etc., as well as the distribution information of the reference objects.

[0078] An aircraft environment tag is generated based on the environmental information of the aircraft. The aircraft environment type and difficulty are marked on the aircraft environment tag. The generation strategy of the electronic fence is determined based on the aircraft environment type and difficulty. For example, areas with dense personnel and buildings can be regarded as areas with high difficulty and complex aircraft environments, and areas with sparse personnel and buildings can be regarded as areas with low difficulty and simple aircraft environments. The generation strategy of the first electronic fence can be determined based on the difficulty level corresponding to the environmental information. The generation strategy of the first electronic fence here can include the selection of boundary points of the first electronic fence. For example, if the aircraft is currently in an environment with a high degree of difficulty, more boundary points can be selected to participate in the generation of the first electronic fence, and if the aircraft is currently in an environment with a low degree of difficulty, fewer boundary points can be selected to participate in the generation of the first electronic fence. In this way, the accuracy of the first electronic fence can be improved.

[0079] After obtaining multiple boundary points, the multiple boundary points are used as vertices of the first electronic fence. Connecting lines can be used to connect the points at the vertices of the first electronic fence into straight lines in sequence to form a closed polygon, that is, to form the first electronic fence.

[0080] Step 102: determine a second electronic fence based on the first electronic fence, and scale and divide the second electronic fence to obtain a plurality of sub-electronic fences.

[0081] Here, it can be set that based on the first electronic fence, the second electronic fence is generated by reducing the scale inward by a certain ratio based on the value of the scaling ratio. For example, the distance value between the aircraft coordinates and any boundary of the first electronic fence is X, and the scaling ratio is 0.8, then the distance value between the aircraft coordinates and any boundary of the second electronic fence is 0.8X. Here, based on the first electronic fence, a certain ratio is scaled inward to generate a buffer zone formed by the boundary of the first electronic fence and the boundary of the second electronic fence. In the buffer zone, a warning will be generated close to the boundary of the first electronic fence, indicating that the aircraft is about to enter the non-permitted flight airspace.

[0082] In one embodiment, a target mission is obtained, and a historical flight trajectory of a target aircraft is screened based on the target mission; the trajectory of the aircraft is predicted based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory; the historical flight trajectory of the target aircraft within the target flight airspace is preprocessed, and the target flight airspace is grid-differentiated to obtain a plurality of sub-target flight airspaces; a hazard index of the target flight airspace is obtained, and each sub-target flight airspace is analyzed based on the hazard index of the target flight airspace range to obtain an analysis result; and a second electronic fence is determined based on the predicted trajectory and the analysis result.

[0083] The type of the target mission and the historical flight trajectory of the target aircraft with the same model as the current aircraft that completed the target mission are obtained to predict the trajectory of the aircraft.

[0084] Then, the historical flight trajectory of the target aircraft is preprocessed by denoising to remove abnormal data. Then, the target flight airspace corresponding to the target task is converted into a plane rectangular coordinate system according to the Mercator projection, and then the flight airspace corresponding to the target task is uniformly discretized at a certain division level on the plane rectangular coordinate system to obtain a uniform airspace grid on a two-dimensional plane. Then, the historical flight trajectory data in the format of Automatic Dependent Surveillance-Broadcast (ADS-B) is parsed and processed to obtain the original index data of each airspace grid; and numbered. Here, each airspace grid corresponds to a sub-target flight airspace, with the coordinate origin as the starting point, the main direction is increasing in sequence along the x-axis direction, and the secondary direction is increasing in sequence along the y-axis direction. At the same time, the unit length of each grid airspace is known, and the coordinates of the lower left corner of each grid are taken to represent its grid index.

[0085] On the basis of airspace gridding, historical flight trajectory data are introduced. The speed distribution of historical flight trajectory points, the height distribution of trajectory points, the potential conflict degree, the obstacle height and the trajectory time density are used as indicators of the degree of danger of the target flight airspace. According to the historical flight trajectory data, the influence of the historical flight trajectory data, the speed distribution of historical flight trajectory points, the height distribution of trajectory points, the potential conflict degree, the obstacle height and the trajectory time density on the indicators of the degree of danger of the target flight airspace can be set with corresponding weights. The linear weighted method can be used to process the danger indicators to obtain analysis results, which reflect the evaluation value of the target flight airspace.

[0086] According to the evaluation value of each sub-target flight airspace, the analysis results of each sub-target flight airspace are sorted. Then each sub-target flight airspace is mapped to the high-dimensional kernel space. Specifically, the sub-target flight airspace is divided into N parts according to the number of sub-target flight airspaces. Each sub-target flight airspace is a sample, and the mean of the evaluation value of each target flight airspace of each complexity level is obtained as the initial clustering center. The clustering results obtained by this method will make the evaluation value of each cluster within a certain range, and the evaluation value of each cluster basically presents a gradient distribution. Only the cross-repeated parts and outliers need to be processed to obtain a better complexity classification effect, and the establishment of a complexity classification measurement model is realized. This result takes into account the high-dimensional structural characteristics of the evaluation value and the original indicator data, and has good practical significance. In this way, the analysis of the danger index of the target flight airspace is more scientific by combining the evaluation value of each sub-target flight airspace and the high-dimensional space clustering method.

[0087] The key information that the aircraft is concerned about when performing the mission can be determined according to the target mission type. For example, if the target mission location is to take photos at a designated location, then the mission focuses on the location of the aircraft's arrival at the designated location and the angle of the photo. Find a target aircraft of the same model as the current aircraft, obtain the actual flight trajectory of the target aircraft when performing the target mission type, analyze the actual flight trajectory, obtain the actual flight direction and actual flight speed, guide the actual flight speed and flight trajectory of the current aircraft according to the actual flight direction, actual flight speed and the designated location corresponding to the target mission, and generate a predicted trajectory; determine the lateral, longitudinal and height ranges of the electronic fence based on the lateral, longitudinal and height of the predicted trajectory, and more accurately limit the ranges of the first sub-electronic fence, the second sub-electronic fence and the third sub-electronic fence according to the analysis results.

[0088] In one embodiment, the determination of the electronic fence may also take into account the impact of obstacles on the electronic fence. Specifically, during the navigation of the aircraft, it is sensed in real time whether there are obstacles in the environment within the preset range of the aircraft. When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed. The second electronic fence is determined based on the obstacle fence information.

[0089] In one embodiment, the aircraft can sense in real time whether there are obstacles in the environment of the preset range of the aircraft during flight, where the environment of the preset range of the aircraft refers to the environment of a certain range of positions covered by the radius with the current coordinates of the aircraft as the center and any length distance value as the radius. The length of the radius here can be set according to actual needs. Optionally, a device with perception capabilities such as a depth camera, a stereo camera, a laser radar, an ultrasonic radar, etc. can be used to perceive the environment of the preset range of the aircraft.

[0090] When an obstacle is detected within the safety distance value, the obstacle fence information is added to the obstacle electronic fence map to check and warn the route when the next flight plan is uploaded, and further refine the range of the second electronic fence.

[0091] Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided; and scale and divide the second electronic fence based on the division ratio to obtain multiple sub-electronic fences.

[0092] Here, the number of electronic fences to be divided can be set according to actual needs. For example, assuming that the number of electronic fences to be divided is 3, Figure 2As shown, a second electronic fence is formed by multiple boundary points a, b, c, d, e, f, g, h and connecting lines, and the second electronic fence is divided into a first sub-electronic fence, a second sub-electronic fence and a third sub-electronic fence. The first sub-electronic fence is a safety zone, the second sub-electronic fence is a deceleration zone, and the third sub-electronic fence is a no-fly zone. Aircraft can fly freely in the safety zone without restriction. When entering the deceleration zone, the flight speed of the aircraft is limited to allow it to fly within a safe and controllable speed range. When the aircraft enters the no-fly zone, the control right of the aircraft is cancelled, and the aircraft automatically leaves the no-fly zone and arrives at the deceleration zone. In this way, the flight boundary of the aircraft can be accurately controlled, and the calculation amount of fence control can be effectively reduced.

[0093] Step 103, obtaining the coordinates of the aircraft, and calculating the distance between the coordinates of the aircraft and each boundary of the second electronic fence.

[0094] Specifically, the real-time position information of the aircraft is obtained and converted into aircraft coordinates; the aircraft coordinates are projected onto each boundary of the second electronic fence to obtain the projection points corresponding to each boundary; and the distance value between the aircraft and each boundary is calculated based on the position of the projection points corresponding to the aircraft coordinates and each boundary.

[0095] The position information of the aircraft can be obtained in real time through tools that can realize positioning functions such as GPS. The standard north-east coordinate system is usually used inside the aircraft. For example, the initial point where the aircraft is unlocked and taken off is used as the coordinate origin. Flying north from the coordinate origin, the x-axis gradually increases, and vice versa, the x-axis gradually decreases toward the south; the y-axis gradually increases eastward from the coordinate origin and gradually decreases toward the west; the z-axis increases downward and decreases upward. Record the original coordinates and longitude and latitude of takeoff. After flying for a period of time, the aircraft can convert the longitude and latitude into the xyz coordinates of the north-east according to the real-time longitude and latitude information transmitted by GPS, which is convenient for calculation.

[0096] The aircraft is regarded as a point mass, and the point mass is the aircraft coordinates. The boundary of the first electronic fence is regarded as a line segment. The shortest distance between a point and a line segment should be the perpendicular line from the point to the line segment, and the distance from the point to the foot of the perpendicular is the shortest distance. This point is the projection point, and the distance between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

[0097] Since the electronic fence is usually represented by specific longitude and latitude coordinates, it is necessary to convert the longitude and latitude coordinates into the coordinate system of the aircraft to reduce the amount of subsequent calculations and reduce errors. In a specific implementation, the specific code for obtaining the aircraft coordinates and calculating the distance between the aircraft coordinates and each boundary of the second electronic fence can be as follows:

[0098] typedef struct {

[0099] Float x;

[0100] Float y;

[0101] } NED_xy;

[0102] NED_xy point;

[0103] NED_xy fence_point[polygon_vertex_num];

[0104] for (i = 0; i <polygon_vertex_num; i++)

[0105] {

[0106] fence_ctrl.fence_point[i] = convert_latlon_to_ned(lat, lon));

[0107] }

[0108] Secondly, the aircraft's own latitude and longitude coordinates are converted to the aircraft's coordinate system, and the coordinates are used as a point for mathematical calculations.

[0109] Next, calculate the shortest distance from the point to the polygon segment.

[0110] / /

[0111] Float calculate_distance(Float x0, Float y0, Float x1, Float y1)

[0112] {

[0113] Float deltaX = x1 - x0; / / North direction difference

[0114] Float deltaY = y1 - y0; / / East direction difference

[0115] Float distance = sqrt( );

[0116] return distance; / / distance value

[0117] }

[0118] / / Calculate the dot product of vectors v1 and v2

[0119] static double dot_product(NED_xy v1, NED_xy v2)

[0120] {

[0121] ;

[0122] }

[0123] float calculate_point_to_line_min_distance( )

[0124] {

[0125] / / Vector AB

[0126] NED_xy AB = {line->end.x - line->start.x, line->end.y - line->start.y};

[0127] / / Vector AP

[0128] NED_xy AP = {point->x - line->start.x, point->y - line->start.y};

[0129] float AP_length = calculate_distance(line->start.x, line->start.x,point->x, point->y); / / Distance from point P to A

[0130] / / If P is at point A or point B, return 0 directly

[0131] if (AP_length<= 0.01) {

[0132] return 0.0;

[0133] }

[0134] if ((point->x == line->end.x&&point->y == line->end.y)) {

[0135] return 0.0;

[0136] }

[0137] / / If P and A coincide or the line segment degenerates into a point

[0138] if (fence_ctrl.side_len[seq]<= 0.01) {

[0139] return AP_length;

[0140] }

[0141] / / Calculate the projection length u

[0142] float u = ;

[0143] / / If the foot of the perpendicular is on the extension of line segment AB

[0144] if (u<0.0) {

[0145] return calculate_distance(point->x, point->y, line->start.x, line->start.y);

[0146] } else if (u>1.0) {

[0147] return calculate_distance(point->x, point->y, line->end.x, line->end.y);

[0148] }

[0149] / / The foot of the perpendicular is on line segment AB, calculate and return the distance value

[0150] NED_xy projection = { }; / / Projection point

[0151] return calculate_distance(point->x, point->y, projection.x,projection.y);

[0152] }

[0153] In this application, the distance value from a point to a line segment is calculated using the perpendicular line method. The shortest distance value of the line segment is obtained by calculating the distance values ​​from the perpendicular point and the two endpoints of the line segment to the point respectively. This method is simple and effective, and requires little calculation.

[0154] Step 104, traverse the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the target distance value calculation as the target boundary.

[0155] Traverse the distance values ​​between all aircraft and each boundary of the second electronic fence, and take the distance value with the smallest value as the target distance value; determine the scaling ratio according to the distance value between the aircraft coordinates and each boundary of the first electronic fence; and determine the second electronic fence according to the scaling ratio.

[0156] The calculated distance values ​​between the aircraft and each boundary of the second electronic fence are compared, and the distance value with the smallest value is selected as the target distance value, which is used to subsequently determine the target sub-electronic fence where the aircraft is located.

[0157] Step 105 , determining the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, obtaining a target control strategy corresponding to the target sub-electronic fence, and controlling the navigation of the aircraft based on the target control strategy.

[0158] Specifically, a target projection point of the aircraft coordinates projected onto the target boundary is obtained; a target connecting line is made based on the target projection point and the aircraft coordinate point, and the intersection point of each sub-electronic fence and the target connecting line is obtained; a preset distance value range corresponding to each sub-electronic fence is determined based on the intersection point of the aircraft coordinate point and each sub-electronic fence and the target connecting line; the target distance value is matched with the preset distance value range corresponding to each sub-electronic fence; the sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence; the target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0159] Exemplarily, in the present application, a connecting line can be made from the coordinates of the aircraft to the target projection point on the target boundary, which is referred to as the target connecting line. The target connecting line will have an intersection with each sub-electronic fence. The intersection of each sub-electronic fence and the aircraft coordinates are obtained. The distance range between the aircraft and the boundary of each sub-electronic fence can be obtained through the intersection of each sub-electronic fence and the aircraft coordinates. The distance range between the aircraft and the boundary of each sub-electronic fence is the preset distance value range corresponding to each sub-electronic fence. The current flight area of ​​the aircraft is judged to be a safe area, a deceleration zone or a no-fly zone according to the target distance value. If the preset distance value range is set to be within 10m, it is a no-fly zone, within 10~25m, it is a deceleration zone, and above 25m is a safe area. Determine which sub-electronic fence corresponds to the preset distance value range of the target distance value. If it flies to 13m, it is considered that the aircraft is in the deceleration zone, that is, the second sub-electronic fence is the target sub-electronic fence, and the target control strategy corresponding to the second sub-electronic fence is obtained, and the aircraft is controlled based on the target control strategy.

[0160] The multiple sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence. A target control strategy corresponding to a target sub-electronic fence is obtained, and the navigation of an aircraft is controlled based on the target control strategy, including: when the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and the aircraft coordinates are recorded; when the target sub-electronic fence is the second sub-electronic fence, the aircraft flight speed critical value corresponding to the second electronic fence is obtained, the current aircraft flight speed is controlled not to exceed the aircraft flight speed critical value, and the position coordinates in the flight airspace corresponding to the second electronic fence are recorded; when the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates, a return route is formed with the current aircraft coordinates as the starting point and the target position coordinates as the end point, and the aircraft is controlled to navigate along the return route.

[0161] A no-fly zone is an area where aircraft are absolutely prohibited from entering. Once an aircraft enters, emergency response measures will be triggered; a deceleration zone is an area where aircraft need to decelerate in advance to ensure that they can decelerate safely when approaching a no-fly zone; a safe zone is an area where aircraft can fly normally. Aircraft need to record their own coordinates in real time during flight and take corresponding flight measures based on the current area. When an aircraft enters a deceleration zone, its maximum flight speed will be limited to ensure that it has sufficient reaction time and braking distance when approaching a no-fly zone. At the same time, when the aircraft is within a certain range of the no-fly zone, the coordinates will stop being recorded to prevent security risks caused by data leakage.

[0162] If an aircraft accidentally enters a no-fly zone, the control of the aircraft will be immediately cancelled and the automatic flight program will be activated, allowing the aircraft to automatically fly to the coordinates recorded at the last moment or a designated safe area. This step is intended to maximize the safety of the aircraft and avoid serious flight accidents.

[0163] When the aircraft successfully leaves the no-fly zone and is in a safe state, the control of the aircraft will be released again, allowing the operator to perform normal flight operations. Through this series of measures and technical means, precise control and safe management of aircraft within the polygonal fence can be achieved, effectively avoiding dangerous situations such as aircraft mistakenly entering the no-fly zone.

[0164] In actual applications, there are multiple aircraft, and the method includes: randomly selecting any aircraft from the multiple aircraft as a reference aircraft, and using aircraft other than the reference aircraft among the multiple aircraft as other aircraft; obtaining the pending flight trajectory of the reference aircraft in the aircraft formation, and generating a time and position change graph of the reference aircraft based on the pending flight trajectory of the reference aircraft; selecting a position mutation point of a target time node of the reference aircraft based on the time and position change graph of the reference aircraft; recording the relative positions of other aircraft at each position mutation point compared to the reference aircraft; and determining the electronic fence of the reference aircraft at each target time node based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft.

[0165] Determining the electronic fence of the reference aircraft at each target time node based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft includes: taking the relative positions of other aircraft at each position mutation point compared to the reference aircraft as a magnification node and recording it in a data table; obtaining the adjacent other aircraft at each position mutation point of the reference aircraft, obtaining the distance values ​​between the adjacent other aircraft and the reference aircraft, and amplifying the amplification node based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form an electronic fence of the reference aircraft at each target time node.

[0166] By obtaining the pending flight trajectory of the reference aircraft and analyzing the pending flight trajectory, a time and position change diagram of the flight trajectory can be obtained. The time and position change diagram reflects the time node at which the position of the reference aircraft changes. The time node is used as the target time node, and the relative positions of other aircraft at each position mutation point (target time node) with reference to the reference aircraft are recorded. By traversing the relative positions of other aircraft with reference to the reference aircraft at all position mutation points, a trajectory range of the reference aircraft can be obtained. Within this trajectory range, the reference aircraft can complete the task and does not conflict with other aircraft. The trajectory range of the reference aircraft is used as the electronic fence of the reference aircraft.

[0167] In one embodiment, the geographical area where the electronic fence is located can be divided according to the division of the electronic fence to obtain multiple sub-geographical areas, a code can be configured for each sub-geographical area to obtain an electronic fence code set, and the address area where the aircraft is located can be encoded to obtain an aircraft code. The spatial position relationship of the aircraft in the electronic fence is determined according to the aircraft code and the electronic fence code set.

[0168] Specifically, the geographical area where the electronic fence is located can be divided based on the grid division mechanism, and the geographical area where the electronic fence is located can be grid-divided based on the grid scale included in the network division mechanism to obtain multiple grids, each grid corresponding to a sub-geographical area. The region where the aircraft corresponding to the aircraft code is located can be used as the origin of the coordinate axis, and the spatial position relationship of the aircraft in the electronic fence can be determined by obtaining the matching degree between the region where the aircraft corresponding to the aircraft code is located and the code in the electronic fence code set. By dividing the geographical area where the electronic fence is located and configuring a code for each sub-geographical area, the geographic spatial data can be converted into a network code set, and the spatial position relationship of the aircraft in the electronic fence can be determined by the code corresponding to the aircraft.

[0169] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0170] In one embodiment, Figure 3 As shown, an aircraft control device is provided, comprising: an acquisition module 30, a division module 31, a calculation module 32 and a control module 33, wherein:

[0171] An acquisition module 30 is used to acquire a plurality of boundary points of the airspace permitted for flight of the aircraft, and determine a first electronic fence based on the plurality of boundary points;

[0172] A division module 31 is used to determine a second electronic fence based on the first electronic fence, and to perform scaling division on the second electronic fence to obtain a plurality of sub-electronic fences;

[0173] The calculation module 32 is used to obtain the coordinates of the aircraft, calculate the distance value between the coordinates of the aircraft and each boundary of the second electronic fence; traverse the distance values ​​between all the coordinates of the aircraft and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the calculation of the target distance value as the target boundary;

[0174] The control module 33 is used to determine the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, and obtain the target control strategy corresponding to the target sub-electronic fence, and control the navigation of the aircraft based on the target control strategy.

[0175] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0176] Acquiring multiple boundary points of the aircraft's permitted flight airspace and determining a first electronic fence based on the multiple boundary points includes:

[0177] Obtain the permitted flight airspace information and unpermitted flight airspace information corresponding to the target mission;

[0178] Determine multiple boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information;

[0179] Multiple boundary points are sequentially connected using connecting lines to form a closed first electronic fence.

[0180] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0181] Determining the second electronic fence based on the first electronic fence includes:

[0182] Determine a scaling ratio according to the distance between the aircraft coordinates and each boundary of the first electronic fence;

[0183] A second geo-fence is determined based on the zoom ratio.

[0184] In one embodiment, scaling and dividing the second electronic fence to obtain a plurality of sub-electronic fences includes:

[0185] Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided;

[0186] The second electronic fence is scaled and divided based on the division ratio to obtain a plurality of sub-electronic fences.

[0187] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0188] Obtaining the aircraft coordinates and calculating the distance between the aircraft coordinates and each boundary of the second electronic fence includes:

[0189] Obtaining real-time aircraft position information and converting the real-time aircraft position information into aircraft coordinates;

[0190] Project the aircraft coordinates onto each boundary of the second electronic fence to obtain the projection point corresponding to each boundary;

[0191] The distance value between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

[0192] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0193] The target sub-electronic fence where the aircraft is located is determined based on the target distance value and the target boundary, and the target control strategy corresponding to the target sub-electronic fence is obtained. The navigation of the aircraft is controlled based on the target control strategy, including:

[0194] Obtain the target projection point projected from the aircraft coordinates onto the target boundary;

[0195] Make a target connection line based on the target projection point and the aircraft coordinate point, and obtain the intersection point of each sub-electronic fence and the target connection line;

[0196] Determine the preset distance value range corresponding to each sub-electronic fence based on the intersection of the aircraft coordinate point and each sub-electronic fence and the target connection line;

[0197] Matching the target distance value with the preset distance value range corresponding to each sub-electronic fence;

[0198] The sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence;

[0199] The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0200] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0201] The multiple sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence. The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy, including:

[0202] When the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and records the aircraft coordinates;

[0203] When the target sub-electronic fence is the second sub-electronic fence, obtain the critical value of the aircraft flight speed corresponding to the second e-fence, control the current aircraft flight speed not to exceed the critical value of the aircraft flight speed, and record the position coordinates in the flight airspace corresponding to the second e-fence;

[0204] When the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates. The current aircraft coordinates are used as the starting point and the target position coordinates are used as the end point to form a return route, and the aircraft is controlled to navigate along the return route.

[0205] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0206] The method also includes:

[0207] Obtain target missions, and filter the historical flight trajectories of target aircraft based on the target missions;

[0208] Predicting the trajectory of the aircraft based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory;

[0209] Preprocess the historical flight trajectory of the target aircraft within the target flight airspace, and perform grid differentiation on the target flight airspace to obtain multiple sub-target flight airspaces;

[0210] Obtain the danger index of the target flight airspace, analyze each sub-target flight airspace based on the danger index of the target flight airspace range, and obtain the analysis result;

[0211] A second electronic fence is determined based on the predicted trajectory and the analysis result.

[0212] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0213] The method also includes:

[0214] During the flight of the aircraft, real-time perception of whether there are obstacles in the environment within the preset range of the aircraft;

[0215] When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed;

[0216] A second electronic fence is determined based on the obstacle fence information.

[0217] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0218] There are multiple aircraft, and the methods include:

[0219] Randomly select any aircraft from multiple aircraft as a reference aircraft, and use aircraft other than the reference aircraft from the multiple aircraft as other aircraft;

[0220] Acquire the pending flight trajectory of the reference aircraft in the aircraft formation, and generate a time and position change diagram of the reference aircraft based on the pending flight trajectory of the reference aircraft;

[0221] Selecting the position mutation point of the target time node of the reference aircraft based on the time and position change diagram of the reference aircraft;

[0222] Record the relative positions of other aircraft compared to the reference aircraft at each position change point;

[0223] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft.

[0224] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0225] The method also includes:

[0226] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft, including:

[0227] The relative positions of other aircraft at each position mutation point compared to the reference aircraft are taken as amplification nodes and recorded in the data table;

[0228] Obtain the adjacent other aircraft at each position mutation point of the reference aircraft, obtain the distance values ​​between the adjacent other aircraft and the reference aircraft, and amplify the amplified nodes based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form an electronic fence of the reference aircraft at each target time node.

[0229] In one embodiment, the above device can implement another implementation of the aircraft control method, and the specific steps are as follows:

[0230] The multiple boundary points for obtaining aircraft permission to fly in the airspace also include:

[0231] Obtain environmental information by taking photos, and determine the type of environment based on the environmental information;

[0232] Determine a first electronic fence generation strategy based on the environment type;

[0233] Multiple boundary points of the aircraft's permitted flight airspace are selected based on the electronic fence generation strategy.

[0234] The specific definition of the aircraft control device can be found in the definition of the aircraft control method above, which will not be repeated here. Each module in the above-mentioned aircraft control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0235] In one embodiment, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the aircraft control methods provided by the above-mentioned methods.

[0236] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an aircraft control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0237] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0238] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0239] Step 101, obtaining multiple boundary points of the airspace where the aircraft is allowed to fly, and determining a first electronic fence based on the multiple boundary points.

[0240] Step 102: determine a second electronic fence based on the first electronic fence, and scale and divide the second electronic fence to obtain a plurality of sub-electronic fences.

[0241] Step 103, obtaining the coordinates of the aircraft, and calculating the distance between the coordinates of the aircraft and each boundary of the second electronic fence.

[0242] Step 104, traverse the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the target distance value calculation as the target boundary.

[0243] Step 105 , determining the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, obtaining a target control strategy corresponding to the target sub-electronic fence, and controlling the navigation of the aircraft based on the target control strategy.

[0244] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0245] Acquiring multiple boundary points of the aircraft's permitted flight airspace and determining a first electronic fence based on the multiple boundary points includes:

[0246] Obtain the permitted flight airspace information and unpermitted flight airspace information corresponding to the target mission;

[0247] Determine multiple boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information;

[0248] Multiple boundary points are sequentially connected using connecting lines to form a closed first electronic fence.

[0249] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0250] Determining the second electronic fence based on the first electronic fence includes:

[0251] Determine a scaling ratio according to the distance between the aircraft coordinates and each boundary of the first electronic fence;

[0252] A second geo-fence is determined based on the zoom ratio.

[0253] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0254] The second electronic fence is scaled and divided to obtain multiple sub-electronic fences including:

[0255] Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided;

[0256] The second electronic fence is scaled and divided based on the division ratio to obtain a plurality of sub-electronic fences.

[0257] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0258] Obtaining the aircraft coordinates and calculating the distance between the aircraft coordinates and each boundary of the second electronic fence includes:

[0259] Obtaining real-time aircraft position information and converting the real-time aircraft position information into aircraft coordinates;

[0260] Project the aircraft coordinates onto each boundary of the second electronic fence to obtain the projection point corresponding to each boundary;

[0261] The distance value between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

[0262] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0263] The target sub-electronic fence where the aircraft is located is determined based on the target distance value and the target boundary, and the target control strategy corresponding to the target sub-electronic fence is obtained. The navigation of the aircraft is controlled based on the target control strategy, including:

[0264] Obtain the target projection point projected from the aircraft coordinates onto the target boundary;

[0265] Make a target connection line based on the target projection point and the aircraft coordinate point, and obtain the intersection point of each sub-electronic fence and the target connection line;

[0266] Determine the preset distance value range corresponding to each sub-electronic fence based on the intersection of the aircraft coordinate point and each sub-electronic fence and the target connection line;

[0267] Matching the target distance value with the preset distance value range corresponding to each sub-electronic fence;

[0268] The sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence;

[0269] The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0270] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0271] The multiple sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence. The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy, including:

[0272] When the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and records the aircraft coordinates;

[0273] When the target sub-electronic fence is the second sub-electronic fence, obtain the critical value of the aircraft flight speed corresponding to the second e-fence, control the current aircraft flight speed not to exceed the critical value of the aircraft flight speed, and record the position coordinates in the flight airspace corresponding to the second e-fence;

[0274] When the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates. The current aircraft coordinates are used as the starting point and the target position coordinates are used as the end point to form a return route, and the aircraft is controlled to navigate along the return route.

[0275] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0276] The method also includes:

[0277] Obtain target missions, and filter the historical flight trajectories of target aircraft based on the target missions;

[0278] Predicting the trajectory of the aircraft based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory;

[0279] Preprocess the historical flight trajectory of the target aircraft within the target flight airspace, and perform grid differentiation on the target flight airspace to obtain multiple sub-target flight airspaces;

[0280] Obtain the danger index of the target flight airspace, analyze each sub-target flight airspace based on the danger index of the target flight airspace range, and obtain the analysis result;

[0281] A second electronic fence is determined based on the predicted trajectory and the analysis result.

[0282] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0283] The method also includes:

[0284] During the flight of the aircraft, real-time perception of whether there are obstacles in the environment within the preset range of the aircraft;

[0285] When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed;

[0286] A second electronic fence is determined based on the obstacle fence information.

[0287] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0288] There are multiple aircraft, and the method includes:

[0289] Randomly select any aircraft from multiple aircraft as a reference aircraft, and use aircraft other than the reference aircraft from the multiple aircraft as other aircraft;

[0290] Acquire the pending flight trajectory of the reference aircraft in the aircraft formation, and generate a time and position change diagram of the reference aircraft based on the pending flight trajectory of the reference aircraft;

[0291] Selecting the position mutation point of the target time node of the reference aircraft based on the time and position change diagram of the reference aircraft;

[0292] Record the relative positions of other aircraft compared to the reference aircraft at each position change point;

[0293] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft.

[0294] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0295] The method also includes:

[0296] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft, including:

[0297] The relative positions of other aircraft at each position mutation point compared to the reference aircraft are taken as amplification nodes and recorded in the data table;

[0298] Obtain the adjacent other aircraft at each position mutation point of the reference aircraft, obtain the distance values ​​between the adjacent other aircraft and the reference aircraft, and amplify the amplified nodes based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form an electronic fence of the reference aircraft at each target time node.

[0299] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0300] The multiple boundary points for obtaining aircraft permission to fly in the airspace also include:

[0301] Obtain environmental information by taking photos, and determine the type of environment based on the environmental information;

[0302] Determine a first electronic fence generation strategy based on the environment type;

[0303] Multiple boundary points of the aircraft's permitted flight airspace are selected based on the electronic fence generation strategy.

[0304] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0305] Step 101, obtaining multiple boundary points of the aircraft's permitted flight airspace, and determining a first electronic fence based on the multiple boundary points.

[0306] Step 102: determine a second electronic fence based on the first electronic fence, and scale and divide the second electronic fence to obtain a plurality of sub-electronic fences.

[0307] Step 103, obtaining the coordinates of the aircraft, and calculating the distance between the coordinates of the aircraft and each boundary of the second electronic fence.

[0308] Step 104, traverse the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the target distance value calculation as the target boundary.

[0309] Step 105 , determining the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, obtaining a target control strategy corresponding to the target sub-electronic fence, and controlling the navigation of the aircraft based on the target control strategy.

[0310] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0311] Acquiring multiple boundary points of the aircraft's permitted flight airspace and determining a first electronic fence based on the multiple boundary points includes:

[0312] Obtain the permitted flight airspace information and unpermitted flight airspace information corresponding to the target mission;

[0313] Determine multiple boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information;

[0314] Multiple boundary points are sequentially connected using connecting lines to form a closed first electronic fence.

[0315] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0316] Determining the second electronic fence based on the first electronic fence includes:

[0317] Determine a scaling ratio according to the distance between the aircraft coordinates and each boundary of the first electronic fence;

[0318] A second geo-fence is determined based on the zoom ratio.

[0319] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0320] The second electronic fence is scaled and divided to obtain multiple sub-electronic fences including:

[0321] Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided;

[0322] The second electronic fence is scaled and divided based on the division ratio to obtain a plurality of sub-electronic fences.

[0323] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0324] Obtaining the aircraft coordinates and calculating the distance between the aircraft coordinates and each boundary of the second electronic fence includes:

[0325] Obtaining real-time aircraft position information and converting the real-time aircraft position information into aircraft coordinates;

[0326] Project the aircraft coordinates onto each boundary of the second electronic fence to obtain the projection point corresponding to each boundary;

[0327] The distance value between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

[0328] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0329] The target sub-electronic fence where the aircraft is located is determined based on the target distance value and the target boundary, and the target control strategy corresponding to the target sub-electronic fence is obtained. The navigation of the aircraft is controlled based on the target control strategy, including:

[0330] Obtain the target projection point projected from the aircraft coordinates onto the target boundary;

[0331] Make a target connection line based on the target projection point and the aircraft coordinate point, and obtain the intersection point of each sub-electronic fence and the target connection line;

[0332] Determine the preset distance value range corresponding to each sub-electronic fence based on the intersection of the aircraft coordinate point and each sub-electronic fence and the target connection line;

[0333] Matching the target distance value with the preset distance value range corresponding to each sub-electronic fence;

[0334] The sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence;

[0335] The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

[0336] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0337] The multiple sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence. The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy, including:

[0338] When the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and records the aircraft coordinates;

[0339] When the target sub-electronic fence is the second sub-electronic fence, obtain the critical value of the aircraft flight speed corresponding to the second e-fence, control the current aircraft flight speed not to exceed the critical value of the aircraft flight speed, and record the position coordinates in the flight airspace corresponding to the second e-fence;

[0340] When the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates. The current aircraft coordinates are used as the starting point and the target position coordinates are used as the end point to form a return route, and the aircraft is controlled to navigate along the return route.

[0341] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0342] The method also includes:

[0343] Obtain target missions, and filter the historical flight trajectories of target aircraft based on the target missions;

[0344] Predicting the trajectory of the aircraft based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory;

[0345] Preprocess the historical flight trajectory of the target aircraft within the target flight airspace, and perform grid differentiation on the target flight airspace to obtain multiple sub-target flight airspaces;

[0346] Obtain the danger index of the target flight airspace, analyze each sub-target flight airspace based on the danger index of the target flight airspace range, and obtain the analysis result;

[0347] A second electronic fence is determined based on the predicted trajectory and the analysis result.

[0348] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0349] The method also includes:

[0350] During the flight of the aircraft, real-time perception of whether there are obstacles in the environment within the preset range of the aircraft;

[0351] When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed;

[0352] A second electronic fence is determined based on the obstacle fence information.

[0353] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0354] There are multiple aircraft, and the methods include:

[0355] Randomly select any aircraft from multiple aircraft as a reference aircraft, and use aircraft other than the reference aircraft from the multiple aircraft as other aircraft;

[0356] Acquire the pending flight trajectory of the reference aircraft in the aircraft formation, and generate a time and position change diagram of the reference aircraft based on the pending flight trajectory of the reference aircraft;

[0357] Selecting the position mutation point of the target time node of the reference aircraft based on the time and position change diagram of the reference aircraft;

[0358] Record the relative positions of other aircraft compared to the reference aircraft at each position change point;

[0359] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft.

[0360] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0361] The method also includes:

[0362] The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft, including:

[0363] The relative positions of other aircraft at each position mutation point compared to the reference aircraft are taken as amplification nodes and recorded in the data table;

[0364] Obtain the adjacent other aircraft at each position mutation point of the reference aircraft, obtain the distance values ​​between the adjacent other aircraft and the reference aircraft, and amplify the amplified nodes based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form an electronic fence of the reference aircraft at each target time node.

[0365] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0366] The multiple boundary points for obtaining aircraft permission to fly in the airspace also include:

[0367] Obtain environmental information by taking photos, and determine the type of environment based on the environmental information;

[0368] Determine a first electronic fence generation strategy based on the environment type;

[0369] Multiple boundary points of the aircraft's permitted flight airspace are selected based on the electronic fence generation strategy.

[0370] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0371] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0372] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. An aircraft control method, characterized in that: The method comprises: Acquire multiple boundary points of the aircraft's permitted flight airspace, and determine a first electronic fence based on the multiple boundary points; Determine a second electronic fence based on the first electronic fence, and scale and divide the second electronic fence to obtain a plurality of sub-electronic fences; Obtaining the coordinates of the aircraft, and calculating the distance between the coordinates of the aircraft and each boundary of the second electronic fence; Traverse the distance values ​​between all aircraft coordinates and each boundary of the second electronic fence, take the distance value with the smallest value as the target distance value, and take the boundary involved in the target distance value calculation as the target boundary; Determine the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, obtain the target control strategy corresponding to the target sub-electronic fence, and control the navigation of the aircraft based on the target control strategy; If there are multiple aircraft, any one of the multiple aircraft is randomly selected as the reference aircraft, and the aircraft other than the reference aircraft among the multiple aircraft are regarded as other aircraft; Generate a time and position change diagram of the reference aircraft based on the pending flight trajectory of the reference aircraft, and then select the position mutation point of the target time node of the reference aircraft; The electronic fence of the reference aircraft at each target time node is determined based on the relative positions of other aircraft at each position mutation point compared to the reference aircraft; wherein, determining the electronic fence of the reference aircraft at each target time node includes: taking the relative positions of other aircraft at each position mutation point compared to the reference aircraft as a magnification node; obtaining the adjacent other aircraft at each position mutation point of the reference aircraft and the distance values ​​between the adjacent other aircraft and the reference aircraft, and magnifying the magnification node based on the distance values ​​between the adjacent other aircraft and the reference aircraft to form the electronic fence of the reference aircraft at each target time node.

2. The method according to claim 1, characterized in that The step of obtaining a plurality of boundary points of the permitted flight airspace of the aircraft and determining the first electronic fence based on the plurality of boundary points comprises: Obtain the permitted flight airspace information and unpermitted flight airspace information corresponding to the target mission; Determine a plurality of boundary points of the permitted flight airspace and the unpermitted flight airspace based on the permitted flight airspace information and the unpermitted flight airspace information; Multiple boundary points are sequentially connected using connecting lines to form a closed first electronic fence.

3. The method according to claim 1, characterized in that The determining of the second electronic fence based on the first electronic fence comprises: Determine a scaling ratio according to the distance between the aircraft coordinates and each boundary of the first electronic fence; A second electronic fence is determined according to the scaling ratio.

4. The method according to claim 1, characterized in that: The scaling and dividing of the second electronic fence to obtain a plurality of sub-electronic fences includes: Determine the total number of sub-electronic fences to be divided, and determine the division ratio of each sub-electronic fence compared to the second electronic fence according to the total number of sub-electronic fences to be divided; The second electronic fence is scaled and divided based on the division ratio to obtain a plurality of sub-electronic fences.

5. The method according to claim 1, characterized in that The obtaining of the aircraft coordinates and the calculation of the distance between the aircraft coordinates and each boundary of the second electronic fence include: Acquiring real-time position information of the aircraft, and converting the real-time position information of the aircraft into aircraft coordinates; Project the aircraft coordinates onto each boundary of the second electronic fence to obtain the projection point corresponding to each boundary; The distance value between the aircraft and each boundary is calculated based on the position of the projection point corresponding to the aircraft coordinates and each boundary.

6. The method according to claim 1, characterized in that Determining the target sub-electronic fence where the aircraft is located based on the target distance value and the target boundary, and obtaining the target control strategy corresponding to the target sub-electronic fence, and controlling the navigation of the aircraft based on the target control strategy includes: Obtain the target projection point projected from the aircraft coordinates onto the target boundary; Make a target connection line based on the target projection point and the aircraft coordinate point, and obtain the intersection point of each sub-electronic fence and the target connection line; Determine a preset distance value range corresponding to each sub-electronic fence based on the intersection of the aircraft coordinate point and each sub-electronic fence and the target connection line; Matching the target distance value with the preset distance value range corresponding to each sub-electronic fence; The sub-electronic fence corresponding to the preset distance value range matching the target distance value is used as the target sub-electronic fence; The target control strategy corresponding to the target sub-electronic fence is obtained, and the navigation of the aircraft is controlled based on the target control strategy.

7. The method according to claim 6, characterized in that The plurality of sub-electronic fences include a first sub-electronic fence, a second sub-electronic fence, and a third sub-electronic fence. The acquiring a target control strategy corresponding to a target sub-electronic fence and controlling the navigation of the aircraft based on the target control strategy include: When the target sub-electronic fence is the first sub-electronic fence, the aircraft travels normally and records the aircraft coordinates; When the target sub-electronic fence is the second sub-electronic fence, obtain the critical value of the aircraft flight speed corresponding to the second e-fence, control the current aircraft flight speed not to exceed the critical value of the aircraft flight speed, and record the position coordinates in the flight airspace corresponding to the second e-fence; When the target sub-electronic fence is the third sub-electronic fence, the latest position coordinates recorded in the flight airspace corresponding to the second electronic fence are used as the target position coordinates, and the current aircraft coordinates are used as the starting point and the target position coordinates are used as the end point to form a return route, and the aircraft is controlled to navigate along the return route.

8. The method according to claim 1, characterized in that The method further comprises: Acquire a target mission, and filter a historical flight trajectory of a target aircraft based on the target mission; Predicting the trajectory of the aircraft based on the target mission and the historical flight trajectory of the target aircraft to obtain a predicted trajectory; Preprocess the historical flight trajectory of the target aircraft within the target flight airspace, and perform grid differentiation on the target flight airspace to obtain multiple sub-target flight airspaces; Obtain the danger index of the target flight airspace, analyze each sub-target flight airspace based on the danger index of the target flight airspace range, and obtain the analysis result; A second electronic fence is determined based on the predicted trajectory and the analysis result.

9. The method according to claim 1, characterized in that: The method further comprises: During the flight of the aircraft, real-time perception of whether there are obstacles in the environment within the preset range of the aircraft; When an obstacle is detected in the environment within the preset range of the aircraft, obstacle fence information is generated based on the aircraft position information when the obstacle is sensed; A second electronic fence is determined based on the obstacle fence information.

10. The method according to claim 1, characterized in that The step of generating a time and position change graph of the reference aircraft based on the pending flight trajectory of the reference aircraft and then selecting a position mutation point of a target time node of the reference aircraft comprises: Acquire the pending flight trajectories of the reference aircraft of the plurality of aircraft in the aircraft formation, and generate a time and position change graph of the reference aircraft based on the pending flight trajectories of the reference aircraft; Selecting the position mutation point of the target time node of the reference aircraft based on the time and position change diagram of the reference aircraft; The relative positions of other aircraft compared to the reference aircraft are recorded at each position change point.

11. The method according to claim 1, characterized in that: The multiple boundary points for obtaining aircraft permission to fly in the airspace also include: Acquire environmental information by taking photos, and determine the type of environment according to the environmental information; Determine a first electronic fence generation strategy based on the environment type; A plurality of boundary points of the aircraft permitted flight airspace are selected based on the electronic fence generation strategy.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

Images