Flight navigation processing method of multiple navigation devices, electronic device and storage medium

Abstract

The application provides a flight navigation processing method of multiple navigation devices, an electronic device and a storage medium. The method comprises the following steps: receiving first navigation information sent by at least one navigation device at a current time, and acquiring second navigation information of a current navigation device at the current time; determining whether to switch the navigation device according to the identity of each navigation device and the identity of the current navigation device; if yes, determining a target navigation difference and a target navigation device according to each first navigation information and the second navigation information, determining target navigation information according to the target navigation difference and the second navigation information, and switching the current navigation device to the target navigation device. The transition switching can be performed according to the target navigation information determined according to the target navigation difference, the navigation information is processed in transition, the navigation information of the aircraft can be smoothly switched in transition, and the aircraft can be stably controlled to fly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft navigation control, in particular to a flight navigation processing method of multiple navigation devices, an electronic device and a storage medium. BACKGROUND

[0002] During the flight of an aircraft, due to the interference of the external environment or the self-reason of the navigation device, the working state of the navigation device will change, and the navigation accuracy will decrease. In order to ensure the safety of the flight process, a redundant method of multiple navigation devices is usually used to ensure the continuity and reliability of the navigation information in the flight process.

[0003] In the prior art, when the navigation information of the aircraft is switched between different navigation devices, a direct switching method is usually used. Since there are differences in the navigation information of different navigation devices at the same time, using the direct switching method will cause the aircraft to be unstable or even out of control when the navigation information is switched. SUMMARY

[0004] The purpose of the present application is to provide a flight navigation processing method of multiple navigation devices, an electronic device and a storage medium, so that the multiple navigation devices can be smoothly switched.

[0005] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a flight navigation processing method of multiple navigation devices, which comprises:

[0007] receiving first navigation information sent by at least one navigation device at a current time, and obtaining second navigation information of a current navigation device at the current time;

[0008] determining whether to switch the navigation device according to the identity of each navigation device and the identity of the current navigation device;

[0009] If yes, determining a target navigation difference and a target navigation device according to each of the first navigation information and the second navigation information, determining target navigation information according to the target navigation difference and the second navigation information, and switching the current navigation device to the target navigation device.

[0010] Optionally, the determining whether to switch the navigation device according to the identity of each navigation device and the identity of the current navigation device comprises:

[0011] determining whether the identity of the current navigation device is one of the identities of the at least one navigation device;

[0012] If yes, it is determined not to switch the navigation device; if no, it is determined to switch the navigation device.

[0013] Optionally, the determining the target navigation difference and the target navigation device according to the first navigation information and the second navigation information comprises:

[0014] determining an effective parameter in the second navigation information, the effective parameter comprising at least one of the following: position, attitude, speed;

[0015] obtaining the navigation difference according to the effective parameter in the second navigation information and a parameter corresponding to the effective parameter in the first navigation information;

[0016] selecting a navigation difference with the smallest value from the navigation differences as the target navigation difference, and selecting a navigation device corresponding to the first navigation information with the smallest difference from the second navigation information as the target navigation device.

[0017] Optionally, the obtaining the navigation difference according to the effective parameter in the second navigation information and a parameter corresponding to the effective parameter in the second navigation information comprises:

[0018] if the effective parameter comprises the position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information and a preset transition time, and taking the position change amount as the navigation difference;

[0019] if the effective parameter comprises the speed, determining a speed change amount according to the speed in the first navigation information, the speed in the second navigation information and a preset transition time, and taking the position change amount as the navigation difference;

[0020] if the effective parameter comprises the attitude, determining an attitude change amount according to the attitude in the first navigation information and the attitude in the second navigation information, and taking the position change amount as the navigation difference.

[0021] Optionally, the determining the position change amount according to the position in the first navigation information, the position in the second navigation information and the preset transition time comprises:

[0022] subtracting the position in the second navigation information from the position in the first navigation information to obtain a position difference;

[0023] dividing the position difference by a value of the preset transition time to obtain the position change amount.

[0024] Optionally, the determining the attitude change amount according to the attitude in the first navigation information and the attitude in the second navigation information comprises:

[0025] convert the attitude in the first navigation information into a first quaternion matrix, and convert the attitude in the second navigation information into a second quaternion matrix;

[0026] multiply the first quaternion matrix and the reciprocal of the second quaternion matrix to obtain a quaternion difference value of the attitude;

[0027] convert the quaternion difference value into an Euler angle difference value to obtain the attitude change amount.

[0028] Optionally, the converting the attitude in the first navigation information into a first quaternion matrix comprises:

[0029] multiply the cosine of the half heading angle, the cosine of the half pitch angle and the cosine of the half roll angle in the first navigation information, and subtract the product of the sine of the half pitch angle, the sine of the half roll angle and the sine of the half heading angle to obtain a first quaternion;

[0030] multiply the cosine of the half roll angle, the cosine of the half heading angle and the sine of the half pitch angle in the first navigation information, and subtract the product of the cosine of the half pitch angle, the sine of the half roll angle and the sine of the half heading angle to obtain a second quaternion;

[0031] multiply the cosine of the half heading angle, the cosine of the half pitch angle and the sine of the half roll angle in the first navigation information, and subtract the product of the cosine of the half roll angle, the sine of the half heading angle and the sine of the half pitch angle to obtain a third quaternion;

[0032] multiply the cosine of the half pitch angle, the cosine of the half roll angle and the sine of the half heading angle in the first navigation information, and subtract the product of the cosine of the half heading angle, the sine of the half pitch angle and the sine of the half roll angle to obtain a fourth quaternion;

[0033] obtain the first quaternion matrix according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0034] Optionally, the determining target navigation information according to the target navigation difference value and the second navigation information comprises:

[0035] if the valid parameter in the second navigation information comprises an attitude, add the attitude in the second navigation information and the attitude change amount in the target navigation difference value to obtain a target attitude in the target navigation information;

[0036] if the effective parameter in the second navigation information comprises a position, adding the position in the second navigation information and the position change in the target navigation difference to obtain a target position in the target navigation information;

[0037] if the effective parameter in the second navigation information comprises a speed, adding the speed in the second navigation information and the speed change in the target navigation difference to obtain a target speed in the target navigation information.

[0038] In a second aspect, the embodiments of the present application further provide a flight navigation processing device of multiple navigation devices, the device comprising:

[0039] a obtaining module, configured to receive first navigation information sent by at least one navigation device at a current time, and obtain second navigation information of a current navigation device at the current time;

[0040] a determining module, configured to determine whether to switch the navigation device according to the navigation devices and the current navigation device;

[0041] the determining module is specifically configured to:

[0042] if yes, determine a target navigation difference and a target navigation device according to the first navigation information and the second navigation information, determine target navigation information according to the target navigation difference and the second navigation information, and switch the current navigation device to the target navigation device.

[0043] determine whether an identifier of the current navigation device is one of identifiers of the at least one navigation device;

[0044] if yes, determine not to switch the navigation device, and if no, determine to switch the navigation device.

[0045] the determining module is specifically configured to:

[0046] determine an effective parameter in the second navigation information, the effective parameter comprising at least one of a position, an attitude and a speed;

[0047] obtain the navigation differences according to the effective parameter in the second navigation information and parameters corresponding to the effective parameter in the first navigation information;

[0048] select a navigation difference with the smallest difference value from the navigation differences as the target navigation difference, and select a navigation device corresponding to the first navigation information with the smallest difference value from the second navigation information as the target navigation device.

[0049] the determining module is specifically configured to:

[0050] If the effective parameter comprises a position, a position change amount is determined according to the position in the first navigation information, the position in the second navigation information and the preset transition time, and the position change amount is taken as the navigation difference value;

[0051] If the effective parameter comprises a speed, a speed change amount is determined according to the speed in the first navigation information, the speed in the second navigation information and the preset transition time, and the position change amount is taken as the navigation difference value;

[0052] If the effective parameter comprises a posture, a posture change amount is determined according to the posture in the first navigation information and the posture in the second navigation information, and the position change amount is taken as the navigation difference value.

[0053] Optionally, the determining module is specifically configured to:

[0054] Subtract the position in the second navigation information from the position in the first navigation information to obtain a position difference value;

[0055] Divide the position difference value by the value of the preset transition time to obtain the position change amount.

[0056] Optionally, the determining module is specifically configured to:

[0057] Convert the posture in the first navigation information into a quaternion to obtain a first quaternion matrix, and convert the posture in the second navigation information into a quaternion to obtain a second quaternion matrix;

[0058] Take the product of the first quaternion matrix and the inverse of the second quaternion matrix as a quaternion difference value of the posture;

[0059] Convert the quaternion difference value into an Euler angle difference value to obtain the posture change amount.

[0060] Optionally, the determining module is specifically configured to:

[0061] Subtract the product of the sine of one-half of the pitch angle, the sine of one-half of the roll angle and the sine of one-half of the heading angle from the product of the cosine of one-half of the heading angle, the cosine of one-half of the pitch angle and the cosine of one-half of the roll angle to obtain a first quaternion;

[0062] Subtract the product of the cosine of one-half of the pitch angle, the sine of one-half of the roll angle and the sine of one-half of the heading angle from the product of the cosine of one-half of the roll angle, the cosine of one-half of the heading angle and the sine of one-half of the pitch angle to obtain a second quaternion;

[0063] a third quaternion is obtained by subtracting a product of a cosine of the second half of the yaw angle, a sine of the second half of the pitch angle and a sine of the second half of the roll angle from a product of a cosine of the second half of the roll angle, a sine of the second half of the yaw angle and a sine of the second half of the pitch angle in the first navigation information;

[0064] a fourth quaternion is obtained by subtracting a product of a cosine of the second half of the yaw angle, a sine of the second half of the pitch angle and a sine of the second half of the roll angle from a product of a cosine of the second half of the roll angle, a sine of the second half of the yaw angle and a sine of the second half of the pitch angle in the first navigation information;

[0065] the first quaternion matrix is obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0066] Optionally, the determining module is specifically configured to:

[0067] if the valid parameter in the second navigation information comprises a pose, the pose in the second navigation information is added to the pose change in the target navigation difference to obtain a target pose in the target navigation information;

[0068] if the valid parameter in the second navigation information comprises a position, the position in the second navigation information is added to the position change in the target navigation difference to obtain a target position in the target navigation information;

[0069] if the valid parameter in the second navigation information comprises a speed, the speed in the second navigation information is added to the speed change in the target navigation difference to obtain a target speed in the target navigation information.

[0070] In a third aspect, an electronic device is provided, including a processor, a storage medium and a bus, the storage medium stores program instructions executable by the processor, when an application program is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to perform the steps of the flight navigation processing method of the multi-navigation device according to the first aspect.

[0071] In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium stores a computer program, and the computer program reads and executes the steps of the flight navigation processing method of the multi-navigation device according to the first aspect.

[0072] The application has the following beneficial effects:

[0073] The application provides a flight navigation processing method of multiple navigation devices, an electronic device and a storage medium. Whether to switch the navigation device is determined according to the identifier of each navigation device that sends the first navigation information at the current time and the identifier of the current navigation device. If yes, the target navigation difference and the target navigation information are determined according to the first navigation information and the second navigation information, the target navigation information is determined according to the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device. The transition switching can be performed according to the target navigation information determined according to the target navigation difference. The navigation information is transitionally processed, the abnormality or sharp change of the aircraft caused by the sharp change of the navigation information before and after the switching of the navigation device is avoided, the navigation information of the aircraft can be smoothly transitionally switched, and the aircraft can be stably controlled to fly. BRIEF DESCRIPTION OF DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. Other related drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0075] Figure 1 A flowchart of a flight navigation processing method of multiple navigation devices provided by the embodiments of the application;

[0076] Figure 2 A flowchart of another flight navigation processing method of multiple navigation devices provided by the embodiments of the application;

[0077] Figure 3 A flowchart of still another flight navigation processing method of multiple navigation devices provided by the embodiments of the application;

[0078] Figure 4 A flowchart of a method for determining an attitude change provided by the embodiments of the application;

[0079] Figure 5 A flowchart of a method for determining a quaternion matrix provided by the embodiments of the application;

[0080] Figure 6 A device schematic diagram of a flight navigation processing method of multiple navigation devices provided by the embodiments of the application;

[0081] Figure 7 A structural block diagram of an electronic device provided by the embodiments of the application. DETAILED DESCRIPTION

[0082] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportion. The flowchart used in the present application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowchart or one or more operations can be removed from the flowchart under the guidance of the content of the present application.

[0083] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0084] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0085] Optionally, the flight navigation processing method of multiple navigation devices provided by the embodiments of the present application is applied to an electronic device, which can be, for example, a mobile phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, or a terminal device with computing processing capability and display function, or can also be a server. It can be applied to an application program in a terminal device, for example, an APP (application, mobile phone software) of a mobile phone, an application system on a computer, etc.

[0086] The specific implementation process of the flight navigation processing of multiple navigation devices provided in the embodiments of the present application will be explained in detail as follows.

[0087] Figure 1 A flowchart of a flight navigation processing method of multiple navigation devices provided by the embodiments of the present application is shown in the figure. The execution subject of the method is the electronic device as described above. As shown in the figure, the method comprises the following steps. Figure 1

[0088] S101, receiving first navigation information sent by at least one navigation device at the current time, and acquiring second navigation information of a current navigation device being used at the current time.​

[0089] Optionally, a plurality of navigation devices can be installed in the aircraft, each of the navigation devices can send the navigation information measured by the navigation device to the electronic device in the aircraft, the electronic device can control the flight of the aircraft based on the navigation information of one of the plurality of navigation devices, and can also control switching between the navigation devices.

[0090] The second navigation information refers to the navigation information used by the aircraft at the current time, and the first navigation information refers to the received navigation information at the current time. The first navigation information and the second navigation information can each include position, attitude, and speed. The at least one navigation device refers to one or more navigation devices installed in the aircraft, that is, at the same time, the first navigation information of one or more navigation devices can be received, and the current navigation device refers to a device that uses the navigation information of the current navigation device to control the aircraft at the current time.

[0091] For example, the aircraft is installed with navigation device A, navigation device B, and navigation device C. At the current time 1 and the time before the current time 1, the flight of the aircraft is controlled using the navigation information of navigation device A, and at the current time 1, the first navigation information of navigation device A, the first navigation information of navigation device B, and the first navigation information of navigation device C can be received. The current navigation device is navigation device A, and the at least one navigation device at the current time is navigation device A, navigation device B, and navigation device C.

[0092] For example, at the current time 2, the navigation information used is the navigation information of navigation device C, and the current navigation device is navigation device C. If navigation device C fails to send navigation information at the current time 2, the first navigation information of navigation device A and the first navigation information of navigation device B can be received at the current time 2.

[0093] S102, determining whether to switch the navigation device according to the identifier of each navigation device and the identifier of the current navigation device.

[0094] Optionally, if it is determined to switch the navigation device, S103 is performed; if it is determined not to switch the navigation device, S104 is performed.

[0095] Specifically, the identifier of each navigation device that sends the first navigation information to the electronic device in the aircraft at the current time and the identifier of the current navigation device that uses the second navigation information can be used to determine whether to switch the navigation device using a predetermined method.

[0096] For example, if the current navigation device is navigation device A, and the navigation devices are navigation device A, navigation device B and navigation device C, whether to switch the navigation device can be determined according to the current navigation device A, navigation device A, navigation device B and navigation device C in the navigation devices, using a preset method.

[0097] For example, if the current navigation device is navigation device C, and the navigation devices are navigation device A and navigation device B, whether to switch the navigation device can be determined according to the current navigation device C, navigation device A and navigation device B in the navigation devices, using a preset method.

[0098] S103, determining a target navigation difference and a target navigation device according to the difference between each first navigation information and second navigation information, determining target navigation information according to the target navigation difference and the second navigation information, and switching the current navigation device to the target navigation device.

[0099] Optionally, each navigation difference can be obtained according to each first navigation information and second navigation information using a preset method, and then the target navigation difference and the target navigation device can be determined from the navigation differences. Each navigation difference refers to the navigation difference from the second navigation information to each first navigation information.

[0100] For example, if the current navigation device is navigation device C, and the navigation devices are navigation device A and navigation device B, the navigation difference 1 can be determined according to the second navigation information of navigation device C and the first navigation information of navigation device A, and the navigation difference 2 can be determined according to the second navigation information of navigation device C and the first navigation information of navigation device B, then the target navigation difference can be determined from the navigation difference 1 and the navigation difference 2, and if the determined target navigation difference is the navigation difference 1, the target navigation information is navigation device A.

[0101] S104, continuing to use the current navigation device as the target navigation device.

[0102] Optionally, if it is determined not to switch the navigation device, it means that the navigation device at the current time is continued to be used as the target navigation device.

[0103] For example, if the current navigation device is navigation device A, and it is determined not to switch the navigation device, navigation device A is continued to be used as the target navigation device.

[0104] In this embodiment, whether to switch the navigation device is determined according to the identifier of each navigation device sending the first navigation information at the current time and the identifier of the current navigation device. If yes, the target navigation difference and the target navigation information are determined according to the first navigation information and the second navigation information, the target navigation information is determined according to the target navigation difference and the second navigation information, and the current navigation device is switched to the target navigation device. The transition switching can be performed according to the target navigation information determined according to the target navigation difference. By performing the transition processing on the navigation information, the abnormality or the sharp change of the aircraft caused by the sharp change of the navigation information before and after the switching of the navigation device is avoided, the navigation information of the aircraft can be smoothly transitioned and switched, and the aircraft can be stably controlled to fly.

[0105] Optionally, the determination of whether to switch the navigation device according to the identifier of each navigation device and the identifier of the current navigation device in S102 can include:

[0106] Optionally, it can be determined whether the identifier of the current navigation device is one of the identifiers of the at least one navigation device. If yes, it is determined not to switch the navigation device and the received first navigation information sent by the current navigation device is used to control the flight of the aircraft if the first navigation information sent by the current navigation device is received at the current time. If no, it is determined to switch the navigation device if the first navigation information sent by the current navigation device is not received at the current time.

[0107] For example, if the current navigation device is the navigation device A and each navigation device is the navigation device A, the navigation device B and the navigation device C, it is explained that the first navigation information sent by the navigation device A can be received at the current time, and the navigation information of the navigation device A is used to control the flight of the aircraft, that is, the second navigation information of the navigation device A at the current time is modified to the first navigation information of the navigation device A, and the flight of the aircraft is controlled based on the first navigation information of the navigation device A.

[0108] Figure 2 Another flowchart of a flight navigation processing method of multiple navigation devices provided by the embodiment of the application is provided. The determination of the target navigation difference and the target navigation device according to the difference between the first navigation information and the second navigation information in S103 can include:

[0109] S201, determining an effective parameter in the second navigation information.

[0110] The effective parameter can include at least one of the following: position, attitude and speed.

[0111] Optionally, the position, the attitude and the speed in the second navigation information of the current navigation device at the current time instant can be invalid, and thus, when determining the target navigation difference, it is necessary to first determine whether the position, the attitude and the speed in the second navigation information are all valid, and to determine the valid parameters, so that when subsequently determining the navigation difference, it is only necessary to calculate the navigation difference of the valid parameters, and it is not necessary to calculate the navigation difference of the invalid parameters.

[0112] S202, obtaining each navigation difference according to the valid parameters in the second navigation information and the parameters corresponding to the valid parameters in each first navigation information.

[0113] For example, if only the position and the attitude in the second navigation information of the current navigation device at the current time instant are valid, at this time, each navigation difference can be obtained according to the position and the attitude in the second navigation information and the position and the attitude in each first navigation information using a preset method, and at this time, it is not necessary to calculate each navigation difference according to the speed, and each navigation difference refers to the navigation difference between the current navigation device and each navigation device.

[0114] For example, if the current navigation device is the navigation device C, and each navigation device is the navigation device A and the navigation device B, the navigation difference between the navigation device C and the navigation device A can be obtained according to the position and the attitude in the second navigation information of the navigation device C and the position and the attitude in the first navigation information of the navigation device A, and the navigation difference between the navigation device C and the navigation device B can be obtained according to the position and the attitude in the second navigation information of the navigation device C and the position and the attitude in the first navigation information of the navigation device B.

[0115] S203, selecting the navigation difference with the smallest difference value from each navigation difference as the target navigation difference, and selecting the navigation device corresponding to the first navigation information with the smallest difference value from the second navigation information as the target navigation device.

[0116] For example, if the navigation difference between the navigation device C and the navigation device A is smaller than the navigation difference between the navigation device C and the navigation device B, the target navigation difference is the navigation difference between the navigation device C and the navigation device A, and the target navigation device is the navigation device A, and since the speed in the navigation device C is an invalid parameter, at this time, the speed in the navigation device A is directly used as the navigation information.

[0117] Figure 3 Another flowchart of a flight navigation processing method of multiple navigation devices provided by an embodiment of the present application is shown in FIG. 6. Figure 3 As shown in FIG. 6, the above-mentioned S202 of obtaining each navigation difference according to the valid parameters in the second navigation information and the parameters corresponding to the valid parameters in each first navigation information can include:

[0118] S301, if the effective parameter includes the position, determining a position change amount according to the position in the first navigation information, the position in the second navigation information and the preset transition time, and taking the position change amount as the navigation difference.

[0119] The preset transition time can be set according to actual conditions, and can be represented by T. The preset transition time refers to the time for switching from the second navigation information to the target navigation information within the preset transition time.

[0120] Optionally, the obtained position change amount is the change amount between the position in the first navigation information and the position in the second navigation information.

[0121] S302, if the effective parameter includes the speed, determining a speed change amount according to the speed in the first navigation information, the speed in the second navigation information and the preset transition time, and taking the speed change amount as the navigation difference.

[0122] Optionally, the obtained speed change amount is the change amount between the speed in the first navigation information and the speed in the second navigation information.

[0123] S303, if the effective parameter includes the attitude, determining an attitude change amount according to the attitude in the first navigation information and the attitude in the second navigation information, and taking the attitude change amount as the navigation difference.

[0124] Optionally, the obtained attitude change amount is the change amount between the attitude in the first navigation information and the attitude in the second navigation information.

[0125] Optionally, if the effective parameter includes the position, the speed and the attitude, the navigation difference includes the position change amount, the speed change amount and the attitude change amount; if the effective parameter includes the position and the attitude, the navigation difference includes the position change amount and the attitude change amount; if the effective parameter includes the position and the speed, the navigation difference includes the position change amount and the speed change amount; if the effective parameter includes the speed and the attitude, the navigation difference includes the speed change amount and the attitude change amount.

[0126] The determination of the position change amount according to the position in the first navigation information, the position in the second navigation information and the preset transition time in the above S301 can include:

[0127] Optionally, the position in the first navigation information can be subtracted from the position in the second navigation information to obtain a position difference, and the position difference is divided by the value of the preset transition time to obtain the position change amount. Specifically, the position change amount can be obtained by the following formula (I).

[0128] ΔP=(P1-P2) / T formula (I)

[0129] Wherein, P1 is the position in the first navigation information, P2 is the position in the second navigation information, and T is the preset transition time.

[0130] Alternatively, the above formula (one) can also be used for the speed change amount, that is, the speed in the first navigation information and the speed in the second navigation information are substituted into the above formula (one), then the speed difference value is obtained by subtracting the speed in the second navigation information from the speed in the first navigation information, and the speed change amount is obtained by dividing the speed difference value by the value of the preset transition time.

[0131] Alternatively, since one or more of the position change amount, the speed change amount and the attitude change amount are included in each navigation difference value, the weighted manner can be used for the position change amount, the speed change amount and the attitude change amount in each navigation difference value to determine the difference value between the second navigation information and each first navigation information, then the target navigation difference value with the smallest difference value is selected from the difference value between the second navigation information and each first navigation information, and the navigation device of the first navigation information with the smallest difference value from the second navigation information is taken as the target navigation device.

[0132] Figure 4 A flowchart of a method for determining an attitude change amount provided by an embodiment of the present application is shown in FIG. 3, which can include the following steps. Figure 4 As shown in FIG. 3, the attitude change amount is determined according to the attitude in the first navigation information and the attitude in the second navigation information in S303, which can include the following steps.

[0133] S401, the attitude in the first navigation information is converted into a quaternion to obtain a first quaternion matrix, and the attitude in the second navigation information is converted into a quaternion to obtain a second quaternion matrix.

[0134] Alternatively, the attitude in the received navigation information is in the form of Euler angles, and the Euler angles in the navigation information are converted into the form of quaternions in the embodiment to calculate the attitude change amount. The first quaternion matrix can be represented by Q1, and the second quaternion matrix can be represented by Q2.

[0135] S402, the product of the first quaternion matrix and the reciprocal of the second quaternion matrix is taken as the quaternion difference value of the attitude.

[0136] Specifically, the obtained quaternion difference value of the attitude is Q 12 = Q2 -1 * Q1, wherein Q1 is the first quaternion matrix, Q2 is the second quaternion matrix, and Q 12 is the quaternion difference value.

[0137] S403, the quaternion difference value is converted into an Euler angle difference value to obtain the attitude change amount.

[0138] Specifically, the quaternion difference value can be converted into the Euler angle difference value by using the following formula (two).

[0139]

[0140] wherein s, x, k, z are the quaternion difference value, r, p, y are the Euler angle difference value, which is also the attitude change amount.

[0141] In this embodiment, by using the quaternion to calculate the attitude change amount, the problem of inaccuracy in calculating the attitude change amount using the Euler angle is solved, and the obtained attitude change amount is more accurate.

[0142] Figure 5 A flowchart of a method for determining a quaternion matrix provided by the embodiment of the application is shown in FIG. 1. Figure 5 As shown in S401, the attitude in the first navigation information is converted into a quaternion to obtain a first quaternion matrix, which can include the following steps.

[0143] S501, the product of the cosine of one-half of the heading angle, the cosine of one-half of the pitch angle, and the cosine of one-half of the roll angle in the first navigation information is subtracted from the product of the sine of one-half of the pitch angle, the sine of one-half of the roll angle, and the sine of one-half of the heading angle to obtain a first quaternion.

[0144] Specifically, the first quaternion can be obtained by the following formula (three).

[0145] s1 = cos (p / 2) cos (r / 2) cos (y / 2) - sin (p / 2) sin (r / 2) sin (y / 2) formula (three)

[0146] wherein s1 is the first quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0147] S502, the product of the cosine of one-half of the roll angle, the cosine of one-half of the heading angle, and the sine of one-half of the pitch angle in the first navigation information is subtracted from the product of the cosine of one-half of the pitch angle, the sine of one-half of the roll angle, and the sine of one-half of the heading angle to obtain a second quaternion.

[0148] Specifically, the second quaternion can be obtained by the following formula (four).

[0149] x1 = cos (r / 2) cos (y / 2) sin (p / 2) - cos (p / 2) sin (r / 2) sin (y / 2) formula (four)

[0150] wherein x1 is the second quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0151] S503, subtracting the product of the cosine of the half roll angle, the sine of the half heading angle and the cosine of the half pitch angle from the product of the cosine of the heading angle, the cosine of the half pitch angle and the sine of the half roll angle to obtain a third quaternion in the first navigation information.

[0152] Specifically, the third quaternion can be obtained by the following formula (five).

[0153] k1 = cos (p / 2) cos (y / 2) sin (r / 2) - cos (r / 2) sin (p / 2) sin (y / 2) formula (five)

[0154] Wherein, k1 is the third quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0155] S504, subtracting the product of the cosine of the half roll angle, the sine of the half pitch angle and the cosine of the half heading angle from the product of the cosine of the heading angle, the cosine of the half pitch angle and the sine of the half roll angle to obtain a fourth quaternion in the first navigation information.

[0156] Specifically, the second quaternion can be obtained by the following formula (six).

[0157] z1 = cos (p / 2) cos (r / 2) sin (y / 2) - cos (y / 2) sin (p / 2) sin (r / 2) formula (six)

[0158] Wherein, z1 is the fourth quaternion, p is the pitch angle, r is the roll angle, and y is the heading angle.

[0159] S505, obtaining a first quaternion matrix according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0160] Optionally, the first quaternion matrix is Q1 = [s1, x1, k1, z1].

[0161] Optionally, the determination process of the second quaternion matrix is the same as that of the first quaternion matrix, and the roll angle, the heading angle and the pitch angle in the second navigation information are substituted into the above formula (three) to formula (six) respectively to obtain the second quaternion matrix Q1 = [s2, x2, k2, z2].

[0162] Optionally, the determination of the target navigation information according to the target navigation difference and the second navigation information in the above S103 can include:

[0163] Optionally, if the effective parameter in the second navigation information comprises a pose, the pose in the second navigation information can be added to the change in the pose in the target navigation difference to obtain a target pose in the target navigation information. If the effective parameter in the second navigation information comprises a position, the position in the second navigation information can be added to the change in the position in the target navigation difference to obtain a target position in the target navigation information. If the effective parameter in the second navigation information comprises a speed, the speed in the second navigation information can be added to the change in the speed in the target navigation difference to obtain a target speed in the target navigation information.

[0164] Optionally, if the effective parameter in the second navigation information does not comprise a pose, the pose in the first navigation information of the target navigation device is directly taken as the pose in the target navigation information. If the effective parameter in the second navigation information does not comprise a speed, the speed in the first navigation information of the target navigation device is directly taken as the speed in the target navigation information. If the effective parameter in the second navigation information does not comprise a position, the position in the first navigation information of the target navigation device is directly taken as the position in the target navigation information.

[0165] Figure 6 A device schematic diagram of a flight navigation processing method of multiple navigation devices provided by an embodiment of the present application is shown in FIG. 1. The device comprises: Figure 6

[0166] An acquisition module 601 is configured to receive first navigation information sent by at least one navigation device at a current time and acquire second navigation information of a current navigation device being used at the current time.

[0167] A determination module 602 is configured to determine whether to switch navigation devices according to the identities of the navigation devices and the identity of the current navigation device.

[0168] The determination module 602 is configured to, if yes, determine a target navigation difference and a target navigation device according to the first navigation information and the second navigation information, determine target navigation information according to the target navigation difference and the second navigation information, and switch the current navigation device to the target navigation device.

[0169] Optionally, the determination module 602 is specifically configured to:

[0170] determine whether the identity of the current navigation device is one of the identities of the at least one navigation device;

[0171] if yes, determine not to switch navigation devices, and if no, determine to switch navigation devices.

[0172] Optionally, the determination module 602 is specifically configured to: ​

[0173] determining an effective parameter in the second navigation information, the effective parameter comprising at least one of: a position, an attitude, a velocity;

[0174] obtaining each navigation difference value according to the effective parameter in the second navigation information and a parameter corresponding to the effective parameter in each first navigation information;

[0175] selecting a navigation difference value with a minimum difference value from the navigation difference values as the target navigation difference value, and selecting a navigation device corresponding to the first navigation information with the minimum difference value as the target navigation device.

[0176] Optionally, the determining module 602 is specifically configured to:

[0177] if the effective parameter comprises the position, determining a position change value according to the position in the first navigation information, the position in the second navigation information and a preset transition time, and taking the position change value as the navigation difference value;

[0178] if the effective parameter comprises the velocity, determining a velocity change value according to the velocity in the first navigation information, the velocity in the second navigation information and the preset transition time, and taking the position change value as the navigation difference value;

[0179] if the effective parameter comprises the attitude, determining an attitude change value according to the attitude in the first navigation information and the attitude in the second navigation information, and taking the position change value as the navigation difference value.

[0180] Optionally, the determining module 602 is specifically configured to:

[0181] subtracting the position in the second navigation information from the position in the first navigation information to obtain a position difference value;

[0182] dividing the position difference value by a value of the preset transition time to obtain the position change value.

[0183] Optionally, the determining module 602 is specifically configured to:

[0184] converting the attitude in the first navigation information into a quaternion to obtain a first quaternion matrix, and converting the attitude in the second navigation information into a quaternion to obtain a second quaternion matrix;

[0185] taking a product of the first quaternion matrix and an inverse of the second quaternion matrix as a quaternion difference value of the attitude;

[0186] converting the quaternion difference value into an Euler angle difference value to obtain the attitude change value.

[0187] Optionally, the determining module 602 is specifically configured to:

[0188] a product of a cosine of one-half of a yaw angle, a cosine of one-half of a pitch angle and a cosine of one-half of a roll angle in the first navigation information, minus a product of a sine of one-half of the pitch angle, a sine of one-half of the roll angle and a sine of one-half of the yaw angle, to obtain a first quaternion;

[0189] a product of a cosine of one-half of a roll angle, a cosine of one-half of a yaw angle and a sine of one-half of a pitch angle in the first navigation information, minus a product of a cosine of one-half of the pitch angle, a sine of one-half of the roll angle and a sine of one-half of the yaw angle, to obtain a second quaternion;

[0190] a product of a cosine of one-half of a yaw angle, a cosine of one-half of a pitch angle and a sine of one-half of a roll angle in the first navigation information, minus a product of a cosine of one-half of the roll angle, a sine of one-half of the yaw angle and a sine of one-half of the pitch angle, to obtain a third quaternion;

[0191] a product of a cosine of one-half of a pitch angle, a cosine of one-half of a roll angle and a sine of one-half of a yaw angle in the first navigation information, minus a product of a cosine of one-half of the yaw angle, a sine of one-half of the pitch angle and a sine of one-half of the roll angle, to obtain a fourth quaternion;

[0192] the first quaternion matrix is obtained according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

[0193] Optionally, the determining module 602 is specifically configured to:

[0194] if the valid parameter in the second navigation information includes a position, the position in the second navigation information is added to the position change amount in the target navigation difference, to obtain a target position in the target navigation information;

[0195] if the valid parameter in the second navigation information includes a position, the position in the second navigation information is added to the position change amount in the target navigation difference, to obtain a target position in the target navigation information;

[0196] if the valid parameter in the second navigation information includes a speed, the speed in the second navigation information is added to the speed change amount in the target navigation difference, to obtain a target speed in the target navigation information.

[0197] Figure 7 A structural block diagram of an electronic device 700 is provided for the embodiments of the present application. As shown in FIG. 7, the electronic device 700 includes a processor 710, a memory 720 and a bus 730. The bus 730 is configured to connect the processor 710 and the memory 720. Figure 7As shown, the electronic device can include a processor 701, a memory 702.

[0198] Optionally, a bus 703 can also be included, wherein the memory 702 is configured to store machine readable instructions executable by the processor 701, and when the electronic device 700 is running, the processor 701 communicates with the memory 702 through the bus 703, and the machine readable instructions are executed by the processor 701 to perform the method steps in the above method embodiments.

[0199] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to perform the method steps in the above flight navigation processing method embodiments of the multi-navigation device.

[0200] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system and device can refer to the corresponding process in the method embodiments, which will not be described herein. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other means. The device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed mutual units can be indirect coupling or communication connection through some communication interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0201] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or say the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0202] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A flight navigation processing method of a multi-navigation device, characterized by, The method comprises: receiving first navigation information sent by at least one navigation device at a current time, and obtaining second navigation information of a current navigation device being used at the current time; determining whether to switch the navigation device according to the identities of the navigation devices and the identity of the current navigation device; if yes, determining target navigation difference and target navigation device according to difference between the first navigation information and the second navigation information, and determining target navigation information according to the target navigation difference and the second navigation information, and switching the current navigation device to the target navigation device; the determining whether to switch the navigation device according to the identities of the navigation devices and the identity of the current navigation device comprises: determining whether the identity of the current navigation device is one of the identities of the at least one navigation device; if yes, determining not to switch the navigation device; if no, determining to switch the navigation device; the determining target navigation difference and target navigation device according to difference between the first navigation information and the second navigation information comprises: determining effective parameters in the second navigation information, the effective parameters comprising at least one of position, attitude and speed; obtaining navigation difference according to the effective parameters in the second navigation information and parameters corresponding to the effective parameters in the first navigation information; selecting the navigation difference with the smallest value from the navigation differences as the target navigation difference, and selecting the navigation device corresponding to the first navigation information with the smallest difference from the second navigation information as the target navigation device.

2. The flight navigation processing method of multiple navigation devices according to claim 1, wherein, the obtaining navigation difference according to the effective parameters in the second navigation information and parameters corresponding to the effective parameters in the second navigation information comprises: if the effective parameters comprise position, determining position change according to the position in the first navigation information, the position in the second navigation information and preset transition time, and taking the position change as the navigation difference; if the effective parameters comprise speed, determining speed change according to the speed in the first navigation information, the speed in the second navigation information and preset transition time, and taking the position change as the navigation difference; if the effective parameters comprise attitude, determining attitude change according to the attitude in the first navigation information and the attitude in the second navigation information, and taking the position change as the navigation difference.

3. The flight navigation processing method of multiple navigation devices according to claim 2, wherein, the determining position change according to the position in the first navigation information, the position in the second navigation information and the preset transition time comprises: subtracting the position in the second navigation information from the position in the first navigation information to obtain position difference; dividing the position difference by the value of the preset transition time to obtain the position change.

4. The flight navigation processing method of multiple navigation device according to claim 2, wherein, the determining attitude change according to the attitude in the first navigation information and the attitude in the second navigation information comprises: converting the attitude in the first navigation information into quaternion to obtain first quaternion matrix, and converting the attitude in the second navigation information into quaternion to obtain second quaternion matrix; multiplying the first quaternion matrix and reciprocal of the second quaternion matrix as a quaternion difference value of the attitude; converting the quaternion difference value into an Euler angle difference value to obtain the attitude change amount.

5. The flight navigation processing method of multiple navigation devices according to claim 4, wherein, The converting the attitude in the first navigation information into a quaternion to obtain a first quaternion matrix comprises: subtracting the product of the sine of the one-half pitch angle, the sine of the one-half roll angle and the sine of the one-half heading angle from the product of the cosine of the one-half heading angle, the cosine of the one-half pitch angle and the cosine of the one-half roll angle to obtain a first quaternion; subtracting the product of the cosine of the one-half pitch angle, the sine of the one-half roll angle and the sine of the one-half heading angle from the product of the cosine of the one-half roll angle, the sine of the one-half heading angle and the sine of the one-half pitch angle to obtain a second quaternion; subtracting the product of the cosine of the one-half roll angle, the sine of the one-half heading angle and the sine of the one-half pitch angle from the product of the cosine of the one-half pitch angle, the sine of the one-half heading angle and the sine of the one-half roll angle to obtain a third quaternion; subtracting the product of the cosine of the one-half heading angle, the sine of the one-half pitch angle and the sine of the one-half roll angle from the product of the cosine of the one-half roll angle, the sine of the one-half pitch angle and the sine of the one-half heading angle to obtain a fourth quaternion; obtaining the first quaternion matrix according to the first quaternion, the second quaternion, the third quaternion and the fourth quaternion.

6. The multi- navigator flight navigation processing method according to claim 1, wherein, The determining target navigation information according to the target navigation difference value and the second navigation information comprises: if the valid parameter in the second navigation information comprises an attitude, adding the attitude in the second navigation information and the attitude change amount in the target navigation difference value to obtain a target attitude in the target navigation information; if the valid parameter in the second navigation information comprises a position, adding the position in the second navigation information and the position change amount in the target navigation difference value to obtain a target position in the target navigation information; if the valid parameter in the second navigation information comprises a velocity, adding the velocity in the second navigation information and the velocity change amount in the target navigation difference value to obtain a target velocity in the target navigation information.

7. An electronic device, comprising: The computer readable storage medium stores a computer program, and the computer program is run by the processor to execute the steps of the flight navigation processing method of the multi-navigation device according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is run by the processor to execute the steps of the flight navigation processing method of the multi-navigation device according to any one of claims 1-6.

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