Large unmanned aerial vehicle auxiliary flight monitoring indication method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle control, and discloses a large-scale unmanned aerial vehicle auxiliary flight monitoring indication method, which processes position data and route data of an unmanned aerial vehicle based on a software mode, realizes channel deviation and glide path deviation indication, and calculates a difference value between a preselected channel azimuth and an unmanned aerial vehicle radial azimuth; and the deviation indication and the indication to the platform and the back platform are presented on an unmanned aerial vehicle ground station attitude display picture and are used for assisting in monitoring the flight safety of the unmanned aerial vehicle. The method assists the prior art in monitoring the flight of the unmanned aerial vehicle to realize the safe landing of the unmanned aerial vehicle in the first flight or test flight verification task.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) control, and in particular relates to a large-scale UAV assisted flight monitoring and indication method. Background Art

[0002] Drones operating with automated flight control systems offer numerous advantages, providing critical support for stable flight and efficient mission execution. However, when a drone's performance parameters are not fully verified during its first flight, the complexity of the flight control algorithms and the high degree of system integration can lead to potential vulnerabilities and defects, potentially causing system failures or abnormal behavior. Furthermore, the approach and landing phase is a stage with a high probability of safety accidents. While manual visual approach using video footage from a video surveillance system can mitigate safety risks, this method is unreliable in adverse weather conditions such as low visibility.

[0003] On the other hand, the altitude deviation and sideways deviation values ​​typically used by drones are absolute distances. The sideways deviation a drone can tolerate varies depending on the distance from the aircraft to the landing point. When a drone is close to the landing point, relying on changes in altitude deviation and sideways deviation to control the drone results in frequent adjustments during the approach and landing phase, which is detrimental to drone flight and places an excessive operational burden on the ground station pilot. Summary of the Invention

[0004] The purpose of the present invention is to provide a large-scale unmanned aerial vehicle (UAV) assisted flight monitoring and indication method based on the above-mentioned existing technology, which simulates the course deviation and glide path deviation indicated by manned aircraft instruments, and is used to monitor the flight status of the UAV, especially during the approach and landing phase, to assist the existing technology in performing flight monitoring of the UAV and achieve a safe landing of the UAV during its first flight or test flight verification mission.

[0005] The technical solution of the present invention is achieved as follows:

[0006] A large-scale unmanned aerial vehicle assisted flight monitoring and indication method comprises the following steps:

[0007] S1: Calculate the current radial position of the drone based on the current longitude and latitude position information of the drone and the longitude and latitude position information of the next waypoint of the pre-selected route;

[0008] S2: Determine the direction of the UAV towards or away from the station based on the UAV’s current radial bearing and the pre-selected course bearing;

[0009] S3: Calculate the difference α between the current heading of the UAV and the heading angle of the pre-selected course;

[0010] S4: Define the display of course deviation according to the angle value of α, define α = 0° as the midpoint, define the scale and polarity of the course deviation indication, and define the display of the direction of the station and the direction of the station according to S2;

[0011] S5: Calculate the distance a between the projection of the current position of the UAV on the horizontal plane and the landing point based on the current latitude and longitude position information of the UAV and the latitude and longitude position information of the planned landing point;

[0012] S6: Calculate the projection distance b of the current position of the UAV on the vertical plane where the planned route is located;

[0013] S7: Calculate the difference β between the actual glide angle of the current UAV and the glide angle of the planned route;

[0014] S8: Define the display of the glide slope deviation according to the angle value of β, define β = 0° as the midpoint, and define the scale and polarity of the glide slope deviation indication;

[0015] S9: Display the corresponding course deviation and glide slope deviation on the human-machine interface of the ground station.

[0016] As a further solution of the present invention: the said azimuth station: the current radial direction of the UAV - the direction of the preselected course > ±90°;

[0017] The back-end: the current radial position of the UAV - the pre-selected course position is less than ±90°.

[0018] As a further solution of the present invention: the defined course indication has a total of 5 scale points, the scale resolution is 1°, and the display is linear, with rightward being positive and leftward being negative.

[0019] As a further solution of the present invention: when the difference α=0°, it means that the UAV is on the planned heading, and the course deviation pointer indicates the middle scale point;

[0020] When the difference α>0°, it means that the UAV deviates from the planned course and flies to the right, and the course deviation pointer indicates the right side of the middle scale point;

[0021] When the difference α is less than 0°, it means that the UAV deviates from the planned heading and flies to the left, and the course deviation pointer indicates to the left of the middle scale point.

[0022] As a further solution of the present invention, the backstage indication is defined as "From" and the tostage indication is defined as "To".

[0023] As a further solution of the present invention: Based on the current side offset c and distance a of the UAV, the calculation process of the projected distance b is:

[0024]

[0025] As a further solution of the present invention: Based on the current relative field height h of the UAV, the height difference Δh and the distance b, the calculation process of the glide angle difference β is:

[0026]

[0027] The relative field height h in the formula refers to the difference between the current altitude of the drone and the altitude of the airport landing point, and the altitude difference △h refers to the altitude difference between the current altitude of the drone and the planned route on its vertical plane.

[0028] As a further solution of the present invention: the defined course deviation is displayed with a total of 5 scale points, each scale point is spaced 1° apart, and is displayed linearly, with upward being positive and downward being negative.

[0029] As a further embodiment of the present invention:

[0030] When the difference β = 0°, it means that the UAV is on the correct glide path, and the glide path deviation pointer indicates the middle scale point;

[0031] When the difference β>0°, it means that the UAV is descending too slowly or too high, and the glide path deviation pointer indicates the upper side of the middle scale point;

[0032] When the difference β is less than 0°, it means that the UAV is descending too fast or too low, and the glide path deviation pointer indicates the lower side of the middle scale point.

[0033] As a further solution of the present invention: the display elements include a pointer and scale points, the diamond is the pointer, and the small white square and the short white line are the scale points.

[0034] An electronic device comprises: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the above-mentioned indication method are implemented.

[0035] A computer storage medium stores a computer program, which implements the steps of the above-mentioned indication method when executed by a processor.

[0036] The beneficial effects of this application are:

[0037] 1. This application uses software to process the position data and route data of the UAV to realize the functions of course deviation, glide slope deviation indication and direction / backward indication. It does not require any hardware equipment and monitors the flight safety of the UAV in a low-cost manner to reduce safety risks.

[0038] 2. The glide slope deviation indicator of this application is automatically displayed on the ground station attitude display screen only during the approach and landing phase, and disappears automatically during other flight phases to avoid interfering with the ground station operator due to too many display elements.

[0039] 3. This application is used to monitor the flight safety of drones, especially the safety of drones during the approach and landing phase, and to assist existing technologies in achieving safe landing of drones during their first flight or test flight verification missions.

[0040] The present application is described in further detail below with reference to the accompanying drawings of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a three-dimensional spatial diagram of the drone’s current position and landing point;

[0042] Figure 2 is the geometric diagram of the UAV’s course deviation (horizontal plane projection);

[0043] Figure 3 It is the geometric diagram of the UAV's glide path deviation (the projection of the vertical plane on which the planned route is located);

[0044] Figure 4 It is a schematic diagram showing the course deviation and glide path deviation of a large UAV. DETAILED DESCRIPTION

[0045] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments.

[0046] Firstly, this embodiment provides a method for indicating a large-scale UAV-assisted flight monitoring, wherein the three-dimensional space between the current position of the UAV and the landing point is as follows: Figure 1 As shown, the geometric principles of the course deviation and glide path deviation are as follows Figure 2 and Figure 3 As shown, the current UAV's side offset distance c, relative field height h, and height difference Δh are all known quantities transmitted by the UAV. The method includes the following steps:

[0047] Step 1: Calculate the current radial position of the drone based on its current longitude and latitude position information and the longitude and latitude position information of the next waypoint on the pre-selected route.

[0048] Step 2: Based on the current radial direction of the UAV and the pre-selected course direction, determine the UAV's direction to the station or back to the station:

[0049] Towards: UAV’s current radial bearing - pre-selected course bearing>±90°;

[0050] Backhaul: The current radial direction of the UAV minus the preselected course direction is less than ±90°.

[0051] Step 3: Calculate the difference α between the current heading of the drone and the heading angle of the pre-selected course.

[0052] Step 4: Define the display of course deviation according to the angle value of α, define α = 0° as the midpoint, define the scale and polarity of the course deviation indication, and define the display of the direction of the station and the direction of the station according to step 2;

[0053] The course indication is defined with 5 scale points in total, with a scale resolution of 1°. The middle scale point is α=0°. The scale point to the left is negative, and the scale point to the right is positive. Each scale point corresponds to a certain α value, which can indicate different degrees of deviation.

[0054] When α = 0°, it means that the UAV is on the planned heading and the course deviation pointer indicates the middle scale point;

[0055] When α>0°, it means that the UAV deviates from the planned course and flies to the right, and the course deviation pointer indicates the right side of the middle scale point;

[0056] When α<0°, it means that the UAV deviates from the planned course and flies to the left, and the course deviation pointer indicates the left side of the middle scale point;

[0057] Define the backstage indication as “From” and the tostage indication as “To”.

[0058] Step 5: Based on the current latitude and longitude position information of the UAV and the latitude and longitude position information of the planned landing point, calculate the distance a between the projection of the UAV's current position on the horizontal plane and the landing point.

[0059] Step 6: Calculate the projection distance b of the drone's current position on the vertical plane of the planned route;

[0060]

[0061] Step 7: Calculate the difference β between the actual glide angle of the current UAV and the glide angle of the planned route;

[0062]

[0063] The relative field height h in the formula refers to the difference between the current altitude of the drone and the altitude of the airport landing point, and the altitude difference △h refers to the altitude difference between the current altitude of the drone and the planned route on its vertical plane.

[0064] Step 8: Define the display of the glide slope deviation according to the angle value of β, define β = 0° as the midpoint, and define the scale and polarity of the glide slope deviation indication;

[0065] The glide slope indicator is defined as 5 scale points with a scale resolution of 1°. The middle scale point is β = 0°. The display is linear, with upwards being positive and downwards being negative.

[0066] When β = 0°, it means that the UAV is on the correct glide path and the glide path deviation pointer indicates the middle scale point;

[0067] When β>0°, it means that the UAV is descending too slowly or too high, and the glide path deviation pointer indicates the upper side of the middle scale point;

[0068] When β<0°, it means that the UAV is descending too fast or too low, and the glide path deviation pointer indicates the lower side of the middle scale point.

[0069] Step 9: Display the corresponding course deviation, glide slope deviation and inbound / outbound indication on the human-machine interface of the ground station.

[0070] like Figure 4 As shown, the display elements include a pointer and scale points. The diamond is the pointer, and the small white squares and short white lines are scale points. In the figure, the current course deviation is -1°, the glide path angle deviation is 0°, and the aircraft is flying away from the platform.

[0071] In a second aspect, the present invention provides an electronic device comprising: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the above-mentioned indication method are implemented.

[0072] In a third aspect, the present invention provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned indication method are implemented.

[0073] So far, the purpose of the present invention has been accomplished.

[0074] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A large-scale unmanned aerial vehicle assisted flight monitoring and indication method, characterized in that: The following steps are involved: S1: Calculate the current radial position of the drone based on the current longitude and latitude position information of the drone and the longitude and latitude position information of the next waypoint of the pre-selected route; S2: According to the current radial direction of the UAV and the direction of the pre-selected course, the UAV is judged to indicate the direction to the station or the direction to the back station; S3: Calculate the difference α between the current heading of the drone and the heading angle of the pre-selected course; S4: Define the display of the course deviation according to the angle value of α, define α=0° as the midpoint, define the scale and polarity of the course deviation indication, and define the display of the forward and backward stations according to S2; S5: Calculate the distance a between the projection of the current position of the UAV on the horizontal plane and the landing point according to the current latitude and longitude position information of the UAV and the longitude and latitude position information of the planned landing point; S6: Calculate the projection distance b of the current position of the UAV on the vertical plane where the planned route is located; S7: Calculate the difference β between the actual glide angle of the current UAV and the glide angle of the planned route; S8: defining the display of the glide path deviation according to the angle value of β, defining β=0° as the middle point, and defining the scale and polarity of the glide path deviation indication; S9: Display the corresponding course deviation and glide slope deviation on the human-machine interface of the ground station.

2. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 1 is characterized in that: The said azimuth station: the current radial position of the UAV - the position of the pre-selected course > ±90°; The back-end: the current radial position of the UAV - the pre-selected course position < ±90°.

3. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 2 is characterized in that: The defined course indication has a total of 5 scale points, the scale resolution is 1°, and the display is linear, with rightward being positive and leftward being negative.

4. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 3 is characterized in that: When the difference α = 0°, it means that the UAV is on the planned heading, and the course deviation pointer indicates the middle scale point; When the difference α>0°, it means that the UAV deviates from the planned course and flies to the right, and the course deviation pointer indicates the right side of the middle scale point; When the difference α<0°, it means that the UAV deviates from the planned heading and flies to the left, and the course deviation pointer indicates to the left of the middle scale point.

5. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 4 is characterized in that: Define the outgoing channel as "From" and the incoming channel as "To".

6. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 1 is characterized in that: According to the current side offset c and distance a of the drone, the calculation process of the projection distance b is:

7. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 1 is characterized in that: According to the current relative field height h, height difference △h and distance b of the UAV, the calculation process of the difference β of the glide angle is: The relative field height h in the formula refers to the difference between the current altitude of the drone and the altitude of the airport landing point, and the altitude difference △h refers to the altitude difference between the current altitude of the drone and the planned route on its vertical plane.

8. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 1 is characterized in that: The defined course deviation is displayed with 5 scale points in total, each scale point is spaced 1° apart, and is displayed linearly, with upward being positive and downward being negative.

9. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 8, characterized in that: When the difference β = 0°, it means that the UAV is on the correct glide path, and the glide path deviation pointer indicates the middle scale point; When the difference β>0°, it means that the drone is descending too slowly or too high, and the glide path deviation pointer indicates the upper side of the middle scale point; When the difference β<0°, it means that the UAV descends too fast or too low, and the glide path deviation pointer indicates the lower side of the middle scale point.

10. The large-scale unmanned aerial vehicle assisted flight monitoring and indication method according to claim 1, characterized in that: The display elements include a pointer and scale points, the diamond is the pointer, and the small white square and the short white lines are the scale points.

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