Solar unmanned aerial vehicle take-off window determination method, electronic equipment and medium

Abstract

The invention discloses a method for determining a take-off window of a solar unmanned aerial vehicle, electronic equipment and a medium. The method comprises the following steps: determining a take-off moment; based on the take-off time, calculating a plurality of key parameters of a flight window of the solar unmanned aerial vehicle and judging whether the key parameters accord with corresponding regulations or not; and if each key parameter accords with the corresponding regulation, taking the take-off moment as a take-off window of the solar unmanned aerial vehicle. According to the method, the historical meteorological data of the selected place is taken as the basis, the influence of meteorological factors on the motion characteristics of the unmanned aerial vehicle and the solar energy characteristics is analyzed, the data and analysis results are high in credibility, the selection efficiency of the take-off window is improved, and the screening of the solar unmanned aerial vehicle large-area full-year take-off window can be realized; the method is of great significance to selection of a suitable take-off place and a flight time range of the solar unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of near-space solar-powered unmanned aerial vehicles, and more specifically, to a method for determining a take-off window of a solar-powered unmanned aerial vehicle, an electronic device and a medium. Background Art

[0002] Near-space solar drones are lightweight, flexible aircraft with a large aspect ratio. Compared with conventional aircraft, they have weaker resistance to meteorological disturbances. Especially during takeoff and landing, they have strict requirements on meteorological conditions such as wind field, cloud cover, and precipitation. Therefore, it is very important to select the appropriate takeoff and landing location and time for solar drones to perform flight missions. Usually, airports will establish a historical meteorological data database at the daily and hourly level throughout the year. The data elements are numerous and the data volume is large, making it difficult to intuitively select a meteorological window suitable for solar drones to take off. Therefore, it is necessary to extract the key meteorological factors that affect the takeoff of solar drones, and combine the motion characteristics and solar energy characteristics of solar drones during takeoff to determine the takeoff window of solar drones.

[0003] At present, there is still a need to develop a method for determining the take-off window of solar-powered UAVs.

[0004] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0005] The present invention proposes a method, electronic device and medium for determining a take-off window for a solar-powered UAV. The method uses historical meteorological data of a selected location as a basis to analyze the influence of meteorological factors on the motion characteristics of the UAV and the characteristics of solar energy. The data and analysis results have high credibility and improve the efficiency of selecting the take-off window. The method can realize the screening of take-off windows for solar-powered UAVs in a large area throughout the year, which is of great significance for the selection of suitable take-off locations and flight time ranges for solar-powered UAVs.

[0006] In a first aspect, an embodiment of the present disclosure provides a method for determining a take-off window of a solar-powered drone, comprising:

[0007] Determine the take-off time;

[0008] Based on the take-off time, multiple key parameters of the solar drone flight window are calculated and whether they meet corresponding regulations;

[0009] If each of the key parameters meets the corresponding regulations, the take-off time is used as the take-off window of the solar-powered UAV.

[0010] Preferably, the key parameters include wind speed, cloud base height, precipitation, solar radiation energy, wind direction, airport runway direction, and cloud cover percentage.

[0011] Preferably, based on the take-off time, calculating the wind speed and determining whether it complies with corresponding regulations includes:

[0012] Set the take-off time of the drone to T0, and the time required for the drone to take off from take-off to take-off is t la , determine the whole time period [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V whh1 、V whh2 , use the interpolation method to calculate T0 to T0+t la Wind speed V in the time period w :

[0013]

[0014] Calculate T0 to T0+t la The wind speed along the runway and the wind speed perpendicular to the runway during the time period:

[0015] V wver =|cos(D w -D r )×V W

[0016] V wpar =|sin(D w -D r )×V W |

[0017] Determine the relationship between the wind speed along the runway and the wind speed perpendicular to the runway and the limit value. If the wind speed along the runway and the wind speed perpendicular to the runway are both less than or equal to the limit value, the corresponding regulations are met.

[0018] Preferably, based on the take-off time, calculating the cloud base height and determining whether it complies with corresponding regulations includes:

[0019] Set the drone's climb rate to u and calculate the drone's T0+t la To T0+t la The flight altitude during the +t period is:

[0020]

[0021] Determine T0+t la + The whole time interval [HH3, HH4] to which time t belongs, extract the corresponding cloud base height H cldhh3 , H cldhh4 , use the interpolation method to calculate T0+t la+The cloud base height corresponding to time t:

[0022]

[0023] Set the limit value e1 between the altitude of the drone and the cloud bottom height. uav -H cld |≤e1, determine the time T0+t la +t cld Corresponding cloud cover percentage P cld The relationship between the cloud amount percentage limit value and the cloud amount percentage limit value is that when the cloud amount is less than or equal to the cloud amount percentage limit value, it complies with the corresponding regulations.

[0024] Preferably, based on the take-off time, calculating the precipitation amount and determining whether it complies with corresponding regulations includes:

[0025] Calculate T0 to T0+t la +t cld Precipitation during the time period, extracted from T0 to T0+t la +t cld The minimum integer time interval of the time period, if the corresponding precipitation is 0, it complies with the corresponding regulations.

[0026] Preferably, based on the take-off time, calculating the solar radiation energy and judging whether it complies with corresponding regulations includes:

[0027] Calculate the vertical solar radiation intensity:

[0028] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0029] Among them, α is the solar altitude angle, I is the solar constant, and ε is the eccentricity of the earth;

[0030] Calculate solar radiation intensity:

[0031]

[0032] in, is the declination angle, ω(t) is the solar hour angle, and θ is the geographical latitude of the place;

[0033] Calculate the solar radiation energy as:

[0034]

[0035] where η cld is the conversion coefficient corresponding to the cloud cover percentage. The cloud cover percentage is calculated by interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined and the corresponding cloud cover percentage P is extracted. cldhh1 , Pcldhh2 , then the cloud cover at time t is:

[0036]

[0037] When calculating the attenuation of solar radiation energy compared to the solar radiation energy when there are no clouds when calculating cloud cover, if it is less than the limit value, it complies with the corresponding regulations.

[0038] Preferably, it also includes:

[0039] If any of the key parameters does not meet the corresponding regulations, the take-off time is re-determined and the key parameters are recalculated and determined.

[0040] In a second aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0041] A memory storing executable instructions;

[0042] A processor runs the executable instructions in the memory to implement the solar-powered UAV takeoff window determination method.

[0043] In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for determining the take-off window of a solar-powered UAV is implemented.

[0044] Its beneficial effects are:

[0045] The present invention establishes a daily hourly database of key meteorological parameters that affect the take-off of solar-powered UAVs throughout the year, calculates the changes in key meteorological parameters during the take-off and climb process of the UAV through an interpolation method, and combines the motion characteristics and solar energy characteristics of the solar-powered UAV during the take-off and climb process to provide a method for comprehensively judging the take-off window of the solar-powered UAV. Ultimately, the specific time range suitable for the take-off of the solar-powered UAV on a certain day in a certain place, the number of days suitable for the take-off of the solar-powered UAV in a certain month and their distribution can be obtained, thereby providing a basis for selecting the take-off window of the solar-powered UAV in that place.

[0046] The methods and apparatus of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0048] Figure 1 A flowchart showing the steps of a method for determining a take-off window for a solar-powered drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0050] Figure 1 A flowchart showing the steps of a method for determining a take-off window for a solar-powered drone according to an embodiment of the present invention.

[0051] like Figure 1 As shown, the method for determining the take-off window of the solar-powered UAV includes:

[0052] Step 101, determine the take-off time;

[0053] Step 102, based on the take-off time, calculate multiple key parameters of the flight window of the solar drone and determine whether they meet the corresponding regulations;

[0054] Step 103: If each key parameter meets the corresponding regulations, the take-off time is used as the take-off window of the solar-powered UAV.

[0055] In one example, the key parameters include wind speed, cloud base height, precipitation, solar radiation energy, wind direction, airport runway direction, and cloud cover percentage.

[0056] In one example, based on the take-off time, calculating the wind speed and determining whether it complies with corresponding regulations includes:

[0057] Set the take-off time of the drone to T0, and the time required for the drone to take off from take-off to take-off is t la , determine the whole time period [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V whh1 、V whh2 , use the interpolation method to calculate T0 to T0+t la Wind speed V in the time period w :

[0058]

[0059] Calculate T0 to T0+t laThe wind speed along the runway and the wind speed perpendicular to the runway during the time period:

[0060] V wver =|cos(D w -D r )×V W

[0061] V wpar =|sin(D w -D r )×V W |

[0062] Determine the relationship between the wind speed along the runway and the wind speed perpendicular to the runway and the limit value. If the wind speed along the runway and the wind speed perpendicular to the runway are both less than or equal to the limit value, the corresponding regulations are met.

[0063] In one example, based on the take-off time, calculating the cloud base height and determining whether it complies with corresponding regulations includes:

[0064] Set the drone's climb rate to u and calculate the drone's T0+t la To T0+t la The flight altitude during the +t period is:

[0065]

[0066] Determine T0+t la + The whole time interval [HH3, HH4] to which time t belongs, extract the corresponding cloud base height H cldhh3 , H cldhh4 , use the interpolation method to calculate T0+t la +The cloud base height corresponding to time t:

[0067]

[0068] Set the limit value e1 between the altitude of the drone and the cloud bottom height. uav -H cld |≤e1, determine the time T0+t la +t cld Corresponding cloud cover percentage P cld The relationship between the cloud amount percentage limit value and the cloud amount percentage limit value is that when the cloud amount is less than or equal to the cloud amount percentage limit value, it complies with the corresponding regulations.

[0069] In one example, based on the take-off time, calculating the precipitation and determining whether it complies with corresponding regulations includes:

[0070] Calculate T0 to T0+t la +t cld Precipitation during the time period, extracted from T0 to T0+tla +t cld The minimum integer time interval of the time period, if the corresponding precipitation is 0, it complies with the corresponding regulations.

[0071] In one example, based on the take-off time, calculating the solar radiation energy and determining whether it complies with corresponding regulations includes:

[0072] Calculate the vertical solar radiation intensity:

[0073] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0074] Among them, α is the solar altitude angle, I is the solar constant, and ε is the eccentricity of the earth;

[0075] Calculate solar radiation intensity:

[0076]

[0077] in, is the declination angle, ω(t) is the solar hour angle, and θ is the geographical latitude of the place;

[0078] Calculate the solar radiation energy as:

[0079]

[0080] where η cld is the conversion coefficient corresponding to the cloud cover percentage. The cloud cover percentage is calculated by interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined and the corresponding cloud cover percentage P is extracted. cldhh1 , P cldhh2 , then the cloud cover at time t is:

[0081]

[0082] When calculating the attenuation of solar radiation energy compared to the solar radiation energy when there are no clouds when calculating cloud cover, if it is less than the limit value, it complies with the corresponding regulations.

[0083] In one example, it also includes:

[0084] If any key parameter does not meet the corresponding regulations, the take-off time is re-determined and the key parameters are recalculated and judged.

[0085] Specifically, the key parameter wind speed V that affects the flight window of the solar drone is set w , wind direction D w (The north direction is 0°, the clockwise direction is positive, 0°≤D w ≤360°), airport runway direction D r(The north direction is 0°, the clockwise direction is positive, 0°≤D r ≤180°), cloud cover percentage P cld , cloud base height H cld , precipitation R, establish the hour-level database of historical meteorological parameters on the nth day of the year.

[0086] Set the take-off time of the drone to T0, and the time required for the drone to take off from take-off to take-off is t la , determine the whole time period [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V whh1 、V whh2 and wind direction D whh1 , D whh2 , use the interpolation method to calculate T0 to T0+t la Wind speed V in the time period w and wind direction D w :

[0087]

[0088] Calculate T0 to T0+t la The wind speed along the runway and the wind speed perpendicular to the runway during the time period:

[0089] V wver =|cos(D w -D r )×V W |

[0090] V wpar =|sin(D w -D r )×V W |

[0091] Determine the relationship between the wind speed along the runway and the wind speed perpendicular to the runway and the limit value. If the wind speed along the runway and the wind speed perpendicular to the runway are both less than or equal to the limit value, it meets the corresponding regulations and continues to calculate. Otherwise, the take-off time cannot be used as the take-off window for the solar drone, and set T0 = T0 + t la Recalculate the drone's take-off moment.

[0092] Set the drone's climb rate to u and calculate the drone's T0+t la To T0+t la + Flight altitude during the time period t

[0093]

[0094] Determine T0+t la + The whole time interval [HH3, HH4] to which time t belongs, extract the corresponding cloud base height Hcldhh3 , H cldhh4 , use the interpolation method to calculate T0+t la +The cloud base height corresponding to time t:

[0095]

[0096] Set the limit value e1 between the altitude of the drone and the cloud bottom height. uav -H cld |≤e1, determine the time T0+t la +t cld Corresponding cloud cover percentage P cld The relationship between the cloud cover percentage limit value and the cloud cover percentage limit value is that when the cloud cover is less than or equal to the cloud cover percentage limit value, it is considered that there is no cloud or the impact of the drone penetrating the cloud is negligible, and it meets the corresponding regulations and continues to calculate. Otherwise, it is considered that the take-off time cannot be used as the take-off window for the solar drone, and the appropriate time interval T0=T0+t1 is pushed back as the take-off time and recalculated.

[0097] Calculate T0 to T0+t la +t cld Precipitation during the time period, extracted from T0 to T0+t la +t cld The minimum integer time interval of the time period, if the corresponding precipitation is 0, it meets the corresponding regulations and continues to calculate. Otherwise, it is considered that the take-off time cannot be used as the take-off window of the solar drone, and the appropriate time interval T0=T0+t1 is pushed back as the take-off time and recalculated.

[0098] Calculate T0 to T0+t la +t cld The influence of cloud cover on the power generation of UAV solar cells during the time period. Calculate the vertical solar radiation intensity:

[0099] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0100] Among them, the solar altitude angle is:

[0101] α=2π(n-4) / 365

[0102] Solar constant:

[0103] I=1367W / m 2

[0104] Earth's eccentricity:

[0105] ε=0.017

[0106] 2) Calculate solar radiation intensity:

[0107]

[0108] The declination angle is:

[0109]

[0110] Solar Hour Angle:

[0111] ω(t)=π-πt / 12

[0112] θ is the geographical latitude of the place

[0113] 3) Calculate solar radiation energy

[0114]

[0115] where η cld is the conversion coefficient corresponding to the cloud cover percentage. The cloud cover percentage is calculated by interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined and the corresponding cloud cover percentage P is extracted. cldhh1 , P cldhh2 , then the cloud cover at time t is:

[0116]

[0117] The attenuation of solar radiation energy when considering cloud cover is calculated compared to the attenuation of solar radiation energy when there is no cloud. When the attenuation is less than the limit value, the influence of cloud cover is considered acceptable, and T0 can be used as the take-off time of the solar drone. Otherwise, T0 cannot be used as the take-off window of the solar drone, and an appropriate time interval is pushed back, and T0 = T0 + t la +t cld Recalculate as take-off time.

[0118] Whether a certain day can be used as a suitable take-off date can be determined based on the proportion of suitable take-off times on that day to all judged times, and this can be extended to the number and distribution of days suitable for solar drone take-off in a certain month.

[0119] The present invention also provides an electronic device, which includes: a memory storing executable instructions; and a processor, which runs the executable instructions in the memory to implement the above-mentioned method for determining the take-off window of a solar-powered UAV.

[0120] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned method for determining the take-off window of a solar-powered UAV is implemented.

[0121] To facilitate understanding of the solutions and effects of the embodiments of the present invention, three specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0122] Example 1

[0123] Based on the meteorological data of a certain airport in a certain year, the key factors wind speed, wind direction, cloud percentage, cloud base height, and precipitation are screened, and sorted by date and time to establish a meteorological database of a certain airport in a certain year. The database format is shown in Table 1.

[0124] Table 1

[0125]

[0126]

[0127] Set the wind speed limit value a along the runway direction parmax , the wind speed limit value perpendicular to the runway direction a vermax , Cloud base height limit d max Parameters such as flight time and flight schedule are set to 15 minutes as the time interval for screening take-off windows. When the proportion of suitable take-off times in all judged times on that day is greater than or equal to 80%, that day is considered to be a take-off window. The above method is used to calculate the take-off windows for the location throughout the year.

[0128] Example 2

[0129] The present disclosure provides an electronic device, which includes: a memory storing executable instructions; and a processor running the executable instructions in the memory to implement the above-mentioned solar-powered UAV takeoff window determination method.

[0130] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0131] The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0132] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory.

[0133] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0134] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0135] Example 3

[0136] An embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method for determining the take-off window of a solar-powered UAV is implemented.

[0137] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the method of each embodiment of the present disclosure are executed.

[0138] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0139] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0140] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for determining a take-off window for a solar-powered UAV, characterized in that: include: Determine the take-off time; Based on the take-off time, multiple key parameters of the solar drone flight window are calculated and whether they meet corresponding regulations; If each of the key parameters meets the corresponding regulations, the take-off time is used as the take-off window of the solar-powered UAV.

2. The method for determining the takeoff window of a solar-powered UAV according to claim 1, wherein: The key parameters include wind speed, cloud base height, precipitation, solar radiation energy, wind direction, airport runway direction, and cloud cover percentage.

3. The method for determining the takeoff window of a solar-powered UAV according to claim 2, wherein: Based on the take-off time, calculating the wind speed and determining whether it complies with corresponding regulations includes: Set the take-off time of the drone to T0, and the time required for the drone to take off from take-off to take-off is t la , determine the whole time period [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V whh1 、V whh2 , use the interpolation method to calculate T0 to T0+t la Wind speed V in the time period w : Calculate T0 to T0+t la The wind speed along the runway and the wind speed perpendicular to the runway during the time period: V wver =|cos(D w -D r )×V W | V wpar =|sin(D w -D r )×V W | Determine the relationship between the wind speed along the runway and the wind speed perpendicular to the runway and the limit value. If the wind speed along the runway and the wind speed perpendicular to the runway are both less than or equal to the limit value, the corresponding regulations are met.

4. The method for determining the takeoff window of a solar-powered UAV according to claim 2, wherein: Based on the take-off time, calculating the cloud base height and determining whether it complies with corresponding regulations includes: Set the drone's climb rate to u and calculate the drone's T0+t la To T0+t la The flight altitude during the +t period is: Determine T0+t la + The whole time interval [HH3, HH4] to which time t belongs, extract the corresponding cloud base height H cldhh3 , H cldhh4 , use the interpolation method to calculate T0+t la +The cloud base height corresponding to time t: Set the limit value e1 between the altitude of the drone and the cloud bottom height. uav -H cld |≤e1, determine the time T0+t la +t cld Corresponding cloud cover percentage P cld The relationship between the cloud amount percentage limit value and the cloud amount percentage limit value is that when the cloud amount is less than or equal to the cloud amount percentage limit value, it complies with the corresponding regulations.

5. The method for determining the takeoff window of a solar-powered UAV according to claim 2, wherein: Based on the take-off time, calculating the precipitation and determining whether it complies with corresponding regulations includes: Calculate T0 to T0+t la +t cld Precipitation during the time period, extracted from T0 to T0+t la +t cld The minimum integer time interval of the time period, if the corresponding precipitation is 0, it complies with the corresponding regulations.

6. The method for determining the takeoff window of a solar-powered UAV according to claim 2, wherein: Based on the take-off time, calculating the solar radiation energy and judging whether it complies with corresponding regulations includes: Calculate the vertical solar radiation intensity: I0=I[(1+εcosα) / (1-ε 2 )] 2 Among them, α is the solar altitude angle, I is the solar constant, and ε is the eccentricity of the earth; Calculate solar radiation intensity: in, is the declination angle, ω(t) is the solar hour angle, and θ is the geographical latitude of the place; Calculate the solar radiation energy as: where η cld is the conversion coefficient corresponding to the cloud cover percentage. The cloud cover percentage is calculated by interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined and the corresponding cloud cover percentage P is extracted. cldhh1 , P cldhh2 , then the cloud cover at time t is: When calculating the attenuation of solar radiation energy compared to the solar radiation energy when there are no clouds when calculating cloud cover, if it is less than the limit value, it complies with the corresponding regulations.

7. The method for determining the takeoff window of a solar-powered UAV according to claim 1, wherein: Also includes: If any of the key parameters does not meet the corresponding regulations, the take-off time is re-determined and the key parameters are recalculated and determined.

8. An electronic device, characterized in that: The electronic device comprises: A memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the solar-powered UAV takeoff window determination method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining a take-off window of a solar-powered UAV according to any one of claims 1 to 7 is implemented.

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