Flight control method and device, aircraft and storage medium

Abstract

The invention discloses a flight control method and device, an aircraft and a storage medium. The method comprises the following steps: acquiring sensor data of a current aircraft, and constructing a point cloud map by using the sensor data; ground height point information is generated through the ground height in the point cloud map, curved surface fitting is conducted on the ground height point information to obtain a curved surface model of a curved surface where ground height points are located, and the ground height point information is multi-dimensional position information; predicting the ground height of a current aircraft path area by using the curved surface model, and planning a flight route according to the ground height; and controlling the current aircraft to fly according to the flight route. According to the technical scheme provided by the embodiment of the invention, a reasonable flight route is provided for the aircraft, the flight control fluency is improved, and the flight safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a flight control method, device, aircraft and storage medium. Background Art

[0002] In the field of UAV flight control, radars, such as millimeter-wave radars, are widely used to obtain real-time relative height data between the UAV and the ground, which is crucial to the flight safety of the UAV in complex terrain.

[0003] However, current UAV flight control relies too much on real-time radar terrain altitude data. Problems such as untimely control response and altitude data noise will lead to poor flight control effects and affect flight safety. Summary of the invention

[0004] The present invention provides a flight control method, device, aircraft and storage medium to solve the problem of poor flight control effect.

[0005] In a first aspect, the present invention provides a flight control method, comprising:

[0006] Acquire sensor data of the current aircraft and construct a point cloud map using the sensor data;

[0007] Generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information;

[0008] Using the surface model to predict the ground height of the area where the current aircraft passes, and planning the flight route according to the ground height;

[0009] The current aircraft is controlled to fly according to the flight route.

[0010] In a second aspect, the present invention provides a flight control device, comprising:

[0011] A point cloud map construction module, used to obtain sensor data of the current aircraft and construct a point cloud map using the sensor data;

[0012] A surface fitting module, used to generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information;

[0013] A flight route planning module, used to predict the ground height of the area where the current aircraft passes by using the surface model, and plan the flight route according to the ground height;

[0014] The aircraft control module is used to control the current aircraft flight according to the flight route.

[0015] In a third aspect, the present invention provides an aircraft, the aircraft comprising:

[0016] at least one processor;

[0017] and a memory communicatively coupled to the at least one processor;

[0018] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the flight control method of the first aspect mentioned above.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer instructions, which are used to implement the flight control method of the first aspect when executed by a processor.

[0020] The flight control scheme provided by the present invention obtains the sensor data of the current aircraft, and uses the sensor data to construct a point cloud map, uses the ground height in the point cloud map to generate ground height point information, and performs surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information, and uses the surface model to predict the ground height of the area where the current aircraft passes, and plans the flight route according to the ground height, and controls the flight of the current aircraft according to the flight route. By adopting the above technical scheme, a point cloud map is generated using the sensor data of the aircraft, and a terrain surface model is accurately generated by performing surface fitting on the ground height points in the point cloud map. The model can be used to predict the change of terrain height, thereby providing a smooth flight height reference for the aircraft, solving the problems of untimely control response and height data noise caused by over-reliance on real-time radar terrain simulation height data, providing a reasonable flight route for the aircraft, improving the fluency of flight control, and ensuring flight safety.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a flight control method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a flight control method provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a schematic diagram of a point cloud grid map provided according to Embodiment 2 of the present invention;

[0026] Figure 4 is a schematic diagram of an initial point of a flight route provided according to a second embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of a flight route provided according to Embodiment 2 of the present invention;

[0028] Figure 6 is a schematic structural diagram of a flight control device provided according to Embodiment 3 of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of an aircraft provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In the description of the present invention, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are an "or" relationship. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 A flowchart of a flight control method is provided for the first embodiment of the present invention. This embodiment is applicable to the situation of controlling the flight of an aircraft. The method can be executed by a flight control device. The flight control device can be implemented in the form of hardware and / or software. The flight control device can be configured in an aircraft. The aircraft can be composed of two or more physical entities or one physical entity.

[0034] like Figure 1 As shown, the flight control method provided by the first embodiment of the present invention specifically includes the following steps:

[0035] S101, acquiring sensor data of the current aircraft, and constructing a point cloud map using the sensor data.

[0036] In this embodiment, data collected by sensors configured on the current aircraft, i.e., sensor data, such as radar data, etc., can be obtained, wherein the current aircraft may be a drone, etc. The point cloud map can be constructed using the sensor data, and the specific process is not repeated here.

[0037] S102, using the ground height in the point cloud map to generate ground height point information, and performing surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information.

[0038] In this embodiment, the height of the ground in the point cloud map can be determined first, and then the position information of each point corresponding to the ground height (i.e., the ground height point) can be determined, i.e., the ground height point information, wherein the ground height point information can be three-dimensional position information. Finally, a preset surface fitting algorithm can be used to perform surface fitting on the multiple ground height point information included in the point cloud map to obtain a surface model of the surface where the ground height point is located.

[0039] S103: using the surface model to predict the ground height of the area where the current aircraft passes, and planning a flight route according to the ground height.

[0040] In this embodiment, the surface model can be used to predict the ground height of the area where the current aircraft passes, such as by inputting the horizontal position information of the area where the current aircraft passes into the surface model to obtain the ground height. The flight route of the current aircraft can be planned based on the obtained ground height.

[0041] S104: Control the flight of the current aircraft according to the flight route.

[0042] In this embodiment, the current aircraft can be controlled to fly according to the flight route.

[0043] The flight control method provided by the embodiment of the present invention obtains the sensor data of the current aircraft, and constructs a point cloud map using the sensor data, generates ground height point information using the ground height in the point cloud map, and performs surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information, and the surface model is used to predict the ground height of the area where the current aircraft passes, and the flight route is planned according to the ground height, and the current aircraft is controlled according to the flight route. The technical solution of the embodiment of the present invention generates a point cloud map using the sensor data of the aircraft, and accurately generates a terrain surface model by performing surface fitting on the ground height points in the point cloud map. The model can predict the change of terrain height, thereby providing a smooth flight height reference for the aircraft, solving the problems of untimely control response and height data noise caused by over-reliance on real-time radar terrain simulation height data, providing a reasonable flight route for the aircraft, improving the fluency of flight control, and ensuring flight safety.

[0044] Optionally, the sensor data includes: radar data, real-time differential positioning data and inertial sensor data.

[0045] Specifically, millimeter wave radar, RTK (Real-time kinematic) sensor, IMU (Inertial Measurement Unit) and other sensors can be installed in the current aircraft in advance. Among them, the position and attitude information obtained by fusing RTK data and IMU data can be converted to the same world coordinate system, and the radar data can be synchronized with the RTK data and IMU data in time, and finally the aligned radar data, RTK data and IMU data can be used to construct the point cloud map.

[0046] Optionally, before generating ground height point information by using the ground height in the point cloud map, it also includes: dividing the point cloud map into multiple point cloud sub-maps, and using the point cloud data below a preset height in each point cloud sub-map to determine the estimated ground height of each point cloud sub-map; wherein, generating ground height point information by using the ground height in the point cloud map includes: generating ground height point information by using the estimated ground height in the point cloud map.

[0047] Specifically, the point cloud map can be divided into a plurality of point cloud sub-maps of preset sizes, and the point cloud map can be sampled. Then, the point cloud data below the preset height within each point cloud sub-map is extracted in turn, and the ground height is estimated using the data, thereby obtaining the estimated ground height h i , where h i is the estimated ground height of the i-th point cloud sub-image.

[0048] Exemplarily, a preset operation or preprocessing may be performed on the multi-dimensional position information of the points corresponding to the estimated ground height in the point cloud map, and the operation result or processing result may be determined as the ground height point information.

[0049] Optionally, performing surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located includes: performing surface fitting on the ground height point information using a B-spline surface de Boer recursion algorithm to obtain a surface model of the surface where the ground height point is located.

[0050] Specifically, De Boor's Algorithm is a mathematical method for calculating points on a B-spline curve. The De Boor's Algorithm for B-spline surfaces can be used to recursively determine the coordinates of each point on the B-spline curves C(u) and C(v) in two directions. By performing surface fitting on the obtained points, the surface model of the surface where the B-spline curve is located is determined, that is, the surface model of the surface where the ground height point is located. This model is the ground height model. By inputting the horizontal position of the aircraft into the model, the corresponding ground height value can be obtained. Among them, the coordinates of the control point, that is, the ground height point information Qi , the number of control points and the order are known.

[0051] Embodiment 2

[0052] Figure 2 This is a flow chart of a flight control method provided in the second embodiment of the present invention. The technical solution of the embodiment of the present invention is further optimized on the basis of the above-mentioned optional technical solutions, and provides a specific method for controlling the flight of an aircraft.

[0053] Optionally, generating ground height point information by using the estimated ground height in the point cloud map includes: generating ground height point information by using plane information of the center position of the point cloud sub-map and the estimated ground height.

[0054] Optionally, using the surface model to predict the ground height of the area through which the current aircraft passes includes: using the Bresenham algorithm to determine the position information of the straight line where a preset starting point and a preset end point of the current aircraft are located; and using the surface model to determine the ground height of the area through which the current aircraft passes corresponding to the position information.

[0055] Optionally, planning the flight route according to the ground altitude includes: using the A* algorithm to plan the flight altitude according to the ground altitude and the preset starting point and preset end point of the current aircraft to obtain the initial point of the flight route; screening the initial points of the flight route according to the relative position relationship of the adjacent initial points of the flight route to obtain the target flight route point, and generating the flight route using the target flight route point. The advantage of this setting is that the flight altitude is reasonably planned using the A* algorithm, the initial screening of the flight route points is achieved, and then the flight route points are accurately determined by screening the initial points of the flight route.

[0056] like Figure 2 As shown, a flight control method provided by Embodiment 2 of the present invention specifically includes the following steps:

[0057] S201, acquiring sensor data of the current aircraft, and constructing a point cloud map using the sensor data.

[0058] S202: Divide the point cloud map into a plurality of point cloud sub-maps, and determine the estimated ground height of each point cloud sub-map by using the point cloud data below a preset height in each point cloud sub-map.

[0059] S203: Generate ground height point information using the plane information of the center position of the point cloud sub-image and the estimated ground height.

[0060] Exemplarily, the ground height point information can be expressed as (x, y, h), where (x, y) is the horizontal coordinate of the center position of each point cloud sub-image, and h is the estimated ground height of the point cloud sub-image.

[0061] S204, performing surface fitting on the ground height point information using the B-spline surface de Boer recursive algorithm to obtain a surface model of the surface where the ground height point is located.

[0062] S205 , using the Bresenham algorithm, determine the position information of the straight line where the preset starting point and the preset end point of the current aircraft are located.

[0063] Specifically, Figure 3 is a schematic diagram of a point cloud grid map. Before using the Bresenham algorithm to determine the position information of the straight line where the preset starting point and the preset end point of the current aircraft are located, such as Figure 3 As shown, the point cloud map can be gridded to obtain a point cloud grid map. Then, the Bresenham algorithm is used to determine the straight line where the preset starting point and the preset end point are located (i.e. Figure 3 The black oblique line in the figure) is used to determine the horizontal position of the target grid that intersects the straight line in the point cloud grid map. These positions are the position information of the straight line where the preset starting point and the preset end point are located.

[0064] S206: Determine the ground height of the area corresponding to the position information when the current aircraft passes through the area using the surface model.

[0065] Specifically, by inputting the position information of the above straight line into the surface model, the ground height corresponding to the straight line where the preset starting point and the preset end point are located can be obtained.

[0066] S207, using the A* algorithm to plan the flight altitude according to the ground altitude and the preset starting point and preset end point of the current aircraft to obtain an initial point of the flight route.

[0067] Specifically, the obtained ground height and the preset starting point and preset end point of the current aircraft can be processed by the A* algorithm to obtain a point in the initial flight route, that is, the initial point of the flight route. Figure 4 A schematic diagram of the initial point of a flight route. Figure 4 The purple rectangle in the middle represents the ground height, and the point above the purple rectangle is the initial point of the flight route.

[0068] S208. Screening the flight route initial points according to the relative position relationship of the adjacent flight route initial points to obtain target flight route points, and generating a flight route using the target flight route points.

[0069] For example, the preset starting point, multiple flight route initial points and the preset end point can be traversed, and three adjacent points can be determined as a group of points to be determined, and the points in each group of points to be determined are not repeated. Then, it is determined whether there is a second point in each group of points to be determined that is not on the line connecting the first point and the second point. If so, it means that the second point is a redundant point. After eliminating the redundant points in each group of points to be determined, the target flight route point can be obtained. The flight route can be generated using these target flight route points. Figure 5 A schematic diagram of a flight route. Figure 5 The purple rectangle in the middle represents the ground height, the yellow points above the purple rectangle are redundant points, and the line connecting the points above the purple rectangle is the flight route.

[0070] S209: Control the flight of the current aircraft according to the flight route.

[0071] The flight control method provided by the embodiment of the present invention uses the A* algorithm to reasonably plan the flight altitude, realizes the initial screening of the flight route points, and then accurately determines the flight route points by screening the initial points of the flight route. This method smoothes the noise in the radar data by determining the surface model of the terrain, provides a more stable and accurate altitude reference, makes flight control smoother, enables the aircraft to perceive the upcoming terrain altitude changes in advance, and thus makes altitude adjustments in advance, reducing the response time. At the same time, this method can adapt to different terrains and environments, and for complex or unknown terrains, it can also ensure that the aircraft can maintain good flight performance, and can more stably follow the terrain while maintaining a safe altitude, reducing the safety risks caused by improper altitude control.

[0072] Embodiment 3

[0073] Figure 6 This is a schematic diagram of the structure of a flight control device provided in Embodiment 3 of the present invention. Figure 6 As shown, the device includes: a point cloud map construction module 301, a surface fitting module 302, a flight route planning module 303 and an aircraft control module 304, wherein:

[0074] A point cloud map construction module, used to obtain sensor data of the current aircraft and construct a point cloud map using the sensor data;

[0075] A surface fitting module, used to generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information;

[0076] A flight route planning module, used to predict the ground height of the area where the current aircraft passes by using the surface model, and plan the flight route according to the ground height;

[0077] The aircraft control module is used to control the current aircraft flight according to the flight route.

[0078] The flight control device provided in the embodiment of the present invention generates a point cloud map using the sensor data of the aircraft, and accurately generates a terrain surface model by performing surface fitting on the ground height points in the point cloud map. The model can be used to predict changes in terrain height, thereby providing a smooth flight height reference for the aircraft, solving the problems of untimely control response and height data noise caused by over-reliance on real-time radar terrain simulation height data, providing a reasonable flight route for the aircraft, improving the smoothness of flight control, and ensuring flight safety.

[0079] Optionally, the sensor data includes: radar data, real-time differential positioning data and inertial sensor data.

[0080] Optionally, the device further comprises:

[0081] The ground height estimation module is used to divide the point cloud map into multiple point cloud sub-maps before generating ground height point information using the ground height in the point cloud map, and use the point cloud data below the preset height in each point cloud sub-map to determine the estimated ground height of each point cloud sub-map.

[0082] Optionally, the surface fitting module includes:

[0083] The ground height point information generating unit is used to generate ground height point information using the estimated ground height in the point cloud map.

[0084] Furthermore, the generating ground height point information by using the estimated ground height in the point cloud map includes: generating ground height point information by using the plane information of the center position of the point cloud sub-map and the estimated ground height.

[0085] Optionally, the surface fitting module includes:

[0086] The surface fitting unit is used to perform surface fitting on the ground height point information using the B-spline surface DeBoer recursive algorithm to obtain a surface model of the surface where the ground height point is located.

[0087] Optional flight route planning module includes:

[0088] A position information determination unit, used to determine the position information of the straight line where the preset starting point and the preset end point of the current aircraft are located by using the Bresenham algorithm;

[0089] A ground height determination unit is used to determine the ground height of the area corresponding to the position information when the current aircraft passes through the area using the curved surface model.

[0090] Optional flight route planning module includes:

[0091] An initial flight route determination unit, configured to plan the flight altitude according to the ground altitude and a preset starting point and a preset end point of the current aircraft by using an A* algorithm, so as to obtain an initial point of the flight route;

[0092] The flight route determination unit is used to screen the flight route initial points according to the relative position relationship of the adjacent flight route initial points to obtain the target flight route points, and generate the flight route using the target flight route points.

[0093] The flight control device provided in the embodiment of the present invention can execute the flight control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0094] Embodiment 4

[0095] Figure 7 FIG. 4 is a schematic diagram showing the structure of an aircraft 40 that can be used to implement an embodiment of the present invention. Figure 7 As shown, the aircraft 40 may include at least one 41, and a memory 42, such as a read-only memory (ROM), a random access memory (RAM), etc., which is connected to the at least one processor 41, wherein the memory 42 stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) or the computer program loaded from the storage unit to the random access memory (RAM). In the RAM, various programs and data required for the operation of the aircraft 40 can also be stored. The processor 41, ROM and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus.

[0096] A number of components in the aircraft 40 are connected to the I / O interface, including: input units, such as keyboards, mice, etc.; output units, such as various types of displays, speakers, etc.; storage units, such as disks, optical disks, etc.; and communication units, such as network cards, modems, wireless communication transceivers, etc. The communication unit allows the aircraft 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0097] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 performs the various methods and processes described above, such as a flight control method.

[0098] In some embodiments, the flight control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the aircraft 40 via a ROM and / or a communication unit. When the computer program is loaded into the RAM and executed by the processor 41, one or more steps of the flight control method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to execute the flight control method in any other appropriate manner (e.g., by means of firmware).

[0099] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0100] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0101] The computer device provided above can be used to execute the flight control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0102] Embodiment 5

[0103] In the context of the present invention, a computer readable storage medium may be a tangible medium, wherein the computer executable instructions, when executed by a computer processor, are used to perform a flight control method, the method comprising:

[0104] Acquire sensor data of the current aircraft and construct a point cloud map using the sensor data;

[0105] Generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information;

[0106] Using the surface model to predict the ground height of the area where the current aircraft passes, and planning the flight route according to the ground height;

[0107] The current aircraft is controlled to fly according to the flight route.

[0108] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0109] The computer device provided above can be used to execute the flight control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0110] It is worth noting that in the above-mentioned embodiment of the flight control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0111] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A flight control method, characterized in that: include: Acquire sensor data of the current aircraft and construct a point cloud map using the sensor data; Generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information; Using the surface model to predict the ground height of the area where the current aircraft passes, and planning the flight route according to the ground height; The current aircraft is controlled to fly according to the flight route.

2. The method according to claim 1, characterized in that Before generating ground height point information using the ground height in the point cloud map, the method further includes: Dividing the point cloud map into a plurality of point cloud sub-maps, and using point cloud data below a preset height in each point cloud sub-map to determine the estimated ground height of each point cloud sub-map; Wherein, the generating ground height point information by using the ground height in the point cloud map includes: The ground height point information is generated using the estimated ground height in the point cloud map.

3. The method according to claim 2, characterized in that The generating ground height point information by using the estimated ground height in the point cloud map includes: The plane information of the center position of the point cloud sub-image and the estimated ground height are used to generate ground height point information.

4. The method according to claim 1, characterized in that The performing surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located includes: The ground height point information is fitted using the B-spline surface de Boer recursive algorithm to obtain a surface model of the surface where the ground height point is located.

5. The method according to claim 1, characterized in that: The method of using the curved surface model to predict the ground height of the current aircraft path area includes: Using the Bresenham algorithm, determine the position information of the straight line where the preset starting point and the preset end point of the current aircraft are located; The surface model is used to determine the ground height of the area corresponding to the position information when the current aircraft passes through.

6. The method according to claim 1, characterized in that The planning of the flight route according to the ground altitude comprises: Using the A* algorithm to plan the flight altitude according to the ground altitude and the preset starting point and the preset end point of the current aircraft, so as to obtain the initial point of the flight route; According to the relative position relationship of the adjacent flight route initial points, the flight route initial points are screened to obtain target flight route points, and the flight route is generated using the target flight route points.

7. The method according to any one of claims 1 to 6, characterized in that The sensor data includes: radar data, real-time differential positioning data and inertial sensor data.

8. A flight control device, characterized in that: include: A point cloud map construction module, used to obtain sensor data of the current aircraft and construct a point cloud map using the sensor data; A surface fitting module, used to generate ground height point information using the ground height in the point cloud map, and perform surface fitting on the ground height point information to obtain a surface model of the surface where the ground height point is located, wherein the ground height point information is multi-dimensional position information; A flight route planning module, used to predict the ground height of the area where the current aircraft passes by using the surface model, and plan the flight route according to the ground height; The aircraft control module is used to control the current aircraft flight according to the flight route.

9. An aircraft, characterized in that: The aircraft comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the flight control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the flight control method according to any one of claims 1 to 7 when executed.

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