Method for estimating and displaying safe turning space of unmanned aerial vehicle in wind field environment

Abstract

The invention particularly relates to an unmanned aerial vehicle safe turning space estimation and display method in a wind field environment, and relates to the technical field of unmanned aerial vehicle control. Comprising the following steps: flying in a straight route before turning, calculating the wind speed range of a flight area and the maximum track deviation and the maximum height deviation during flight, estimating the boundary of a turning arc-shaped track area according to the wind speed range, and estimating a safe turning area in combination with the maximum track deviation. The altitude of the points in the turning area is extracted on the map according to the latitude and longitude coordinates of the points in the turning area, the altitude difference between the altitude of the points in the turning area and the flight height during turning is calculated, and different identifiers are made on the map based on the height difference. And marking the boundary line of the safe turning area of the unmanned aerial vehicle and the arc-shaped track boundary line of the turning area on a map in real time. According to the method, an operator can judge whether the unmanned aerial vehicle is about to exceed the boundary or not in real time, measures are taken for the unmanned aerial vehicle in time, and safe turning of the unmanned aerial vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a method for estimating and displaying safe turning space of an unmanned aerial vehicle in a wind field environment. Background Art

[0002] Fixed-wing UAVs are widely used in civil and military fields. During missions, they often make turns in canyons or areas with limited geographical space and changeable wind fields. At this time, the turning space estimation and emergency operations during the turning process are generally judged and executed by the operator based on experience. The safety strategy does not combine geographical space and wind field changes to formulate qualitative and quantitative judgment standards for the safe turning flight space of UAVs and the emergency handling boundaries of the turning process. As a result, some personnel misjudge or fail to take timely measures when operating the UAV to turn, causing the UAV to touch nearby mountains, resulting in damage to the UAV.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present invention provides a method for estimating and displaying the safe turning space of an unmanned aerial vehicle in a wind field environment, which can realize a method for estimating and displaying the safe turning flight space of an unmanned aerial vehicle in a changeable wind field environment and a method for estimating and displaying the boundary of the turning flight trajectory of an unmanned aerial vehicle, thereby achieving safe turning of the unmanned aerial vehicle and reducing damage to the unmanned aerial vehicle.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0006] According to a first aspect of the present invention, a method for estimating and displaying safe turning space of a drone in a wind farm environment is provided, the method comprising:

[0007] Obtain the parameters of the straight line flight of the UAV in real time before turning, and determine the maximum wind speed in the flight area and the maximum track deviation and maximum altitude deviation during flight based on the parameters obtained in real time;

[0008] Calculate the maximum turning radius of the UAV's downwind turn and the minimum turning radius of the UAV's headwind turn based on the maximum wind speed and the true airspeed during the turn;

[0009] Determine the turning arc trajectory area boundary according to the maximum turning radius of the downwind turn and the minimum turning radius of the upwind turn, and determine the safe turning area based on the turning arc trajectory area boundary and the maximum track deviation;

[0010] The altitude of the points in the safe turning area is extracted on the map according to the latitude and longitude coordinates of the points in the safe turning area, and the difference between the altitude of the points in the safe turning area and the flight altitude during the turn is calculated. When the altitude difference is less than or equal to the maximum altitude deviation, the corresponding point is marked as “×” on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked as “●” on the map, and the boundary line of the safe turning area of ​​the drone and the boundary line of the arc trajectory of the turning area are marked on the map in real time.

[0011] In some exemplary embodiments, the real-time acquisition of the parameters of the straight-line flight of the UAV before turning includes:

[0012] UAV heading, true airspeed, relative ground speed, ground speed direction, and UAV track deviation and altitude deviation.

[0013] In some exemplary embodiments, determining the wind speed range of the flight area and the maximum track deviation and maximum altitude deviation during flight based on the acquired parameters includes:

[0014] Calculate the wind speed based on the real-time acquired UAV heading, true airspeed, relative ground speed, and ground speed direction to obtain the wind speed range;

[0015] The maximum track deviation and maximum altitude deviation during flight are determined based on the real-time acquired UAV track deviation and altitude deviation.

[0016] In some exemplary embodiments, the method for calculating the true airspeed during a turn includes:

[0017] Query the conversion factor based on the altitude of the drone during flight;

[0018] The true airspeed during the turn is calculated based on the indicated airspeed and conversion factor of the drone tracking during the turn.

[0019] In some exemplary embodiments, the maximum turning radius of the UAV downwind turn is calculated based on the maximum wind speed and the true airspeed during the turn, using the following formula:

[0020]

[0021] Among them, R max is the maximum turning radius, V TAS-2 is the true airspeed during the turn, V Wmax is the maximum wind speed, g is the acceleration, and φ is the tilt angle of the UAV during the turning process.

[0022] In some exemplary embodiments, the minimum turning radius of the drone turning into the wind is calculated based on the maximum wind speed and the true airspeed during the turn, using the following formula:

[0023]

[0024] Among them, R min is the minimum turning radius, V TAS-2 is the true airspeed during the turn, V Wmax is the maximum wind speed, g is the acceleration, and φ is the tilt angle of the UAV during the turning process.

[0025] In some exemplary embodiments, determining the safe turning area based on the turning arc trajectory area boundary and the maximum track deviation includes:

[0026] The maximum track deviation is reserved outside the arc area of ​​the turning trajectory as the safety margin width, and the turning arc trajectory area of ​​the UAV and the safety margin width outside it are used as the safe turning space of the UAV.

[0027] According to a second aspect of the present invention, there is provided a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for estimating and displaying the safe turning space of a UAV in a wind farm environment as described in the first aspect above is implemented.

[0028] According to a third aspect of the present invention, there is provided a computer program product having a computer program stored thereon, which, when executed by a processor, implements the method for estimating and displaying the safe turning space of a UAV in a wind farm environment as described in the first aspect above.

[0029] According to a fourth aspect of the present invention, there is provided an electronic device, comprising:

[0030] A processor; and a memory for storing executable instructions of the processor;

[0031] Wherein, the processor is configured to implement the method for estimating and displaying the safe turning space of a drone in a wind farm environment as described in the first aspect above by executing the executable instructions.

[0032] The embodiment of the present invention provides a method for estimating and displaying the safe turning space of a drone in a wind field environment. Fly on a straight line before turning, calculate the wind speed range of the flight area and the maximum track deviation and maximum height deviation during flight, estimate the boundary of the turning arc trajectory area according to the wind speed range, and estimate the safe turning area in combination with the maximum track deviation. Extract the altitude of the points in the turning area on the map according to the latitude and longitude coordinates of the points in the turning area, calculate the difference between the altitude of the points in the turning area and the flight altitude during turning, when the difference is less than or equal to the maximum height deviation, the corresponding point is marked as "×" on the map, when the height difference is greater than the maximum height deviation, the corresponding point is marked as "●" on the map, and the boundary line of the drone's safe turning area and the boundary line of the arc trajectory of the turning area are marked on the map in real time. When the drone flies in a restricted area in the field, the operator can intuitively see whether the drone can turn safely at that place, and the boundary line of the turning trajectory area is used as a warning line. If the drone is about to fly to the boundary line of the turning arc trajectory area, the operator immediately takes countermeasures to prevent the drone from exceeding the safe turning area.

[0033] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0035] Figure 1 A schematic diagram schematically illustrates the process of a method for estimating and displaying safe turning space of a UAV in a wind farm environment according to an exemplary embodiment of the present invention;

[0036] Figure 2 Schematically illustrates wind speed of an exemplary embodiment of the present invention;

[0037] Figure 3 Schematically illustrates a method for estimating a maximum turning radius and a minimum turning radius according to an exemplary embodiment of the present invention;

[0038] Figure 4 Schematically illustrates a safe turning area estimation method of an exemplary embodiment of the present invention;

[0039] Figure 5 Schematically illustrates a method for extracting points within a safe turning area according to an exemplary embodiment of the present invention;

[0040] Figure 6Schematically illustrates a method for displaying a height satisfaction situation in a safe turning area according to an exemplary embodiment of the present invention;

[0041] Figure 7 Schematically illustrates the calculation and display of the safe turning area boundary and turning trajectory boundary of an exemplary embodiment of the present invention;

[0042] Figure 8 Schematically showing the display effect of the safe turning area of ​​an exemplary embodiment of the present invention;

[0043] Fig. 9 Schematically showing the display effect of the safe turning area when the drone is flying according to an exemplary embodiment of the present invention;

[0044] Fig.10 The figure schematically shows the composition of an electronic device in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0045] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0046] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0047] This example implementation provides a method for estimating and representing the safe turning space of a drone in a wind field environment. By estimating the turning space based on the wind field conditions, it can be shown whether the drone can safely turn and fly in the area. By estimating the flight trajectory boundaries based on the wind field conditions, the operator can determine in real time that the drone is about to or has exceeded the boundary, and take timely measures to ensure that the drone turns safely.

[0048] refer to Figure 1 As shown, the method for estimating and expressing the safe turning space of a UAV in a wind field environment may specifically include the following steps:

[0049] Step 1: Obtain the parameters of the straight line flight of the UAV before turning in real time, and determine the maximum wind speed in the flight area and the maximum track deviation and maximum altitude deviation during flight based on the parameters obtained in real time;

[0050] Step 2: Calculate the maximum turning radius of the UAV's downwind turn and the minimum turning radius of the UAV's headwind turn based on the maximum wind speed and the true airspeed during the turn;

[0051] Step 3: Determine the turning arc trajectory area boundary according to the maximum turning radius of the downwind turn and the minimum turning radius of the upwind turn, and determine the safe turning area based on the turning arc trajectory area boundary and the maximum track deviation;

[0052] Step 4: Extract the altitude of the points in the safe turning area on the map based on the latitude and longitude coordinates of the points in the safe turning area, calculate the difference between the altitude of the points in the safe turning area and the flight altitude during the turn, and when the altitude difference is less than or equal to the maximum altitude deviation, the corresponding point is marked as "×" on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked as "●" on the map, and the boundary line of the drone's safe turning area and the boundary line of the arc trajectory of the turning area are marked on the map in real time.

[0053] Below, the various steps of the method for estimating and displaying the safe turning space of a drone in a wind farm environment in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0054] In step 1, the parameters of the straight-line flight of the UAV before turning are obtained in real time.

[0055] For example, the UAV flies along a straight line in a level flight model, and the heading Ψ and true airspeed (V TAS ), relative ground speed V GS (abbreviated as ground speed), ground speed direction U GS (Relative ground speed direction) The UAV track deviation △y and height deviation △h;

[0056] In step 1, the maximum wind speed in the flight area and the maximum track deviation and maximum altitude deviation during flight are determined based on the parameters obtained in real time, including:

[0057] Calculate the wind speed based on the real-time acquired UAV heading, true airspeed, relative ground speed, and ground speed direction to obtain the wind speed range;

[0058] For example, refer to Figure 2 , according to the heading angle Ψ and true airspeed V of the UAV TAS , Ground Speed ​​V GS 、Ground speed direction U GS The vector relationship and the triangle angle side relationship are used to calculate the air wind speed V W :

[0059]

[0060] Determine the maximum track deviation and maximum altitude deviation during flight based on the real-time acquired track deviation and altitude deviation of the UAV;

[0061] For example, the maximum wind speed V during the straight segment flight before the turn is obtained according to the wind speed variation range. Wmax ;According to the variation range of the UAV track deviation △y and the height deviation △h, the maximum track deviation △y of the UAV is obtained max and △h max .

[0062] In step 2, the maximum turning radius of the UAV's downwind turn and the minimum turning radius of the UAV's upwind turn are calculated based on the maximum wind speed and the true airspeed during the turn.

[0063] The method for calculating the true airspeed during a turn includes:

[0064] Query the conversion factor based on the altitude of the drone during flight;

[0065] The true airspeed during the turn is calculated based on the indicated airspeed and conversion factor of the drone tracking during the turn.

[0066] Specifically, set the indicated airspeed of the drone during the turning process to V IAS-2 According to the altitude of the UAV during flight, the indicated airspeed during the turn is converted into the true airspeed V during the turn according to formula (2). TAS-2 , the conversion factor K value is shown in Table 1.

[0067] V TAS-2 =K*V IAS-2 (2)

[0068] Table 1 Altitude and true airspeed conversion coefficients

[0069] The altitude of the drone when turning H Conversion factor K 0～1000 1.05 1000～2000 1.1 2000～3000 1.16 3000～4000 1.23 4000～5000 1.29 4000～5000 1.36 6000～7000 1.45 8000～9000 1.54 9000～10000 1.64

[0070] For example, the maximum turning radius R of the UAV downwind turn is calculated according to formula (3) and formula (4): max The minimum turning radius R for turning into the wind min , where g is the acceleration and φ is the tilt angle of the drone during the turning process.

[0071]

[0072] In step 3, the turning arc track area boundary is determined according to the maximum turning radius and the minimum turning radius, and the safe turning area is determined based on the turning arc track area boundary and the maximum track deviation. It includes:

[0073] The maximum track deviation is reserved outside the arc area of ​​the turning trajectory as the safety margin width, and the turning arc trajectory area of ​​the UAV and the safety margin width outside it are used as the safe turning space of the UAV.

[0074] For example,

[0075] Reference Figure 3 As shown in the figure, the latitude and longitude coordinates of the position when the drone starts turning are converted into rectangular plane coordinates, that is, (X0, Y0). According to the maximum turning radius R max With the minimum turning radius R min Determine the UAV turning arc trajectory area S1, and calculate the maximum turning radius R according to formulas (5) to (8) max The corresponding center (X C1 ,Y C1 ) and the minimum turning radius R min The corresponding center (X C2 ,Y C2 ), U GS-0 It is the ground speed direction when the drone starts to turn.

[0076] X C1 =X0+R max ·sinU GS-0 (5)

[0077] Y C1 =Y0-R max ·cosU GS-0 (6)

[0078] X C2 =X0+R min ·sinU GS-0 (7)

[0079] Y C2 =Y0-R min ·cosU GS-0 (8)

[0080] Reference Figure 4 As shown, according to the position of the drone before turning and the maximum turning radius R max With the minimum turning radius R min Determine the turning trajectory arc area S1, reserve a certain safety margin width outside the turning trajectory arc area S1, and use the UAV turning arc area S1 and the safety margin width outside it as the UAV safe turning space S. The safety margin width outside the UAV turning area is taken as the UAV maximum track deviation △y max .

[0081] In step 4, the altitude of the points in the safe turning area is extracted on the map according to the latitude and longitude coordinates of the points in the safe turning area, and the difference between the altitude of the points in the safe turning area and the flight altitude during the turn is calculated. When the altitude difference is less than or equal to the maximum altitude deviation, the corresponding point is marked as "×" on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked as "●" on the map, and the boundary line of the safe turning area of ​​the drone and the boundary line of the arc trajectory of the turning area are marked on the map in real time.

[0082] Specifically, it includes the following sub-steps:

[0083] Step 41: Take a point at intervals of △L in the longitudinal and lateral directions within the safe turning space S of the drone, calculate the plane rectangular coordinates of the point and convert them into longitude and latitude coordinates according to the relative position relationship between the point and the position of the drone before turning, and obtain the corresponding ground altitude of all points from the map according to the longitude and latitude coordinates;

[0084] For example, refer to Figure 5 As shown, the outer rectangle T of the safe turning area of ​​the drone is established. The coordinate axis is established with the starting turning position (X0, Y0) of the drone as the origin in the rectangle T. The values ​​of each interval △L on the X-axis (north direction) are marked in sequence as -m, ... -3, -2, -1, 0, 1, 2, 3, ... m at both ends. The values ​​of each interval △L on the Y-axis (east direction) are marked in sequence as -n, ... -3, -2, -1, 0, 1, 2, 3, ... n at both ends. Then, with (X0, Y0) as the origin, the points corresponding to each interval △L on the X-axis and Y-axis in the rectangle T are expressed as (x m ,y n ), calculate (x according to formula (9) and formula (10) m ,y n ) point coordinates, according to formula (11) to formula (18), we can get x m ,y n scope.

[0085] x m = X0+m*△L (9)

[0086] y n = Y0+n*△L (10)

[0087] When starting to turn, the ground speed direction is U GS-0 When x is less than or equal to 90°, m ,y n The range is:

[0088] X C1 +R max +△y max ≥x m ≥X C1 -(Rmax +△y max )sinU GS-0 (11)

[0089] Y C1 +R max +△y max ≥y n ≥YC1-(R max +△y max )cosU GS-0 (12)

[0090] When starting to turn, the ground speed direction is U GS-0 When greater than 90° and less than or equal to 180°, x m ,y n The range is:

[0091] X C1 +(R max +△y max )cos(U GS-0 -90°)≥x m ≥X C1 -(R max +△y max )(13)

[0092] Y C1 +(R max +△y max )≥y n ≥Y c1 -(R max +△y max )sin(U GS-0 -90°)(14)

[0093] When starting to turn, the ground speed direction is U GS-0 When x is greater than 180° and less than or equal to 270°, m ,y n The range is:

[0094] X C1 +(R max +△y max )sin(U GS-0 -180°)≥x m ≥X C1 -(R max +△y max )(15)

[0095] Y C1 +(R max +△y max )cos(U GS-0 -180°)≥y n ≥Yc1 -(R max +△y max )(16)

[0096] When starting to turn, the ground speed direction is U GS-0 When x is greater than 270° and less than or equal to 360°, m ,y n The range is:

[0097] X C1 +R max +△y max ≥x m ≥X C1 -(R max +△y max )cos(U GS-0 -270°)(17)

[0098] Y C1 +(R max +△y max )sin(U GS-0 -270°)≥y n ≥Y c1 -(R max +△y max )(18)

[0099] Reference Figure 5 As shown, the point (x m ,y n ) coordinate values ​​satisfy conditions (1) to (3), specifically:

[0100] (1) Distance (X C1 ,Y C1 ) The distance is not greater than R max +△y max , corresponding to formula (19);

[0101] (2) Distance (X C1 ,Y C1 ) The distance is not less than R max -△y max , corresponding to formula (20);

[0102] (3) C1 ,Y C1 ) is the origin, the positive direction of the Y axis is 0°, (x m ,y n ) and the positive direction of the Y axis are at an angle of [-U GS-0 ,180°-U GS-0 ], corresponding to formulas (21) to (24);

[0103]

[0104] When (x n -X c1 )≥0 and 0≤U GS-0 ≤180

[0105]

[0106] When (x n -X c1 )<0 and 0≤U GS-0 ≤180

[0107]

[0108] When (x n -X c1 )≥0 and 180° GS-0 <360°

[0109]

[0110] When (x n -X c1 )<0 and 180° GS-0 <360°

[0111]

[0112] Refer to formula (11) to formula (18) to obtain x m ,y n The value range is determined by x m ,y n Maximum and minimum values, x m ,y n After dividing the maximum and minimum values ​​by △L and rounding, we can get the maximum and minimum values ​​of m and n. Follow the steps below to traverse all points in the human-machine safety turning area.

[0113] m takes the minimum value, and n increases from the minimum value. The point (x m ,y n ) coordinates, according to formula (19) to formula (24), determine (x m ,y n ) is it in the safe turning area S of the drone? If it is in area S, it is numbered and the number, x m ,y n The value is stored in the sequence Seq. If it is not in the area S, the point is discarded until the value of n reaches the maximum value. The format of the sequence Seq is shown in Table 2.

[0114] Table 2 Sequence format

[0115] ​​ Serial number <![CDATA[x m Value]]> <![CDATA[y n Value]]> 1 135789 18567 2 135567 18467 3 … …

[0116] (1) The value of m is increased by 1, and the value of n is increased from the minimum value. Repeat this step (1) to place the point (x m ,y n ) is stored in the sequence Seq;

[0117] (2) And so on, traverse all the points in rectangle T.

[0118] Step 42: Calculate the difference between the ground altitude corresponding to all points in the safe turning space S of the drone and the flight altitude during the turn, and the difference is less than or equal to the maximum altitude deviation △h max When the height difference is greater than the maximum height deviation △h, the corresponding point is marked as “×” on the map. max When , the corresponding point is marked as “●” on the map;

[0119] For example, the plane rectangular coordinates (x m ,y n ) is converted to latitude and longitude coordinates (B m ,L n ), according to the point (B m ,L n ) The latitude and longitude information is extracted from the map. The ground altitude of the corresponding point in area S is marked as h mn , then the spatial coordinates of the corresponding ground point in the safe turning area S of the drone are expressed as (B m ,L n ,h mn ), and are stored in Seq2 according to the sequence number. The format of Seq2 is shown in Table 3.

[0120] Table 3 Sequence Seq2 format

[0121] Serial number <![CDATA[x m Value]]> <![CDATA[y n Value]]> <![CDATA[Latitude B m value]]> <![CDATA[Longitude L n > <![CDATA[Altitude h mn > 1 135789 18567 37.251656 108.222678 1300 2 135567 18467 1200 3 … … …

[0122] According to formula (23), the height difference △h between the preset UAV turning height H and the ground point in the UAV safe turning area S (the point of sequence Seq2) is calculated: mn , when △h at a certain point mn Less than or equal to the maximum height deviation △h max When the height of the point is marked as -1, the point is represented as (B m ,L n , -1), and stored in Seq3 according to the sequence number. The format of Seq3 is shown in Table 4.

[0123] △h mn =Hh mn (twenty three)

[0124] Table 4 Sequence Seq3 format

[0125] Serial number <![CDATA[x m Value]]> <![CDATA[y n Value]]> <![CDATA[Latitude B m value]]> <![CDATA[Longitude L n > Height relative to the ground mn 1 135789 18567 37.251656 108.222678 1300 2 135567 18467 -1 3 … … …

[0126] According to the latitude and longitude information, all points in the safe turning area S of the drone (sequence Seq3 points) are marked on the corresponding positions of the map according to the serial number. When the height value is "-1", the point is marked as "×" on the map. When the height value is not "-1", the point is marked as "●" on the map. Figure 6 shown.

[0127] Step 43: Calculate and determine the geographical locations of the maximum radius corresponding boundary W1 and the minimum turning radius boundary W4 of the safe turning area S of the drone according to the position of the drone before turning;

[0128] Step 44: Calculate and determine the geographical locations of the maximum radius boundary W2 and the minimum turning radius boundary W3 of the turning arc trajectory area S1 of the drone according to the position of the drone before turning;

[0129] Step 45: W1 and W4 are represented by solid lines, and W2 and W3 are represented by dotted lines;

[0130] For example, refer to Figure 7 , the maximum turning radius boundary W1 and the minimum turning radius boundary W4 of the drone safe turning area S and the maximum turning radius boundary W2 and the minimum turning radius boundary W3 of the turning arc trajectory area S1 are added to the map, specifically as follows: Steps (1) to (3):

[0131] (1) Arc curve W1 generation: (X c1 ,Y c1 ) as the center, with (R max +△y max ) is the radius, (U GS-0 +90°) is the starting angle, (U GS-0 -90°) is the end angle, and the boundary W1 point series (x w1-i ,y w1-i ) coordinates, where i is the point number, and each point (x w1-i ,y w1-i ) coordinates into longitude and latitude coordinates (B w1-i ,L w1-i ), store it into sequence Seq4, and connect each point on the map in sequence according to the latitude and longitude information of Seq4 to generate a 180° arc curve W1.

[0132] Table 2 Sequence Seq4 format

[0133] Serial number <![CDATA[B w1-i Value]]> <![CDATA[L w1-i Value]]> 1 135789 18567 2 135567 18467 3 … …

[0134] (2) Using the same method as the boundary curve W1, according to the radius R max , R min , (R min -△y max ) Generate arc curves W2, W3, and W4 in sequence:

[0135] (3) W1 and W4 are represented by solid lines, and W2 and W3 are represented by dotted lines.

[0136] Step 46: The identification of the points within the drone safe turning area S generated in step 42, the boundaries W1 and W4 of the area S generated in step 43, and the boundaries W2 and W3 of the drone turning arc trajectory area S1 generated in step 44 are displayed on the map in real time using the line type described in step 45, and the starting point W1 is connected to the starting point W4, and the ending point W1 is connected to the ending point W4.

[0137] For example, refer to Figure 8 , the generated drone safe turning area S point mark, the generated area S boundary curves W1 and W4, and the drone turning arc trajectory area S1 boundary curves W2 and W3 are displayed on the map at the same time using the corresponding line types described in step 45, the W1 starting point D is connected to the W4 starting point E, and the W1 ending point F is connected to the W4 ending point G.

[0138] After multiple flight tests, it was verified that this method can accurately determine whether the UAV can safely turn in the restricted area of ​​the ground, and can take timely measures against the UAV according to the boundary line of the turning trajectory area to prevent the UAV from touching the nearby mountain. Fig. 9 When a drone is flying in a canyon, the safe turning area and height displayed on the map meet the requirements.

[0139] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0140] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0141] Fig.10 A schematic diagram of an electronic device suitable for implementing an embodiment of the present invention is shown.

[0142] It should be noted that Fig.10 The electronic device 1000 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0143] like Fig.10 As shown, the electronic device 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, ROM 1002 and RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0144] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0145] In particular, according to an embodiment of the present invention, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0146] It should be noted that the storage medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any storage medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0147] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0148] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0149] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device; or it can exist independently without being installed in the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments. For example, the electronic device can implement the following Figure 1 The individual steps of the method are shown.

[0150] In one embodiment, the present application provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0151] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0152] Other embodiments of the invention will readily occur to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0153] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for estimating and displaying safe turning space of a UAV in a wind field environment, characterized in that: The method comprises: Obtain the parameters of the straight line flight of the UAV in real time before turning, and determine the maximum wind speed in the flight area and the maximum track deviation and maximum altitude deviation during flight based on the parameters obtained in real time; Calculate the maximum turning radius of the UAV's downwind turn and the minimum turning radius of the UAV's headwind turn based on the maximum wind speed and the true airspeed during the turn; Determine the turning arc trajectory area boundary according to the maximum turning radius of the downwind turn and the minimum turning radius of the upwind turn, and determine the safe turning area based on the turning arc trajectory area boundary and the maximum track deviation; The altitude of the points in the safe turning area is extracted on the map according to the latitude and longitude coordinates of the points in the safe turning area, and the difference between the altitude of the points in the safe turning area and the flight altitude during the turn is calculated. When the altitude difference is less than or equal to the maximum altitude deviation, the corresponding point is marked as "×" on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked as "●" on the map, and the boundary line of the safe turning area of ​​the drone and the boundary line of the arc trajectory of the turning area are marked on the map in real time.

2. According to the method for estimating and displaying safe turning space of a UAV in a wind field environment in claim 1, it is characterized in that: The real-time acquisition of the parameters of the straight line flight of the UAV turning front includes: UAV heading, true airspeed, relative ground speed, ground speed direction, and UAV track deviation and altitude deviation.

3. The method for estimating and displaying safe turning space of a UAV in a wind field environment according to claim 2 is characterized in that: Determining the wind speed range of the flight area and the maximum track deviation and maximum altitude deviation during flight based on the acquired parameters includes: Calculate the wind speed based on the real-time acquired UAV heading, true airspeed, relative ground speed, and ground speed direction to obtain the wind speed range; The maximum track deviation and maximum altitude deviation during flight are determined based on the real-time acquired UAV track deviation and altitude deviation.

4. A method for estimating and displaying safe turning space of a drone in a wind field environment according to claim 1 or 2, characterized in that: The method for calculating the true airspeed during a turn includes: Query the conversion factor based on the altitude of the drone during flight; The true airspeed during the turn is calculated based on the indicated airspeed and conversion factor of the drone tracking during the turn.

5. The method for estimating and displaying safe turning space of a UAV in a wind field environment according to claim 1, characterized in that: The maximum turning radius of the UAV downwind turn is calculated based on the maximum wind speed and the true airspeed during the turn, using the following formula: Among them, R max is the maximum turning radius, V TAS-2 is the true airspeed during turning, V Wmax is the maximum wind speed, g is the acceleration, and φ is the tilt angle of the UAV during the turning process.

6. The method for estimating and displaying safe turning space of a UAV in a wind field environment according to claim 1, characterized in that: The minimum turning radius of the UAV turning into the wind is calculated based on the maximum wind speed and the true airspeed during the turn, and the formula used is as follows: Among them, R min is the minimum turning radius, V TAS-2 is the true airspeed during turning, V Wmax is the maximum wind speed, g is the acceleration, and φ is the tilt angle of the UAV during the turning process.

7. The method for estimating and displaying safe turning space of a UAV in a wind field environment according to claim 1, characterized in that: The method of determining the safe turning area based on the turning arc trajectory area boundary and the maximum track deviation includes: The maximum track deviation is reserved outside the arc area of ​​the turning trajectory as the safety margin width, and the turning arc trajectory area of ​​the UAV and the safety margin width outside it are used as the safe turning space of the UAV.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for estimating and displaying safe turning space of a UAV in a wind farm environment according to any one of claims 1 to 7 is implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for estimating and displaying safe turning space of a drone in a wind farm environment according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; and a memory for storing executable instructions for the processor; Wherein, the processor is configured to execute the method for estimating and displaying safe turning space of a drone in a wind farm environment according to any one of claims 1 to 7 by executing the executable instructions.

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