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

Abstract

This invention specifically relates to a method for estimating and displaying the safe turning space of a drone in a windy environment, belonging to the field of drone control technology. It includes: flying a straight flight path at the leading edge of the turn; calculating the wind speed range of the flight area and the maximum track deviation and maximum altitude deviation during flight; estimating the boundary of the curved turning trajectory area based on the wind speed range; and estimating the safe turning area based on the maximum track deviation. The elevation of points within the turning area is extracted from the map based on their latitude and longitude coordinates; the difference between the elevation of the turning area points and the flight altitude during the turn is calculated; different markings are applied on the map based on the altitude difference; and the boundary line of the safe turning area and the boundary line of the curved turning trajectory are marked on the map in real time. This method allows operators to determine in real time whether the drone is about to or has already exceeded the boundary, and to take timely measures to ensure the drone's safe turning.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a method for estimating and displaying the safe turning space of a UAV in a windy environment. Background Technology

[0002] Fixed-wing drones are widely used in both civilian and military fields. During missions, they often turn in canyons or other geographically limited and windy conditions. In such situations, the estimation of turning space and emergency operations during the turning process are generally judged and executed by the operator based on experience. The safety strategy does not take into account the changes in geographical space and wind field to formulate qualitative and quantitative judgment standards for safe turning flight space of drones and emergency handling boundaries during the turning process. As a result, some operators make mistakes in judgment or fail to take timely measures when turning, causing the drone to hit the nearby mountain and causing damage to the drone.

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

[0004] This invention provides a method for predicting and displaying the safe turning space of a drone in a windy environment. It can realize the prediction and display of the safe turning flight space of a drone in a variable windy environment and the prediction and display of the turning flight trajectory boundary of a drone, thereby achieving safe turning of the drone and reducing damage to the drone.

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

[0006] According to a first aspect of the present invention, a method for estimating and displaying the safe turning space of an unmanned aerial vehicle (UAV) in a windy environment is provided, the method comprising:

[0007] The parameters of the UAV's straight-line flight path at the turning front are acquired in real time, and the maximum wind speed in the flight area, the maximum track deviation and the maximum altitude deviation during flight are determined based on the acquired parameters.

[0008] The maximum turning radius of the drone when turning with the wind and the minimum turning radius when turning into the wind are calculated based on the maximum wind speed and the vacuum speed when turning.

[0009] The boundary of the turning arc trajectory area is determined based on the maximum turning radius when turning with the wind and the minimum turning radius when turning against the wind. The safe turning area is determined based on the boundary of the turning arc trajectory area and the maximum track deviation.

[0010] Based on the latitude and longitude coordinates of points within the safe turning area, the altitude of these points is extracted from the map. The difference between the altitude of the points within 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 with "×" on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked with "●" on the map. The boundary line of the drone's safe turning area and the boundary line of the arc-shaped trajectory of the turning area are also marked on the map in real time.

[0011] In some exemplary embodiments, the real-time acquisition of parameters for the UAV's straight-line flight path at the leading edge of the turn includes:

[0012] UAV heading, vacuum speed, 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] Wind speed is calculated based on real-time acquisition of UAV heading, vacuum speed, relative ground speed, and ground speed direction, and the wind speed range is obtained.

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

[0016] In some exemplary embodiments, the method for calculating the vacuum speed during turning includes:

[0017] Query the conversion factor based on the altitude at which the drone is flying;

[0018] The airspeed during a turn is calculated based on the indicated airspeed tracked by the drone during the turning process and the conversion factor.

[0019] In some exemplary embodiments, the calculation of the maximum turning radius of the UAV when turning with the wind, based on the maximum wind speed and the vacuum speed during turning, uses the following formula:

[0020]

[0021] Among them, R max V is the maximum turning radius. TAS-2 V is the vacuum speed during turning. Wmax φ represents the maximum wind speed, g represents the acceleration, and φ represents the tilt angle during the drone's turn.

[0022] In some exemplary embodiments, the calculation of the minimum turning radius of the UAV when turning into the wind, based on the maximum wind speed and the vacuum speed during turning, uses the following formula:

[0023]

[0024] Among them, R min For the minimum turning radius, V TAS-2 V is the vacuum speed during turning. Wmax φ represents the maximum wind speed, g represents the acceleration, and φ represents the tilt angle during the drone's turn.

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

[0026] The maximum track deviation is reserved outside the arc-shaped area of ​​the turning trajectory as a safety margin width, and the arc-shaped area of ​​the UAV turning trajectory 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, a storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method for estimating and displaying safe turning space for unmanned aerial vehicles in a windy environment as described in the first aspect.

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

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

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

[0031] The processor is configured to implement the method for estimating and displaying safe turning space for unmanned aerial vehicles in a wind field environment as described in the first aspect when executing the executable instructions.

[0032] This invention provides a method for estimating and displaying safe turning space for UAVs in windy environments. The method involves flying a straight flight path ahead of the turn, calculating the wind speed range of the flight area, the maximum track deviation, and the maximum altitude deviation during flight. The boundary of the curved turning trajectory area is estimated based on the wind speed range, and the safe turning area is estimated in conjunction with the maximum track deviation. The altitude of points within the turning area is extracted from the map based on their latitude and longitude coordinates. The difference between the altitude of the turning area points and the flight altitude during the turn is calculated. When the difference is less than or equal to the maximum altitude deviation, the corresponding point is marked with an "×" on the map; when the difference is greater than the maximum altitude deviation, the corresponding point is marked with a "●". The boundary line of the safe turning area and the boundary line of the curved turning trajectory are marked on the map in real time. When the UAV is flying in a restricted area, the operator can visually see whether the UAV can turn safely at that location. The boundary line of the turning trajectory area serves as a warning line. If the UAV is about to fly beyond the boundary line of the curved turning trajectory area, the operator immediately takes countermeasures to prevent the UAV from exceeding the safe turning area.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0035] Figure 1 This diagram illustrates the process of a method for estimating and displaying safe turning space for unmanned aerial vehicles in a windy environment, according to an exemplary embodiment of the present invention.

[0036] Figure 2 The wind speed is schematically illustrated in an exemplary embodiment of the present invention.

[0037] Figure 3 This schematically illustrates a method for estimating the maximum and minimum turning radii according to an exemplary embodiment of the present invention.

[0038] Figure 4 This schematically illustrates a method for estimating the safe turning area according to an exemplary embodiment of the present invention;

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

[0040] Figure 6This schematically illustrates a method for displaying height satisfaction within a safe turning area according to an exemplary embodiment of the present invention.

[0041] Figure 7 This 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 This illustration schematically shows the display effect of the safe turning area in an exemplary embodiment of the present invention.

[0043] Figure 9 This schematically illustrates the display effect of a safe turning area during drone flight in an exemplary embodiment of the present invention;

[0044] Figure 10 This schematic diagram illustrates the composition of an electronic device according to an exemplary embodiment of the present invention. Detailed Implementation

[0045] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more comprehensive and complete, and will fully convey the concept of the exemplary 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] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network 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 windy environment. Based on the wind conditions, the method can show whether the drone can safely turn and fly in the area by estimating the turning space. Based on the wind conditions, the method can also estimate the flight trajectory boundary, allowing operators to determine in real time whether the drone is about to or has already exceeded the boundary and take timely measures to ensure the drone's safe turning.

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

[0049] Step 1: Acquire parameters of the UAV's straight-line flight path at the turning front in real time, and determine the maximum wind speed in the flight area, as well as the maximum track deviation and maximum altitude deviation during flight based on the acquired parameters in real time;

[0050] Step 2: Calculate the maximum turning radius of the drone when turning with the wind and the minimum turning radius when turning into the wind, based on the maximum wind speed and the vacuum speed during the turn;

[0051] Step 3: Determine the boundary of the turning arc trajectory area based on the maximum turning radius when turning with the wind and the minimum turning radius when turning against the wind. Determine the safe turning area based on the boundary of the turning arc trajectory area and the maximum track deviation.

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

[0053] The following will describe in more detail each step of the method for estimating and displaying safe turning space for UAVs in a wind field environment in this exemplary embodiment, with reference to the accompanying drawings and embodiments.

[0054] In step 1, parameters of the UAV's straight-line flight path at the leading edge of the turn are acquired in real time.

[0055] For example, the drone flies along a straight route in a level flight model, and its heading Ψ and vacuum speed (V) are collected in real time within one minute before turning. TAS Relative ground speed V GS (abbreviated as ground speed), ground speed direction U GS (Relative to ground velocity direction) with UAV track deviation Δy and altitude deviation Δh;

[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 acquired in real time, including:

[0057] Wind speed is calculated based on real-time acquisition of UAV heading, vacuum speed, relative ground speed, and ground speed direction, and the wind speed range is obtained.

[0058] For example, refer to Figure 2 Based on the UAV's heading angle Ψ and vacuum velocity V TAS Ground speed V GS Ground speed direction U GS Calculating wind speed V using vector relationships and triangle angle-side relationships W :

[0059]

[0060] The maximum trajectory deviation and maximum altitude deviation during flight are determined based on the real-time acquired UAV trajectory deviation and altitude deviation.

[0061] For example, the maximum wind speed V during the straight-line flight before the turn is obtained based on the range of wind speed changes. Wmax Based on the range of variation of the UAV's track deviation △y and altitude deviation △h, the maximum track deviation △y of the UAV is obtained. max With △h max .

[0062] In step 2, the maximum turning radius of the drone when turning with the wind and the minimum turning radius when turning into the wind are calculated based on the maximum wind speed and the vacuum speed when turning.

[0063] The method for calculating the vacuum speed during turning includes:

[0064] Query the conversion factor based on the altitude at which the drone is flying;

[0065] The airspeed during a turn is calculated based on the indicated airspeed tracked by the drone during the turning process and the conversion factor.

[0066] Specifically, the indicated airspeed for drone tracking during the turning process is set to V. IAS-2 Based on the altitude of the UAV during flight, the indicated airspeed during the turning process is converted into the vacuum speed V during the turning process according to formula (2). TAS-2 The conversion factor K is shown in Table 1.

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

[0068] Table 1. Conversion coefficients between altitude and vacuum velocity

[0069] Altitude H when the drone turns 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 drone when turning with the wind is calculated according to formulas (3) and (4). max Minimum turning radius R when turning into the wind min , where g is the acceleration and φ is the tilt angle during the UAV's turn.

[0071]

[0072] In step 3, the boundary of the turning arc trajectory area is determined based on the maximum and minimum turning radii, and the safe turning area is determined based on the boundary of the turning arc trajectory area and the maximum track deviation. This includes:

[0073] The maximum track deviation is reserved outside the arc-shaped area of ​​the turning trajectory as a safety margin width, and the arc-shaped area of ​​the UAV turning trajectory 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, the latitude and longitude coordinates of the drone's position when it begins to turn are converted to rectangular plane coordinates, which are (X0, Y0). Based on the maximum turning radius R... max With minimum turning radius R min Determine the UAV's turning arc trajectory region S1, and calculate the maximum turning radius R according to formulas (5) to (8). max Corresponding center (X) C1 ,Y C1 ) and minimum turning radius R min The corresponding center (X) C2 ,Y C2 ), U GS-0 The direction of the ground speed when the drone begins 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, based on the drone's position before turning and its maximum turning radius R... max With minimum turning radius R min Determine the curved area S1 of the turning trajectory, and reserve a certain safety margin width outside the curved area S1. The curved area S1 of the UAV's turning trajectory and the safety margin width outside it are taken as the safe turning space S of the UAV. The safety margin width outside the UAV's turning area is taken as the maximum trajectory deviation Δy of the UAV. max .

[0081] In step 4, the altitude of the points within the safe turning area is extracted from the map based on their latitude and longitude coordinates. The altitude difference between the points within 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 with "×" on the map; when the altitude difference is greater than the maximum altitude deviation, the corresponding point is marked with "●" on the map. The boundary line of the UAV's safe turning area and the boundary line of the arc-shaped trajectory of the turning area are marked on the map in real time.

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

[0083] Step 41: Within the safe turning space S of the UAV, take points at intervals △L in both the longitudinal and lateral directions. Based on the relative position of the point to the position of the UAV before turning, calculate the Cartesian coordinates of the point and convert them into latitude and longitude coordinates. Based on the latitude and longitude coordinates, obtain the ground elevation corresponding to all points from the map.

[0084] For example, refer to Figure 5 As shown, a rectangular rectangle T is established outside the safe turning area for the drone. Within rectangle T, with the drone's starting turning position (X0, Y0) as the origin, coordinate axes are established. On the X-axis (northward), values ​​are sequentially labeled at intervals of ΔL towards both ends as -m, ..., -3, -2, -1, 0, 1, 2, 3, ... m. On the Y-axis (eastward), values ​​are sequentially labeled at intervals of ΔL towards both ends as -n, ..., -3, -2, -1, 0, 1, 2, 3, ... n. Then, with (X0, Y0) as the origin, the points within rectangle T corresponding to each interval of ΔL on the X and Y axes are represented as (x...). m ,y n ), calculate (x) according to formula (9) and formula (10) m ,y n The coordinates of point x can be obtained using formulas (11) to (18). m ,y n scope.

[0085] x m = X0 + m * △L (9)

[0086] y n = Y0 + n*△L (10)

[0087] When the rotation begins, 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 the rotation begins, the ground speed direction is U. GS-0 When x is greater than 90° and less than or equal to 180° 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 the rotation begins, 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 the rotation begins, 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) within the safe turning zone S of the drone m ,y n The 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) with (X) C1 ,Y C1 (x) is the origin, the positive direction of the Y-axis is 0°, (x) m ,y n The angle between the Y-axis and the positive Y-axis is located in [-U GS-0 180°-U GS-0 Within the range, the corresponding formulas are (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] Referring to formulas (11) to (18), obtain x. m ,y n The range of values ​​for x is determined. m ,y n Maximum and minimum values, x m ,y n After dividing the maximum and minimum values ​​by △L and rounding them down, we obtain the maximum and minimum values ​​of m and n. Then, we traverse all points in the human-machine safety turning area according to the following steps.

[0113] m takes the minimum value, and the value of n increases sequentially from the minimum value. The point (x) is obtained through formula (9) and formula (10). m ,y n Based on the coordinates, according to formulas (19) to (24), determine (x) m ,y n Is it within the safe turning zone S for the drone? If it is within zone S, assign a number, and then assign the number and x. m ,y n The value is stored in the sequence Seq. If it is not in the region 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 Seq Format

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

[0116] (1) Increment the value of m by 1, and increase the value of n sequentially from the minimum value. Repeat this step (1) to find the point (x) within the safe turning area S of the UAV. m ,y n Store it in the sequence Seq;

[0117] (2) By analogy, all points within rectangle T are traversed.

[0118] Step 42: Calculate the difference between the ground elevation and the flight altitude at all points within the safe turning space S of the UAV and the altitude at the time of the turn. The difference should be less than or equal to the maximum altitude deviation Δh. max When the height difference is greater than the maximum height deviation △h, the corresponding point is marked with "×" on the map. max When this time, the corresponding point is marked with "●" on the map;

[0119] For example, the Cartesian coordinates (x, y) of all points (points in sequence Seq1) within the safe turning area S of the drone are... m ,y n Convert to latitude and longitude coordinates (B) m ,L n ), based on the points (B) within region S m ,L n The latitude and longitude information is extracted from the map to obtain the ground elevation of the corresponding point in region S, and marked as h. mn Then, the spatial coordinates of the ground point corresponding to the safe turning area S of the drone are represented as (B m ,L n ,h mn ), and store them 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), calculate the difference Δh between the preset UAV turning height H and the ground point height within the UAV safe turning area S (points in sequence Seq2). mn When Δh at a certain point mn Less than or equal to the maximum height deviation △h max When the height of this point is -1, the point is represented as (B). m ,L n , -1), and store them 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 > relative ground height marker mn 1 135789 18567 37.251656 108.222678 1300 2 135567 18467 -1 3 … … …

[0126] Based on latitude and longitude information, all points within the safe turning area S (sequence Seq3 points) of the drone are marked on the map according to their serial numbers. When the altitude value is "-1", the point is marked as "×" on the map; when the altitude value is not "-1", the point is marked as "●". Figure 6 As shown.

[0127] Step 43: Based on the drone's position before turning, calculate and determine the geographical locations of the maximum radius boundary W1 and the minimum turning radius boundary W4 of the drone's safe turning area S;

[0128] Step 44: Based on the position of the UAV before turning, calculate and determine the geographical locations of the boundary W2 corresponding to the maximum radius of the UAV turning arc trajectory area S1 and the boundary W3 corresponding to the minimum turning radius;

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

[0130] For example, refer to Figure 7 The boundaries of the maximum turning radius W1 and minimum turning radius W4 of the safe turning area S of the UAV, as well as the boundaries of the maximum turning radius W2 and minimum turning radius W3 of the turning arc trajectory area S1, are added to the map, as detailed in steps (1) to (3) below:

[0131] (1) Generation of circular arc curve W1: using (X c1 ,Y c1 With (R) as the center, and (R) as the boundary. max +△y max (U) is the radius, GS-0 +90°) is the starting angle, (U GS-0 -90° is the termination angle. At 2° intervals, obtain the boundary point W1 series (x... w1-i ,y w1-i ) coordinates, where i is the point index, and assign each point (x) to the coordinates. w1-i ,y w1-i Convert coordinates to latitude and longitude coordinates (B) w1-i ,L w1-i ), store the sequence Seq4, and connect each point on the map in sequence according to the latitude and longitude information of Seq4 to generate a 180° circular 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, based on the radius R max R min 、(R min -△y max Generate circular arc curves W2, W3, and W4 sequentially:

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

[0136] Step 46: Display the markers of the points within the safe turning area S of the drone 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 on the map in real time using the line type described in Step 45, and connect the starting point of W1 with the starting point of W4, and connect the ending point of W1 with the ending point of W4.

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

[0138] After multiple flight tests, it has been verified that this method allows operators to accurately determine whether a drone can safely turn in restricted ground areas, and to take timely measures based on the boundary lines of the turning trajectory area to prevent the drone from hitting nearby mountains. Figure 9 This demonstrates how a drone, while flying over a canyon, achieves the desired safe turning area and altitude on a map.

[0139] It should be noted that the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Furthermore, it is readily understood that these processes may, for example, be executed synchronously or asynchronously in multiple modules.

[0140] It should be noted that although several modules or units of the device for performing actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments 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. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

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

[0142] It should be noted that, Figure 10 The illustrated electronic device 1000 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0143] like Figure 10 As shown, the electronic device 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1002 or programs loaded from Storage Unit 1008 into Random Access Memory (RAM) 1003. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004.

[0144] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1010 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0145] In particular, according to embodiments of the present invention, the processes described below with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs various functions defined in the system of this application.

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

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0148] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0149] It should be noted that, as another aspect, this application also provides a storage medium, which may be included in an electronic device or may exist independently without being assembled into the electronic device. The aforementioned storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to perform the methods described in the following embodiments. For example, the electronic device may perform... Figure 1 The steps of the method shown.

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

[0151] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0152] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of 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 not disclosed herein. The specification and embodiments 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 precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for estimating and displaying the safe turning space of a drone in a windy environment, characterized in that, The method includes: The parameters of the UAV's straight-line flight path at the turning front are acquired in real time, and the maximum wind speed in the flight area, the maximum track deviation and the maximum altitude deviation during flight are determined based on the acquired parameters. The maximum turning radius of the drone when turning with the wind and the minimum turning radius when turning into the wind are calculated based on the maximum wind speed and the vacuum speed when turning. The boundary of the turning arc trajectory area is determined based on the maximum turning radius when turning with the wind and the minimum turning radius when turning against the wind. The safe turning area is determined based on the boundary of the turning arc trajectory area and the maximum track deviation. Based on the latitude and longitude coordinates of the points within the safe turning area, the altitude of the points within the safe turning area is extracted from the map. The difference between the altitude of the points within 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. 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.

2. The method for estimating and displaying safe turning space for UAVs in a windy environment according to claim 1, characterized in that, The parameters for real-time acquisition of the UAV's straight-line flight path at the turning front include: UAV heading, vacuum speed, relative ground speed, ground speed direction, and UAV track deviation and altitude deviation.

3. The method for estimating and displaying safe turning space for UAVs in a windy environment according to claim 2, characterized in that, The determination of 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: Wind speed is calculated based on real-time acquisition of UAV heading, vacuum speed, relative ground speed, and ground speed direction, and the wind speed range is obtained. The maximum trajectory deviation and maximum altitude deviation during flight are determined based on the real-time acquired UAV trajectory deviation and altitude deviation.

4. A method for estimating and displaying safe turning space for unmanned aerial vehicles in a windy environment according to claim 1 or 2, characterized in that, The method for calculating vacuum speed during turning includes: Query the conversion factor based on the altitude at which the drone is flying; The airspeed during a turn is calculated based on the indicated airspeed tracked by the drone during the turning process and the conversion factor.

5. The method for estimating and displaying safe turning space for UAVs in a windy environment according to claim 1, characterized in that, The formula for calculating the maximum turning radius of a drone when turning with the wind, based on the maximum wind speed and the vacuum speed during turning, is as follows: Among them, R max V is the maximum turning radius. TAS-2 V is the vacuum speed during turning. Wmax φ represents the maximum wind speed, g represents the acceleration, and φ represents the tilt angle during the drone's turn.

6. The method for estimating and displaying safe turning space for UAVs in a windy environment according to claim 1, characterized in that, The minimum turning radius of the UAV when turning into the wind is calculated based on the maximum wind speed and the vacuum speed during turning, using the following formula: Among them, R min For the minimum turning radius, V TAS-2 V is the vacuum speed during turning. Wmax φ represents the maximum wind speed, g represents the acceleration, and φ represents the tilt angle during the drone's turn.

7. The method for estimating and displaying safe turning space for UAVs in a wind farm environment according to claim 1, characterized in that, The method of determining the safe turning area based on the boundary of the curved trajectory area and the maximum track deviation includes: The maximum track deviation is reserved outside the arc-shaped area of ​​the turning trajectory as a safety margin width, and the arc-shaped area of ​​the UAV turning trajectory 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 the processor, it implements the method for predicting and displaying safe turning space for UAVs in a wind field environment as described in any one of claims 1 to 7.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for estimating and displaying safe turning space for UAVs in a wind field environment as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: processor; and memory for storing the executable instructions of the processor; The processor is configured to execute the method for predicting and displaying safe turning space for unmanned aerial vehicles in a wind field environment as described in any one of claims 1 to 7 by executing the executable instructions.

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