Unmanned aerial vehicle flight attitude control method and system

Abstract

The invention provides an unmanned aerial vehicle flight attitude control method and system, and the main points of the technical scheme comprise the steps: obtaining unmanned aerial vehicle flight data of a target unmanned aerial vehicle and target flight data, and setting an attitude fluctuation interval of the target unmanned aerial vehicle; the attitude control quantity and the attitude control priority of the to-be-controlled attitude data of the target unmanned aerial vehicle are obtained through analysis, and a first attitude control instruction of the target unmanned aerial vehicle is generated according to the attitude control quantity and the attitude control priority; analyzing to obtain a trajectory offset and a trajectory attitude control quantity of the target unmanned aerial vehicle, and generating a second attitude control instruction of the target unmanned aerial vehicle according to the trajectory attitude control quantity; analyzing to obtain an environment influence control quantity of the target unmanned aerial vehicle, and generating a third attitude control instruction of the target unmanned aerial vehicle according to the environment influence control quantity; and performing flight attitude control on the target unmanned aerial vehicle according to the first attitude control instruction, the second attitude control instruction and the third attitude control instruction. The control accuracy of the flight attitude of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method and system for controlling the flight attitude of an unmanned aerial vehicle (UAV). Background Art

[0002] With the rapid development of UAV technology, UAVs have been widely used in many fields, such as aerial photography, surveying and mapping, agricultural plant protection, logistics and distribution, etc. However, the flight safety and stability of UAVs have always been the key factors for the sustainable development of UAVs, and flight attitude control is the core technology to ensure the safe and stable flight of UAVs. UAVs need to maintain a stable attitude during flight to ensure flight safety, mission completion and precise navigation. Therefore, ranger control of the flight attitude of UAVs is of great significance to ensure the stability, maneuverability and anti-interference ability of UAV flight.

[0003] The UAV flight attitude control methods in related technologies are often unable to conduct comprehensive attitude adjustment evaluation of the UAV based on the real-time data of the UAV, resulting in low accuracy in controlling the UAV flight attitude. There is room for improvement. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method and system for controlling the flight attitude of a UAV, so as to improve the problem that the flight attitude control method of the UAV in the related art is often unable to perform a comprehensive attitude adjustment evaluation of the UAV based on the real-time data of the UAV, resulting in low control accuracy of the flight attitude of the UAV.

[0005] In a first aspect of the present application, a method for controlling the flight attitude of an unmanned aerial vehicle is provided, comprising the following steps:

[0006] Obtaining drone flight data and target flight data of a target drone;

[0007] The UAV flight data includes flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes target attitude data and target trajectory data of the target UAV;

[0008] Setting the attitude fluctuation range of the target UAV according to the target attitude data;

[0009] Compare and analyze the flight attitude data of the target UAV with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, and obtain the attitude control amount of the attitude data to be controlled according to the flight attitude data and the attitude fluctuation interval;

[0010] Obtaining the posture control priority of the posture data to be controlled according to the posture control amount analysis;

[0011] and generating a first attitude control instruction for the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled;

[0012] Compare and analyze the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV;

[0013] The trajectory attitude control amount of the target UAV is obtained according to the trajectory deviation analysis;

[0014] and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount;

[0015] Analyze the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV;

[0016] and generating a third attitude control instruction of the target UAV according to the environmental impact control amount;

[0017] Setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction;

[0018] The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0019] Preferably, the UAV flight data includes flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes target attitude data and target trajectory data of the target UAV, specifically:

[0020] The flight attitude data includes the pitch angle, roll angle and yaw angle of the target UAV;

[0021] The flight trajectory data includes the real-time flight trajectory of the target UAV;

[0022] The flight environment data includes the ambient wind speed, ambient wind direction, ambient temperature and ambient air density of the flight environment of the target UAV;

[0023] The target attitude data includes the target pitch angle, target roll angle, target yaw angle of the target UAV, and the pitch angle error range, roll angle error range, and yaw angle error range of the target UAV;

[0024] The target trajectory data includes the target flight trajectory of the target UAV.

[0025] Preferably, the attitude fluctuation range of the target UAV is set according to the target attitude data, specifically:

[0026] Obtaining a pitch angle fluctuation range corresponding to the target UAV according to the target pitch angle and the pitch angle error range;

[0027] Obtaining a rolling angle fluctuation range corresponding to the target UAV according to the target rolling angle and the rolling angle error range;

[0028] Obtaining a yaw angle fluctuation range corresponding to the target UAV according to the target yaw angle and the yaw angle error range;

[0029] The attitude fluctuation range of the target UAV is formed according to the pitch angle fluctuation range, the roll angle fluctuation range and the yaw angle fluctuation range.

[0030] Preferably, the flight attitude data of the target UAV is compared and analyzed with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, specifically:

[0031] The pitch angle of the target UAV is compared with the pitch angle fluctuation range. If the pitch angle of the target UAV is not within the pitch angle fluctuation range, the pitch angle is recorded as the attitude data to be controlled of the target UAV.

[0032] Compare the roll angle of the target UAV with the roll angle fluctuation range, and if the roll angle of the target UAV is not within the roll angle fluctuation range, record the roll angle as the attitude data to be controlled of the target UAV;

[0033] The yaw angle of the target UAV is compared with the yaw angle fluctuation range. If the yaw angle of the target UAV is not within the yaw angle fluctuation range, the yaw angle is recorded as the attitude data to be controlled of the target UAV.

[0034] Preferably, the attitude control amount of the attitude data to be controlled is obtained according to the flight attitude data and the attitude fluctuation interval, specifically:

[0035] The pitch angle of the target UAV is obtained by taking and marking the pitch angle θ; the roll angle of the target UAV is obtained by taking and marking the roll angle The yaw angle of the target UAV is taken and marked to obtain the yaw angle ψ;

[0036] The target pitch angle of the target UAV is obtained by taking and marking the target pitch angle θ m ; Take and mark the target roll angle of the target UAV to get the target roll angle The target yaw angle of the target UAV is obtained by taking and marking the target yaw angle ψ m ;

[0037] By the first calculation function ZK1=θ-θ m Calculate and obtain the attitude control value ZK1 corresponding to the pitch angle in the attitude data to be controlled;

[0038] Through the second calculation function Calculate and obtain the attitude control amount ZK2 corresponding to the roll angle in the attitude data to be controlled;

[0039] By the third calculation function ZK3=ψ-ψ m The attitude control amount ZK3 corresponding to the yaw angle in the attitude data to be controlled is calculated.

[0040] Preferably, the posture control priority of the posture data to be controlled is obtained according to the posture control amount analysis, specifically:

[0041] Obtain a first influence weight value of the pitch angle on the flight attitude of the target UAV, and take and mark the first influence weight value to obtain a first influence weight value OQ; obtain a second influence weight value of the roll angle on the flight attitude of the target UAV, and take and mark the second influence weight value to obtain a second influence weight value TQ; obtain a third influence weight value of the yaw angle on the flight attitude of the target UAV, and take and mark the third influence weight value to obtain a third influence weight value SQ;

[0042] The attitude control priority YX1 corresponding to the pitch angle in the attitude data to be controlled is calculated by the fourth calculation function YX1=|ZK1|×OQ;

[0043] The attitude control priority YX2 corresponding to the roll angle in the attitude data to be controlled is calculated by the fifth calculation function YX2=|ZK2|×TQ;

[0044] The attitude control priority YX3 corresponding to the yaw angle in the attitude data to be controlled is calculated by the sixth calculation function YX3=|ZK3|×SQ;

[0045] The attitude control priorities corresponding to the pitch angle, roll angle and yaw angle in the attitude data to be controlled are obtained according to the attitude control priority YX.

[0046] Preferably, the flight trajectory data of the target UAV is compared and analyzed with the target trajectory data to obtain the trajectory offset of the target UAV; and the trajectory attitude control amount of the target UAV is obtained according to the trajectory offset analysis, specifically:

[0047] The real-time flight trajectory of the target UAV is compared with the target flight trajectory to obtain the trajectory offset of the target UAV;

[0048] Comparing the trajectory deviation of the target UAV with a preset trajectory deviation threshold;

[0049] If the trajectory deviation of the target UAV is less than or equal to the preset trajectory deviation threshold, the target UAV does not have trajectory attitude control;

[0050] If the trajectory deviation of the target UAV is greater than the preset trajectory deviation threshold, the target UAV has trajectory attitude control, and the three-dimensional spatial position of the target UAV is obtained;

[0051] The trajectory attitude control value of the target UAV is obtained according to the three-dimensional spatial position and trajectory offset of the target UAV.

[0052] Preferably, the flight environment data of the target UAV is analyzed to obtain the environmental impact control amount of the target UAV, specifically:

[0053] According to the ambient wind speed and ambient wind direction of the flight environment in which the target UAV is located, a first environmental impact coefficient of the target UAV is obtained;

[0054] and obtaining a first impact control amount of the target UAV according to the first environmental impact coefficient;

[0055] According to the ambient temperature and ambient air density of the flight environment in which the target UAV is located, a second environmental impact coefficient of the target UAV is obtained;

[0056] and obtaining a second impact control amount of the target UAV according to the second environmental impact coefficient;

[0057] The first influence control amount and the second influence control amount are cumulatively calculated to obtain the environmental influence control amount of the target UAV.

[0058] Preferably, the command execution order of the first attitude control command, the second attitude control command and the third attitude control command is set; the flight attitude control of the first attitude control command, the second attitude control command and the third attitude control command is performed on the target UAV according to the command execution order, specifically:

[0059] The posture control amount in the first posture control instruction is taken and marked to obtain the posture control amount ZK; the trajectory posture control amount in the second posture control instruction is taken and marked to obtain the trajectory posture control amount GK; the environmental impact control amount in the third posture control instruction is taken and marked to obtain the environmental impact control amount HK;

[0060] The posture influence weight value of the first posture control instruction is set, and the posture influence weight value is taken and marked to obtain the posture influence weight value ZY; the trajectory influence weight value of the second posture control instruction is set, and the trajectory influence weight value is taken and marked to obtain the trajectory influence weight value GY; the environment influence weight value of the third posture control instruction is set, and the environment influence weight value is taken and marked to obtain the environment influence weight value HY;

[0061] The instruction priority coefficient YXJ1 of the first posture control instruction is calculated by the seventh calculation function YXJ1=ZK×ZY;

[0062] The instruction priority coefficient YXJ2 of the second posture control instruction is calculated by the eighth calculation function YXJ2=GK×GY;

[0063] The command priority coefficient YXJ3 of the third posture control command is calculated by the ninth calculation function YXJ3=HK×HY;

[0064] Obtaining the instruction execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction according to the instruction priority coefficient YXJ;

[0065] The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0066] In a second aspect of the present application, a UAV flight attitude control system is provided, which is applied to a UAV flight attitude control method, and the system comprises:

[0067] Data acquisition module: acquires the target UAV’s UAV flight data and target flight data;

[0068] The UAV flight data includes flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes target attitude data and target trajectory data of the target UAV;

[0069] Setting the attitude fluctuation range of the target UAV according to the target attitude data;

[0070] The first analysis module compares and analyzes the flight attitude data of the target UAV with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, and obtains the attitude control amount of the attitude data to be controlled according to the flight attitude data and the attitude fluctuation interval;

[0071] Obtaining the posture control priority of the posture data to be controlled according to the posture control amount analysis;

[0072] and generating a first attitude control instruction for the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled;

[0073] The second analysis module compares and analyzes the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV;

[0074] The trajectory attitude control amount of the target UAV is obtained according to the trajectory deviation analysis;

[0075] and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount;

[0076] The third analysis module: analyzes the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV;

[0077] and generating a third attitude control instruction of the target UAV according to the environmental impact control amount;

[0078] Posture control module: setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction;

[0079] The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0080] In summary, the beneficial effects of the present application are as follows: the present application sets the attitude fluctuation interval of the target UAV, and compares and analyzes the flight attitude data of the target UAV with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, and obtains the attitude control amount of the attitude data to be controlled based on the flight attitude data and the attitude fluctuation interval; obtains the attitude control priority of the attitude data to be controlled based on the attitude control amount analysis, and generates the first attitude control instruction of the target UAV based on the attitude control amount and the attitude control priority of the attitude data to be controlled; in addition, compares and analyzes the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV, obtains the trajectory attitude control amount of the target UAV based on the trajectory offset analysis, and generates the second attitude control instruction of the target UAV based on the trajectory attitude control amount; in addition, analyzes the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV, and generates the third attitude control instruction of the target UAV based on the environmental impact control amount; finally, the flight attitude control of the target UAV is performed according to the instruction execution order of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction, so as to realize a comprehensive attitude adjustment evaluation of the target UAV based on the real-time data of the UAV, thereby improving the accuracy of the flight attitude control of the target UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the technical solutions of the embodiments of the present application, some of the drawings in the embodiments of the present application will be briefly described below. It should be understood that the following drawings only show some embodiments of the present application and therefore should not be considered as limiting the scope of the present application.

[0082] Figure 1 A schematic diagram of a flow chart of a method for controlling the flight attitude of a drone provided in an embodiment of the present application;

[0083] Figure 2A schematic diagram of the structure of a UAV flight attitude control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0084] Below is a combination of the embodiments and Figure 1 and Figure 2 The present application is further described in detail, but the implementation methods of the present application are not limited thereto.

[0085] Reference Figure 1 , which is a flow chart of a method for controlling the flight attitude of a UAV provided in an embodiment of the present application.

[0086] A method for controlling the flight attitude of an unmanned aerial vehicle comprises the following steps:

[0087] Obtaining drone flight data and target flight data of a target drone;

[0088] The UAV flight data includes the flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes the target attitude data and target trajectory data of the target UAV;

[0089] Setting the attitude fluctuation range of the target UAV according to the target attitude data;

[0090] Compare and analyze the flight attitude data of the target UAV with the attitude fluctuation range to obtain the attitude data to be controlled of the target UAV, and obtain the attitude control amount of the attitude data to be controlled based on the flight attitude data and the attitude fluctuation range;

[0091] The attitude control priority of the attitude data to be controlled is obtained according to the attitude control amount analysis;

[0092] and generating a first attitude control instruction of the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled;

[0093] Compare and analyze the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV;

[0094] The trajectory attitude control value of the target UAV is obtained based on the trajectory deviation analysis;

[0095] and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount;

[0096] Analyze the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV;

[0097] and generating a third attitude control instruction of the target UAV according to the environmental impact control quantity;

[0098] Setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction;

[0099] The flight attitude control of the target UAV is performed according to the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0100] The UAV flight data includes the flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes the target attitude data and target trajectory data of the target UAV, specifically:

[0101] The flight attitude data includes the pitch, roll and yaw angles of the target UAV;

[0102] The flight trajectory data includes the real-time flight trajectory of the target UAV;

[0103] The flight environment data includes the ambient wind speed, ambient wind direction, ambient temperature and ambient air density of the target UAV’s flight environment;

[0104] The target attitude data includes the target pitch angle, target roll angle, target yaw angle of the target UAV, as well as the pitch angle error range, roll angle error range, and yaw angle error range of the target UAV;

[0105] The target trajectory data includes the target flight trajectory of the target UAV.

[0106] In some embodiments, the pitch angle, roll angle and yaw angle are all real-time attitude data of the target UAV. The target pitch angle, target roll angle, target yaw angle, and the pitch angle error range, roll angle error range, and yaw angle error range of the target UAV are preset based on the UAV parameters and historical flight data of the target UAV. The target flight trajectory is also preset based on the actual flight conditions of the target UAV.

[0107] The attitude fluctuation range of the target UAV is set according to the target attitude data, specifically:

[0108] The pitch angle fluctuation range corresponding to the target UAV is obtained according to the target pitch angle and the pitch angle error range;

[0109] The rolling angle fluctuation range corresponding to the target UAV is obtained according to the target rolling angle and the rolling angle error range;

[0110] The yaw angle fluctuation range corresponding to the target UAV is obtained according to the target yaw angle and the yaw angle error range;

[0111] The attitude fluctuation range of the target UAV is formed based on the pitch angle fluctuation range, the roll angle fluctuation range and the yaw angle fluctuation range.

[0112] In some embodiments, the pitch angle fluctuation interval is generated with the target pitch angle as the interval center value and the pitch angle error range as the interval fluctuation range. For example, the target pitch angle of the target UAV is set to 5°, and the pitch angle error range is preset to ±2°, then the pitch angle fluctuation interval is [3°, 7°]; the same is true for the roll angle fluctuation interval and the yaw angle fluctuation range.

[0113] Compare and analyze the flight attitude data of the target UAV with the attitude fluctuation range to obtain the attitude data to be controlled of the target UAV, specifically:

[0114] The pitch angle of the target UAV is compared with the pitch angle fluctuation range. If the pitch angle of the target UAV is not within the pitch angle fluctuation range, the pitch angle is recorded as the attitude data to be controlled of the target UAV.

[0115] The roll angle of the target UAV is compared with the roll angle fluctuation range. If the roll angle of the target UAV is not within the roll angle fluctuation range, the roll angle is recorded as the attitude data to be controlled of the target UAV.

[0116] The yaw angle of the target UAV is compared with the yaw angle fluctuation range. If the yaw angle of the target UAV is not within the yaw angle fluctuation range, the yaw angle is recorded as the attitude data to be controlled of the target UAV.

[0117] And according to the flight attitude data and the attitude fluctuation range, the attitude control amount of the attitude data to be controlled is obtained, which is specifically:

[0118] The pitch angle of the target UAV is obtained by taking and marking the pitch angle θ; the roll angle of the target UAV is obtained by taking and marking the roll angle The yaw angle of the target UAV is taken and marked to obtain the yaw angle ψ;

[0119] The target pitch angle of the target UAV is obtained by taking and marking the target pitch angle θ m ; Take and mark the target roll angle of the target UAV to get the target roll angle The target yaw angle of the target UAV is obtained by taking and marking the target yaw angle ψ m ;

[0120] By the first calculation function ZK1=θ-θ m Calculate and obtain the attitude control value ZK1 corresponding to the pitch angle in the attitude data to be controlled;

[0121] Through the second calculation function Calculate and obtain the attitude control amount ZK2 corresponding to the roll angle in the attitude data to be controlled;

[0122] By the third calculation function ZK3=ψ-ψ mThe attitude control amount ZK3 corresponding to the yaw angle in the attitude data to be controlled is calculated.

[0123] In some embodiments, if the pitch angle of the target drone is 5°, the pitch angle θ is 5°; if the roll angle of the target drone is 10°, the roll angle The value is 10; if the yaw angle of the target drone is 20°, the yaw angle ψ is 20;

[0124] If the target pitch angle of the target drone is 2°, then the target pitch angle θ m The value is 2; if the target roll angle of the target drone is 15°, then the target roll angle The value is 15; if the target yaw angle of the target drone is 10°, then the target yaw angle ψ m The value is 10;

[0125] At this time, the first calculation function ZK1=θ-θ m The attitude control value ZK1 corresponding to the pitch angle in the attitude data to be controlled is calculated to be 3; through the second calculation function The attitude control amount ZK2 corresponding to the roll angle in the attitude data to be controlled is calculated to be -5; through the third calculation function ZK3 = ψ-ψ m The attitude control amount ZK3 corresponding to the yaw angle in the attitude data to be controlled is calculated to be 10.

[0126] The attitude control priority of the attitude data to be controlled is obtained based on the attitude control amount analysis, specifically:

[0127] Obtain a first influence weight value of the pitch angle on the flight attitude of the target UAV, and take and mark the first influence weight value to obtain a first influence weight value OQ; obtain a second influence weight value of the roll angle on the flight attitude of the target UAV, and take and mark the second influence weight value to obtain a second influence weight value TQ; obtain a third influence weight value of the yaw angle on the flight attitude of the target UAV, and take and mark the third influence weight value to obtain a third influence weight value SQ;

[0128] The attitude control priority YX1 corresponding to the pitch angle in the attitude data to be controlled is calculated by the fourth calculation function YX1=|ZK1|×OQ;

[0129] The attitude control priority YX2 corresponding to the roll angle in the attitude data to be controlled is calculated by the fifth calculation function YX2=|ZK2|×TQ;

[0130] The attitude control priority YX3 corresponding to the yaw angle in the attitude data to be controlled is calculated by the sixth calculation function YX3=|ZK3|×SQ;

[0131] The attitude control priority corresponding to the pitch angle, roll angle and yaw angle in the attitude data to be controlled is obtained according to the attitude control priority YX.

[0132] In some embodiments, if the first influence weight value of the pitch angle on the flight attitude of the target UAV is 1, the first influence weight value OQ is 1; if the second influence weight value of the roll angle on the flight attitude of the target UAV is 1.2, the second influence weight value TQ is 1.2; if the third influence weight value of the yaw angle on the flight attitude of the target UAV is 1, the third influence weight value SQ is 1;

[0133] At this time, the attitude control priority YX1 corresponding to the pitch angle in the attitude data to be controlled is calculated by the fourth calculation function YX1=|ZK1|×OQ as 3; the attitude control priority YX2 corresponding to the roll angle in the attitude data to be controlled is calculated by the fifth calculation function YX2=|ZK2|×TQ as 6; the attitude control priority YX3 corresponding to the yaw angle in the attitude data to be controlled is calculated by the sixth calculation function YX3=|ZK3|×SQ as 10;

[0134] The attitude control priority corresponding to the pitch angle, roll angle and yaw angle in the attitude data to be controlled is obtained according to the attitude control priority YX, which means that the attitude control priority corresponding to the pitch angle, roll angle and yaw angle in the attitude data to be controlled is determined according to the size of the attitude control priority YX, wherein the larger the attitude control priority YX is, the higher the attitude control priority is.

[0135] The flight trajectory data of the target UAV is compared and analyzed with the target trajectory data to obtain the trajectory offset of the target UAV; the trajectory attitude control amount of the target UAV is obtained based on the trajectory offset analysis, which is specifically:

[0136] The real-time flight trajectory of the target UAV is compared with the target flight trajectory to obtain the trajectory offset of the target UAV;

[0137] Comparing the trajectory deviation of the target UAV with a preset trajectory deviation threshold;

[0138] If the trajectory deviation of the target UAV is less than or equal to the preset trajectory deviation threshold, the target UAV does not have trajectory attitude control;

[0139] If the trajectory deviation of the target UAV is greater than the preset trajectory deviation threshold, the target UAV has trajectory attitude control, and the three-dimensional spatial position of the target UAV is obtained;

[0140] The trajectory attitude control value of the target UAV is obtained according to the three-dimensional spatial position and trajectory offset of the target UAV.

[0141] In some embodiments, the trajectory attitude control amount of the target UAV can be obtained by matching the three-dimensional spatial position and trajectory offset corresponding to the historical trajectory attitude control amount of the target UAV, or a three-dimensional spatial position and trajectory offset-trajectory attitude control amount comparison table can be generated based on the historical flight data of the target UAV, and the trajectory attitude control amount of the target UAV can be obtained based on the three-dimensional spatial position and trajectory offset-trajectory attitude control amount comparison table.

[0142] The flight environment data of the target UAV is analyzed to obtain the environmental impact control quantity of the target UAV, which is specifically:

[0143] According to the ambient wind speed and ambient wind direction of the flight environment in which the target UAV is located, a first environmental impact coefficient of the target UAV is obtained;

[0144] And according to the first environmental impact coefficient, a first impact control amount of the target UAV is obtained;

[0145] According to the ambient temperature and ambient air density of the flight environment in which the target UAV is located, a second environmental impact coefficient of the target UAV is obtained;

[0146] And according to the second environmental impact coefficient, the second impact control amount of the target UAV is obtained;

[0147] The first influence control amount and the second influence control amount are cumulatively calculated to obtain the environmental influence control amount of the target UAV.

[0148] In some embodiments, the specific value of the first environmental impact coefficient is obtained according to the environmental wind speed and environmental wind direction-first impact control amount comparison table; the first impact control amount can be obtained according to the first environmental impact coefficient-first impact control amount comparison table, wherein the environmental wind speed and environmental wind direction-first impact control amount comparison table and the first environmental impact coefficient-first impact control amount comparison table are both preset according to the historical flight data and the parameters of the target UAV;

[0149] The specific value of the second environmental impact coefficient is obtained based on the ambient temperature and ambient air density-second impact control quantity comparison table; the second impact control quantity can be obtained based on the second environmental impact coefficient-second impact control quantity comparison table, wherein the ambient temperature and ambient air density-second impact control quantity comparison table and the second environmental impact coefficient-second impact control quantity comparison table are both preset based on the historical flight data and UAV parameters of the target UAV.

[0150] The command execution order of the first attitude control command, the second attitude control command and the third attitude control command is set; the flight attitude control of the first attitude control command, the second attitude control command and the third attitude control command is performed on the target UAV according to the command execution order, specifically:

[0151] The posture control amount in the first posture control instruction is taken and marked to obtain the posture control amount ZK; the trajectory posture control amount in the second posture control instruction is taken and marked to obtain the trajectory posture control amount GK; the environmental impact control amount in the third posture control instruction is taken and marked to obtain the environmental impact control amount HK;

[0152] The posture influence weight value of the first posture control instruction is set, and the posture influence weight value is taken and marked to obtain the posture influence weight value ZY; the trajectory influence weight value of the second posture control instruction is set, and the trajectory influence weight value is taken and marked to obtain the trajectory influence weight value GY; the environment influence weight value of the third posture control instruction is set, and the environment influence weight value is taken and marked to obtain the environment influence weight value HY;

[0153] The instruction priority coefficient YXJ1 of the first posture control instruction is calculated by the seventh calculation function YXJ1=ZK×ZY;

[0154] The instruction priority coefficient YXJ2 of the second posture control instruction is calculated by the eighth calculation function YXJ2=GK×GY;

[0155] The command priority coefficient YXJ3 of the third posture control command is calculated by the ninth calculation function YXJ3=HK×HY;

[0156] The instruction execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction is obtained according to the instruction priority coefficient YXJ;

[0157] The flight attitude control of the target UAV is performed according to the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0158] In some embodiments, if the posture control amount in the first posture control instruction is 25, the posture control amount ZK is 25; if the trajectory posture control amount in the second posture control instruction is 20, the trajectory posture control amount GK is 20; if the environmental impact control amount in the third posture control instruction is 15, the environmental impact control amount HK is 15;

[0159] If the posture influence weight value of the first posture control instruction is 1, the posture influence weight value ZY is 1; if the trajectory influence weight value of the second posture control instruction is 1.5, the trajectory influence weight value GY is 1.5; if the environment influence weight value of the third posture control instruction is 1, the environment influence weight value HY is 1;

[0160] At this time, the instruction priority coefficient YXJ1 of the first posture control instruction is calculated by the seventh calculation function YXJ1=ZK×ZY, which is 25; the instruction priority coefficient YXJ2 of the second posture control instruction is calculated by the eighth calculation function YXJ2=GK×GY, which is 30; the instruction priority coefficient YXJ3 of the third posture control instruction is calculated by the ninth calculation function YXJ3=HK×HY, which is 15;

[0161] It should be noted that the posture control amount in the first posture control instruction refers to the sum absolute value of the posture control amounts of the posture data to be controlled in the first posture control instruction; the trajectory posture control amount in the second posture control instruction refers to the sum absolute value of the trajectory posture control amounts in the second posture control instruction; the environmental impact control amount in the third posture control instruction refers to the sum absolute value of the environmental impact control amounts in the third posture control instruction;

[0162] In addition, the attitude influence weight value of the first attitude control instruction, the trajectory influence weight value of the second attitude control instruction, and the environment influence weight value of the third attitude control instruction are all customized and preset according to the actual flight conditions of the target UAV;

[0163] It should be noted that the instruction execution order is obtained according to the size of the instruction priority coefficient YXJ. The larger the instruction priority coefficient YXJ of the posture control instruction is, the higher it is in the instruction execution order.

[0164] Reference Figure 2 FIG. 1 is a schematic diagram of a structure of a UAV flight attitude control system provided by an embodiment of the present application, the system comprising:

[0165] Data acquisition module: acquires the target UAV’s UAV flight data and target flight data;

[0166] The UAV flight data includes the flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes the target attitude data and target trajectory data of the target UAV;

[0167] Setting the attitude fluctuation range of the target UAV according to the target attitude data;

[0168] The first analysis module: compares and analyzes the flight attitude data of the target UAV with the attitude fluctuation range to obtain the attitude data to be controlled of the target UAV, and obtains the attitude control amount of the attitude data to be controlled according to the flight attitude data and the attitude fluctuation range;

[0169] The attitude control priority of the attitude data to be controlled is obtained according to the attitude control amount analysis;

[0170] and generating a first attitude control instruction of the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled;

[0171] The second analysis module compares and analyzes the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV;

[0172] The trajectory attitude control value of the target UAV is obtained based on the trajectory deviation analysis;

[0173] and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount;

[0174] The third analysis module: analyzes the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV;

[0175] and generating a third attitude control instruction of the target UAV according to the environmental impact control quantity;

[0176] Posture control module: setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction;

[0177] The flight attitude control of the target UAV is performed according to the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

[0178] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling the flight attitude of an unmanned aerial vehicle, characterized in that: The following steps are involved: Obtaining drone flight data and target flight data of a target drone; The UAV flight data includes flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes target attitude data and target trajectory data of the target UAV; Setting the attitude fluctuation range of the target UAV according to the target attitude data; Compare and analyze the flight attitude data of the target UAV with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, and obtain the attitude control amount of the attitude data to be controlled according to the flight attitude data and the attitude fluctuation interval; Obtaining the posture control priority of the posture data to be controlled according to the posture control amount analysis; and generating a first attitude control instruction for the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled; Compare and analyze the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV; The trajectory attitude control amount of the target UAV is obtained according to the trajectory deviation analysis; and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount; Analyze the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV; and generating a third attitude control instruction of the target UAV according to the environmental impact control amount; Setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction; The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

2. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 1, characterized in that: The UAV flight data includes the flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes the target attitude data and target trajectory data of the target UAV, specifically: The flight attitude data includes the pitch angle, roll angle and yaw angle of the target UAV; The flight trajectory data includes the real-time flight trajectory of the target UAV; The flight environment data includes the ambient wind speed, ambient wind direction, ambient temperature and ambient air density of the flight environment of the target UAV; The target attitude data includes the target pitch angle, target roll angle, target yaw angle of the target UAV, and the pitch angle error range, roll angle error range, and yaw angle error range of the target UAV; The target trajectory data includes the target flight trajectory of the target UAV.

3. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 2, characterized in that: The attitude fluctuation range of the target UAV is set according to the target attitude data, specifically: Obtaining a pitch angle fluctuation range corresponding to the target UAV according to the target pitch angle and the pitch angle error range; Obtaining a rolling angle fluctuation range corresponding to the target UAV according to the target rolling angle and the rolling angle error range; Obtaining a yaw angle fluctuation range corresponding to the target UAV according to the target yaw angle and the yaw angle error range; The attitude fluctuation range of the target UAV is formed according to the pitch angle fluctuation range, the roll angle fluctuation range and the yaw angle fluctuation range.

4. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 3, characterized in that: The flight attitude data of the target UAV is compared and analyzed with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, specifically: The pitch angle of the target UAV is compared with the pitch angle fluctuation range. If the pitch angle of the target UAV is not within the pitch angle fluctuation range, the pitch angle is recorded as the attitude data to be controlled of the target UAV. Compare the roll angle of the target UAV with the roll angle fluctuation range, and if the roll angle of the target UAV is not within the roll angle fluctuation range, record the roll angle as the attitude data to be controlled of the target UAV; The yaw angle of the target UAV is compared with the yaw angle fluctuation range. If the yaw angle of the target UAV is not within the yaw angle fluctuation range, the yaw angle is recorded as the attitude data to be controlled of the target UAV.

5. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 4, characterized in that: And according to the flight attitude data and the attitude fluctuation range, the attitude control amount of the attitude data to be controlled is obtained, which is specifically: The pitch angle of the target UAV is obtained by taking and marking the pitch angle θ; the roll angle of the target UAV is obtained by taking and marking the roll angle The yaw angle of the target UAV is taken and marked to obtain the yaw angle ψ; The target pitch angle of the target UAV is obtained by taking and marking the target pitch angle θ m ; Take and mark the target roll angle of the target UAV to get the target roll angle The target yaw angle of the target UAV is obtained by taking and marking the target yaw angle ψ m ; By the first calculation function ZK1=θ-θ m Calculate and obtain the attitude control value ZK1 corresponding to the pitch angle in the attitude data to be controlled; Through the second calculation function Calculate and obtain the attitude control amount ZK2 corresponding to the roll angle in the attitude data to be controlled; By the third calculation function ZK3=ψ-ψ m The attitude control amount ZK3 corresponding to the yaw angle in the attitude data to be controlled is calculated.

6. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 5, characterized in that: The posture control priority of the posture data to be controlled is obtained according to the posture control amount analysis, specifically: Obtain a first influence weight value of the pitch angle on the flight attitude of the target UAV, and take and mark the first influence weight value to obtain a first influence weight value OQ; obtain a second influence weight value of the roll angle on the flight attitude of the target UAV, and take and mark the second influence weight value to obtain a second influence weight value TQ; Obtain a third influence weight value of the yaw angle on the flight posture of the target UAV, and obtain a third influence weight value SQ by taking and marking the third influence weight value; The attitude control priority YX1 corresponding to the pitch angle in the attitude data to be controlled is calculated by the fourth calculation function YX1=|ZK1|×OQ; The attitude control priority YX2 corresponding to the roll angle in the attitude data to be controlled is calculated by the fifth calculation function YX2=|ZK2|×TQ; The attitude control priority YX3 corresponding to the yaw angle in the attitude data to be controlled is calculated by the sixth calculation function YX3=|ZK3|×SQ; The attitude control priorities corresponding to the pitch angle, roll angle and yaw angle in the attitude data to be controlled are obtained according to the attitude control priority YX.

7. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 6, characterized in that: The flight trajectory data of the target UAV is compared and analyzed with the target trajectory data to obtain the trajectory offset of the target UAV; the trajectory attitude control amount of the target UAV is obtained according to the trajectory offset analysis, specifically: The real-time flight trajectory of the target UAV is compared with the target flight trajectory to obtain the trajectory offset of the target UAV; Comparing the trajectory deviation of the target UAV with a preset trajectory deviation threshold; If the trajectory deviation of the target UAV is less than or equal to the preset trajectory deviation threshold, the target UAV does not have trajectory attitude control; If the trajectory deviation of the target UAV is greater than the preset trajectory deviation threshold, the target UAV has trajectory attitude control, and the three-dimensional spatial position of the target UAV is obtained; The trajectory attitude control value of the target UAV is obtained according to the three-dimensional spatial position and trajectory offset of the target UAV.

8. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 7, characterized in that: The flight environment data of the target UAV is analyzed to obtain the environmental impact control quantity of the target UAV, which is specifically: According to the ambient wind speed and ambient wind direction of the flight environment in which the target UAV is located, a first environmental impact coefficient of the target UAV is obtained; and obtaining a first impact control amount of the target UAV according to the first environmental impact coefficient; According to the ambient temperature and ambient air density of the flight environment in which the target UAV is located, a second environmental impact coefficient of the target UAV is obtained; and obtaining a second impact control amount of the target UAV according to the second environmental impact coefficient; The first influence control amount and the second influence control amount are cumulatively calculated to obtain the environmental influence control amount of the target UAV.

9. The method for controlling the flight attitude of an unmanned aerial vehicle according to claim 8, characterized in that: The command execution order of the first attitude control command, the second attitude control command and the third attitude control command is set; and the flight attitude control of the first attitude control command, the second attitude control command and the third attitude control command is performed on the target UAV according to the command execution order, specifically: The posture control amount in the first posture control instruction is taken and marked to obtain the posture control amount ZK; the trajectory posture control amount in the second posture control instruction is taken and marked to obtain the trajectory posture control amount GK; the environmental impact control amount in the third posture control instruction is taken and marked to obtain the environmental impact control amount HK; Setting a posture influence weight value of the first posture control instruction, and taking and marking the posture influence weight value to obtain a posture influence weight value ZY; Setting a trajectory influence weight value of the second posture control instruction, and taking and marking the trajectory influence weight value to obtain a trajectory influence weight value GY; Setting an environmental impact weight value of the third posture control instruction, and taking and marking the environmental impact weight value to obtain an environmental impact weight value HY; The instruction priority coefficient YXJ1 of the first posture control instruction is calculated by the seventh calculation function YXJ1=ZK×ZY; The instruction priority coefficient YXJ2 of the second posture control instruction is calculated by the eighth calculation function YXJ2=GK×GY; The command priority coefficient YXJ3 of the third posture control command is calculated by the ninth calculation function YXJ3=HK×HY; Obtaining the instruction execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction according to the instruction priority coefficient YXJ; The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

10. A UAV flight attitude control system, the system is used to implement a UAV flight attitude control method according to any one of claims 1 to 9, characterized in that: The system includes: Data acquisition module: acquires the target UAV’s UAV flight data and target flight data; The UAV flight data includes flight attitude data, flight trajectory data and flight environment data of the target UAV; the target flight data includes target attitude data and target trajectory data of the target UAV; Setting the attitude fluctuation range of the target UAV according to the target attitude data; The first analysis module compares and analyzes the flight attitude data of the target UAV with the attitude fluctuation interval to obtain the attitude data to be controlled of the target UAV, and obtains the attitude control amount of the attitude data to be controlled according to the flight attitude data and the attitude fluctuation interval; Obtaining the posture control priority of the posture data to be controlled according to the posture control amount analysis; and generating a first attitude control instruction for the target UAV according to the attitude control amount and attitude control priority of the attitude data to be controlled; The second analysis module compares and analyzes the flight trajectory data of the target UAV with the target trajectory data to obtain the trajectory offset of the target UAV; The trajectory attitude control amount of the target UAV is obtained according to the trajectory deviation analysis; and generating a second attitude control instruction for the target UAV according to the trajectory attitude control amount; The third analysis module: analyzes the flight environment data of the target UAV to obtain the environmental impact control amount of the target UAV; and generating a third attitude control instruction of the target UAV according to the environmental impact control amount; Posture control module: setting the execution order of the first posture control instruction, the second posture control instruction and the third posture control instruction; The target UAV is subjected to flight attitude control of the first attitude control instruction, the second attitude control instruction and the third attitude control instruction according to the instruction execution order.

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