A control method, system and medium for a self-positioning heliport navigation light

Abstract

The present application discloses a control method, system and medium for a self-positioning heliport navigation light, relating to the technical field of aircraft landing assistance devices. The method includes obtaining environmental information, UAV state information and navigation light layout information, and determining initial guidance parameters; calculating visual guidance signal parameters based on the position conditions of the UAV relative to each navigation light and the initial guidance parameters; determining a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and sending a start lighting instruction to several corresponding navigation lights; obtaining environmental feedback information from each navigation light area and calculating an environmental difference value; if the environmental difference value exceeds a preset environmental change threshold range, triggering an environmental adaptability adjustment instruction; calculating corresponding navigation light adjustment parameters and sending an adjustment lighting instruction to the corresponding navigation light area. The present application improves the safety and reliability of unmanned aircraft in complex or emergency landing situations.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft landing assistance devices, and in particular, to a control method, system, and medium for a self-positioning heliport navigation light. Background Art

[0002] With the application of unmanned aerial vehicles (UAVs) in fields such as logistics distribution and agricultural monitoring, the safety and reliability of their operations have attracted attention. However, in actual operations, UAVs may encounter emergencies such as navigation system failures or GPS signal losses, increasing the difficulty and risk of safe landing.

[0003] Currently, traditional heliport navigation light control systems are mainly designed for manned aircraft, and they usually rely on stable GPS signals and navigation data to provide guidance. However, due to the low flight altitude, complex flight paths, and higher environmental adaptability requirements of unmanned aerial vehicles, traditional navigation light control systems often cannot meet their special emergency landing needs; for example, in low-light environments or adverse weather conditions, existing navigation lights may not be able to provide sufficient visual guidance information.

[0004] The current safety and reliability of unmanned aerial vehicles in complex or emergency landing situations are insufficient. Specifically, in the face of sudden situations such as navigation system failures and GPS signal losses, there is a lack of effective auxiliary landing means, so there is an urgent need for improvement. Summary of the Invention

[0005] In order to improve the safety and reliability of unmanned aerial vehicles in complex or emergency landing situations, the present application provides a control method, system, and medium for a self-positioning heliport navigation light.

[0006] In a first aspect, the inventive purpose of the present application is achieved by adopting the following technical solutions:

[0007] A control method for a self-positioning heliport navigation light, comprising:

[0008] Obtaining environmental information, UAV status information, and navigation light layout information, and determining initial guidance parameters according to the environmental information, UAV status information, and navigation light layout information; the initial guidance parameters include the light brightness level, color mode, and working status of the direction indicator lights;

[0009] Calculating visual guidance signal parameters for each navigation light area based on the position of the UAV relative to each navigation light and the initial guidance parameters;

[0010] Determining a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and sending a start lighting instruction to corresponding several navigation lights based on the navigation light control scheme;

[0011] Obtain environmental feedback information from each navigation aid light area, compare the environmental feedback information with the set value in the initial guidance parameters, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction;

[0012] Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation aid light adjustment parameter and send an adjustment lighting instruction to the corresponding navigation aid light area.

[0013] By adopting the above technical solution, the environmental information includes light intensity and weather conditions; the UAV state information includes landing requirements, position coordinates, flight altitude and speed; the navigation aid light layout information includes the areas where each navigation aid light is located and their relative positions; the position status of the UAV relative to each navigation aid light includes distance and angle; the visual guidance signal parameters include but are not limited to the luminous intensity of the LEDs in each area, the color change mode, and the opening sequence of the direction indicators; specifically, to improve the visual guidance assistance of the navigation aid lights at the self-positioning heliport and provide an effective auxiliary landing means to meet the emergency landing requirements of the UAV, this application considers the characteristics of the helicopter navigation aid light control system including numerous navigation aid lights in multiple areas, provides a refined control method for the heliport navigation aid lights and a real-time monitoring method for the guidance effect of the navigation aid lights, and based on precise adjustment according to the specific situation of the UAV and environmental conditions, adopts a technical solution of dynamic adjustment through environmental adaptability adjustment instructions. Specifically, first obtain basic comprehensive information such as environmental information, UAV state information, and navigation aid light layout information, then calculate the visual guidance signal parameters for each navigation aid light area, considering that the navigation aid lights are distributed in multiple areas, ensure the coordinated operation between different areas to provide the best guidance effect, and at the same time, according to the current real-time position of the UAV, self-position and turn on several navigation aid lights in the corresponding area range for light guidance, so that all the navigation aid lights at the heliport work according to the predetermined navigation aid light control scheme. At the same time, to achieve the refined management of the multi-area navigation aid light control system, improve the lighting effect and control fineness of the navigation aid lights, this application will also obtain the environmental feedback information of each navigation aid light area in real time and calculate the environmental difference value. If it is found that the environmental difference value in any area exceeds the preset environmental change threshold range, then trigger the corresponding environmental adaptability adjustment instruction, and then, based on the environmental adaptability adjustment instruction, calculate the specific navigation aid light adjustment parameter for the affected navigation aid light area to further optimize the lighting conditions within the emergency docking range of the UAV to provide continuous and effective visual guidance.

[0014] In a preferred example of this application: The obtaining of environmental information, UAV state information, and navigation aid light layout information, and determining the initial guidance parameters according to the environmental information, UAV state information, and navigation aid light layout information specifically includes:

[0015] Extract the current light intensity and weather conditions from the environmental information;

[0016] Based on the position coordinates, flight altitude, and speed in the UAV status information, and combining the relative positions of each navigation light area in the navigation light layout information, determine the light brightness level of each navigation light area;

[0017] Based on the environmental information and UAV status information, determine the color mode and the working status of the direction indicator lights;

[0018] Associate the light brightness level, color mode, and the working status of the direction indicator lights to obtain the initial guidance parameters.

[0019] By adopting the above technical solution, based on different environmental parameters, dynamically adjust the working parameters of the navigation lights. For example, increase the light brightness level in low light or bad weather conditions to ensure that the UAV can clearly identify the navigation lights, so as to improve the environmental adaptability of the navigation lights at the heliport; when the UAV is in an emergency landing situation, to improve the safety and reliability of the unmanned aerial vehicle in complex or emergency landing situations, this application is based on the personalized configuration of the specific position and flight state of the UAV to ensure that at different distances and angles, the navigation lights in each area can provide the best visual guidance effect, improving the reliability and adaptability of the navigation light control system at the heliport; further, by dynamically adjusting the color mode (such as using high-contrast colors in emergencies) and the working status of the direction indicator lights (such as strengthening the indication in a specific direction), it is possible to provide more explicit landing guidance for the UAV in a complex environment and reduce the risk of misjudgment.

[0020] In a preferred example of this application: Based on the position status of the UAV relative to each navigation light and the initial guidance parameters, calculate the visual guidance signal parameters for each navigation light area, specifically including:

[0021] According to the relative distance and angle between the UAV and each navigation light area, calculate the LED luminous intensity within each navigation light area;

[0022] According to the relative distance and angle, and the color mode, determine the color change mode of each navigation light area;

[0023] According to the relative distance and angle, and the working status of the direction indicator lights, combined with the emergency landing speed of the UAV, determine the turning-on sequence and turning-on speed of the direction indicator lights;

[0024] Associate the LED luminous intensity, color change mode, turning-on sequence, and turning-on speed of the direction indicator lights to obtain the visual guidance signal parameters.

[0025] By adopting the above technical solution, the luminous intensity of several corresponding navigation light areas is dynamically adjusted according to the specific emergency landing position of the unmanned aerial vehicle (UAV) to generate accurate visual guidance signals; further, during the process of the UAV making an emergency landing in the landing area of the heliport, according to different approaching stages of the UAV, the color mode is adjusted in a timely manner to provide more intuitive guidance information for the UAV with a flexible color change mode. Through the calculation and adjustment of the turning-on sequence and turning-on speed of the direction indicator lights, a rapid response is made in the case of an emergency landing of the UAV, and the optimal visual guidance is provided.

[0026] In a preferred example of the present application: obtaining the environmental feedback information from each navigation light area, comparing the environmental feedback information with the set value in the initial guidance parameters, and calculating the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, triggering an environmental adaptability adjustment instruction, which specifically includes:

[0027] According to the start lighting instruction, obtaining the environmental feedback information of each navigation light area to obtain the zoned environmental feedback information;

[0028] Obtaining the environmental change end information, and triggering a UAV position update instruction according to the environmental change end information;

[0029] Obtaining the UAV position update result information, and obtaining the current comprehensive status information of the specified position by combining the zoned environmental feedback information according to the UAV position update result information;

[0030] Calculating the environmental difference value according to the current comprehensive status information and the set value in the initial guidance parameters, in combination with the emergency landing speed of the UAV;

[0031] Comparing the environmental difference value with the preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, triggering an environmental adaptability adjustment instruction to the corresponding navigation light control terminal.

[0032] By adopting the above technical solution, based on the actual environmental conditions of each navigation aid light area under real-time monitoring, the environmental change situation is monitored. When the environment changes, the navigation aid light control system will automatically trigger a UAV position update instruction to obtain the latest UAV status information, the current position, flight altitude, and speed of the UAV. Then, the position information of the UAV and the environmental feedback information of each navigation aid light area are integrated to comprehensively evaluate the current comprehensive status information of the position (i.e., the designated position) for the UAV's emergency landing, so as to more accurately determine whether it is necessary to further adjust the navigation aid light control scheme. That is, by comparing the actual environmental status with the preset initial guiding parameters and combining the emergency landing speed of the UAV, the environmental difference value is accurately calculated, taking into account not only static environmental factors but also the influence of the dynamic flight state, improving the comprehensiveness and accuracy of the analysis of the lighting guiding effect of the navigation aid lights.

[0033] In a preferred example of the present application: Based on the environmental adaptability adjustment instruction, calculating the corresponding navigation aid light adjustment parameters and sending an adjustment lighting instruction to the corresponding navigation aid light area specifically includes:

[0034] According to the environmental adaptability adjustment instruction, obtaining navigation aid light adjustment parameter information, where the navigation aid light adjustment parameter information includes the LED light emission intensity adjustment value, color mode adjustment value, and direction indicator working state adjustment value within each navigation aid light area;

[0035] Comparing the LED light emission intensity adjustment value with a preset brightness threshold. If the LED light emission intensity adjustment value is less than the preset brightness threshold, then according to the navigation aid light adjustment parameter information and combining the emergency landing speed of the UAV, triggering an adjustment lighting instruction;

[0036] If the LED light emission intensity adjustment value is greater than the preset brightness threshold, then triggering a secondary adjustment instruction, and according to the secondary adjustment instruction, obtaining secondary adjustment parameter information;

[0037] According to the secondary adjustment parameter information, triggering an adjustment lighting instruction.

[0038] By adopting the above technical solution, detailed navigation light adjustment parameters are dynamically generated according to specific environmental changes. By setting a brightness threshold, the light brightness can be quickly increased when the lighting conditions are dim, ensuring that the navigation lights can still work effectively under low light or adverse weather conditions, and monitoring whether the current lighting brightness effect meets the preset lighting control effect. Since the navigation lights may experience light drift due to the LEDs in the navigation lights or be affected by the temperature environment during long-term operation, the lighting brightness control effect may deteriorate. Therefore, by setting a secondary monitoring and adjustment mechanism, when the initial adjustment fails to achieve the expected effect, the navigation light control system will automatically trigger a secondary adjustment command. The multi-level adjustment mechanism ensures that even in extreme cases, the navigation lights can gradually optimize their performance and provide continuous and reliable visual guidance.

[0039] In a preferred example of this application: Before obtaining the environmental information, the UAV status information, and the navigation light layout information, and determining the initial guidance parameters according to the environmental information, the UAV status information, and the navigation light layout information, the method further includes:

[0040] Obtain the installation information of the navigation light system and the design speed; wherein, the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the recognition range of the navigation light, and the distance between the recognition range of the navigation light and the landing area, and the design speed includes the design speed of the navigation light brightness, the first designed forced landing speed of the UAV, and the second designed forced landing speed of the UAV;

[0041] According to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance of the recognition range of the navigation light, judge the first predicted forced landing speed when the UAV enters the recognition range of the navigation light;

[0042] According to the installation type of the navigation light, the second designed forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area, judge the second predicted forced landing speed when the UAV passes through the landing area;

[0043] According to the design speed of the navigation light brightness, the first predicted forced landing speed, and the second predicted forced landing speed, generate a navigation light opening speed comparison table for controlling and adjusting the opening speed of the navigation light;

[0044] Obtain a reference range of the navigation light opening speed change representing the threshold of the navigation light opening speed change, and generate a navigation light opening speed control model according to the reference range of the navigation light opening speed change and the navigation light opening speed comparison table, where the navigation light opening speed control model is used to adjust the opening speed of the navigation light.

[0045] By adopting the above technical solution, based on the obtained detailed installation information and design speed parameters, an optimal working strategy is formulated according to the actual deployment situation, that is, the initial guidance parameters and the approach light control scheme; then, through accurate prediction of the landing speed, the first predicted landing speed when the UAV enters the approach light recognition range and the second predicted landing speed when the UAV passes through the landing area are predicted in advance to optimize the opening speed of several approach light control areas; by generating an approach light opening speed comparison table, it is convenient to dynamically adjust the opening speed of the approach light in a timely manner according to different landing speeds, ensuring the best visual guidance during the entire landing process and facilitating subsequent real-time adjustment of the opening speed of the approach light according to the speed change situation in actual operation.

[0046] In a preferred example of the present application: generating an approach light opening speed comparison table for comparing and adjusting the opening speed of the approach light according to the approach light brightness design speed, the first predicted landing speed, and the second predicted landing speed specifically includes:

[0047] Obtaining the predicted landing time according to the distance between the approach light recognition range and the landing area, the first predicted landing speed, and the second predicted landing speed;

[0048] Obtaining the designed landing time according to the first designed landing speed and the second designed landing speed;

[0049] Obtaining the predicted approach light opening speed according to the approach light brightness design speed, the predicted landing time, and the designed landing time;

[0050] Calculating the ratio of the first predicted landing speed to the second predicted landing speed to obtain a predicted landing speed ratio for predicting the second actual landing speed;

[0051] Calculating the difference in landing time between the predicted landing time and the designed landing time, and calculating the difference in opening speed between the predicted approach light opening speed and the approach light brightness design speed;

[0052] Obtaining a predicted opening speed time correspondence relationship for judging the actual opening speed of the approach light according to the difference in landing time and the difference in opening speed;

[0053] Generating an approach light opening speed comparison table for comparing and adjusting the opening speed of the approach light according to the predicted landing speed ratio and the predicted opening speed time correspondence relationship.

[0054] By adopting the above technical solutions, the predicted landing time is accurately calculated to plan the working mode of the navigation lights in advance, ensuring sufficient lighting support during critical periods; by comparing the actual predicted landing time with the designed landing time, it helps to evaluate whether the current operation meets the expectations and make timely adjustments; further, the predicted turning-on speed of the navigation lights is scientifically calculated to ensure appropriate light intensity at different stages and avoid excessive or insufficient lighting; through the detailed analysis of the difference between the landing time and the turning-on speed, the navigation light control system can more accurately judge the deviation of the current control operation; the corresponding relationship between the predicted turning-on speed and time is conducive to dynamically adjusting the turning-on speed of the navigation lights at different time periods; the finally generated speed comparison table provides a detailed operation guide for the system.

[0055] In the second aspect, the invention object of the present application is achieved by adopting the following technical solutions:

[0056] A control system for a self-positioning heliport navigation light, comprising: used to execute a control method for a self-positioning heliport navigation light as described above, the system includes:

[0057] An information acquisition module, used to acquire environmental information, UAV state information, and navigation light layout information;

[0058] A guiding parameter determination module, used to determine initial guiding parameters according to the environmental information, UAV state information, and navigation light layout information; based on the position status of the UAV relative to each navigation light and the initial guiding parameters, calculate visual guiding signal parameters for each navigation light area;

[0059] A control scheme determination module, used to determine a navigation light control scheme according to the visual guiding signal parameters and the initial guiding parameters, and send a start lighting instruction to corresponding several navigation lights based on the navigation light control scheme;

[0060] An illumination state monitoring module, used to acquire environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guiding parameters, and calculate an environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction;

[0061] An adaptability adjustment module, used to calculate corresponding navigation light adjustment parameters based on the environmental adaptability adjustment instruction and send an adjustment lighting instruction to the corresponding navigation light area.

[0062] In the third aspect, the invention object of the present application is achieved by adopting the following technical solutions:

[0063] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned control method for a self-positioning heliport navigation light are implemented.

[0064] Fourthly, the invention object of the present application is achieved by adopting the following technical solutions:

[0065] A computer program product, when the computer program product runs on a system, enables the system to execute the above-mentioned control method for a self-positioning heliport navigation light.

[0066] In summary, the present application includes at least one of the following beneficial technical effects:

[0067] 1. By formulating a detailed navigation light control plan and quickly sending a start lighting instruction, the navigation lights can be activated within a short time; by real-time monitoring the environmental feedback information of each navigation light area and triggering an environmental adaptability adjustment instruction when the environmental change exceeds a preset threshold, the navigation light control system can quickly respond to ensure that the navigation lights are always in the best working state;

[0068] 2. By accurately predicting the landing speed and landing time, the system can be prepared before the unmanned aerial vehicle enters the navigation light recognition range, ensuring a quick response and providing the best visual guidance; according to the actual requirements in different stages, the system can dynamically adjust the opening speed and brightness of the navigation lights to adapt to various complex landing scenarios and improve the overall adaptability;

[0069] 3. Through multi-level speed prediction, time difference calculation and opening speed adjustment, the system can provide strong visual support at critical moments, reduce the risks caused by environmental changes, and ensure the safe landing of the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 is a flowchart of a control method for a self-positioning heliport navigation light in an embodiment of the present application;

[0071] Figure 2 is a flowchart before step S1 in a control method for a self-positioning heliport navigation light in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0072] The following further describes the present application in detail with reference to the accompanying drawings.

[0073] In one embodiment, as Figure 1 shown, the present application discloses a control method for a self-positioning heliport navigation light, which specifically includes the following steps:

[0074] S1: Obtain environmental information, UAV status information, and approach light layout information, and determine initial guidance parameters based on the environmental information, UAV status information, and approach light layout information; the initial guidance parameters include the light brightness level, color mode, and working status of the direction indicator lights.

[0075] In this embodiment, the environmental information includes light intensity, weather conditions (such as sunny, rainy, foggy, etc.), and wind speed; the UAV status information includes landing requirements, position coordinates, flight altitude, and flight speed; the approach light layout information includes the areas where each approach light is located, relative positions, installation heights, and horizontal heights. To facilitate the distinction of the numerous approach light areas and approach lights at the heliport, approach light identifiers and area identifiers can be associated with each approach light. For example, the areas are distinguished by Area A, Area B, and Area C, and the approach lights are distinguished by information codes; the position status of the UAV relative to each approach light includes distance and angle; the initial guidance parameters include the light brightness level, color mode, and working status of the direction indicator lights.

[0076] Specifically, obtain the current environmental information through sensors or external systems. For example, a light sensor is used to obtain the light intensity, a weather station provides weather conditions, and the status information of the UAV is obtained from the UAV's flight control system; adjust the light brightness level according to the light intensity in the environmental information; select a suitable color mode according to the weather conditions, such as using high-contrast colors under low-light conditions; set the working status of the direction indicator lights according to the flight direction of the UAV, and combine the calculated light brightness level, color mode, and working status of the direction indicator lights into the initial guidance parameters.

[0077] Further, step S1 specifically includes the following steps:

[0078] S11: Extract the current light intensity and weather conditions from the environmental information.

[0079] Specifically, the environmental information includes external condition data related to the operation of the approach lights; the light intensity refers to the light brightness level in the current environment.

[0080] S12: Determine the light brightness level of each approach light area according to the position coordinates, flight altitude, and speed in the UAV status information, in combination with the relative positions of the approach light areas in the approach light layout information.

[0081] Specifically, according to the flight parameters of the UAV that is about to land emergently, obtain the UAV status information, such as the speed and direction when approaching the landing area, and then dynamically adjust the light brightness levels of several approach light areas in the relevant areas according to the current status of the UAV and the approach light layout.

[0082] S13: Determine the color mode and the working status of the direction indicator lights according to the environmental information and the UAV status information.

[0083] Specifically, the color mode refers to the color configuration of the navigation lights. Multiple color modes are predefined and applicable to different environments and flight states. For example, when the visibility is poor in rain or fog, a cold color tone can be switched; the working state of the direction indicator light refers to a specific lighting mode used to indicate the landing direction of the UAV, which can be turned on or off according to the actual situation.

[0084] S14: Associate the light brightness level, color mode, and the working state of the direction indicator light to obtain the initial guidance parameters.

[0085] S2: Based on the position status of the UAV relative to each navigation light and the initial guidance parameters, calculate the visual guidance signal parameters for each navigation light area.

[0086] In this embodiment, the visual guidance signal parameters include, but are not limited to, the luminous intensity of the LEDs in each area, the color change mode, and the opening sequence of the direction indicator lights.

[0087] Specifically, step S2 specifically includes:

[0088] S21: Calculate the luminous intensity of the LEDs in each navigation light area according to the relative distance and angle between the UAV and each navigation light area.

[0089] S22: Determine the color change mode of each navigation light area according to the relative distance and angle, and the color mode.

[0090] Specifically, the color change mode refers to a color configuration that is dynamically adjusted according to the state of the UAV and environmental conditions to enhance the visual guidance effect; the color mode is a predefined set of color settings for different flight phases or environmental conditions of the UAV. The color mode can be set by different colors and color change frequencies. For example, the contrast can be increased in low light conditions, or a striking color combination can be used in case of an emergency. In practical applications, multiple color modes and corresponding color adjustment strategies can be predefined.

[0091] S23: Determine the opening sequence and opening speed of the direction indicator lights according to the relative distance and angle, and the working state of the direction indicator lights, in combination with the emergency landing speed of the UAV.

[0092] Specifically, the working state of the direction indicator light refers to whether the direction indicator light is on and its specific display mode; the opening sequence and speed of the direction indicator light are dynamically adjusted according to the state and flight path of the UAV. For example, when approaching the landing point, the flashing frequency of the indicator light is gradually increased to provide clear landing guidance.

[0093] S24: Associate the luminous intensity of the LEDs, the color change mode, the opening sequence, and the opening speed of the direction indicator lights to obtain the visual guidance signal parameters.

[0094] Specifically, the visual guidance signal parameters are a complete set of approach light operation parameters generated by integrating all relevant factors that control the approach lights and affect their lighting effects, including the LED luminous intensity, color change mode, and the opening sequence and speed of the direction indicator lights.

[0095] S3: Determine the approach light control scheme based on the visual guidance signal parameters and the initial guidance parameters, and send a start lighting instruction to the corresponding several approach lights based on the approach light control scheme.

[0096] In this embodiment, the approach light control scheme is a specific operation guide formulated based on the visual guidance signal parameters and the initial guidance parameters; the start lighting instruction is a specific operation command used to activate the approach lights.

[0097] S4: Obtain the environmental feedback information from each approach light area, compare the environmental feedback information with the set value in the initial guidance parameters, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction.

[0098] In this embodiment, the environmental difference value refers to the difference between the actual environmental information and the initial set value; the environmental change threshold range is the allowable environmental change range, and adjustment is required if the environmental change threshold range is exceeded.

[0099] Specifically, step S4 includes:

[0100] S41: Obtain the environmental feedback information from each approach light area according to the start lighting instruction to obtain the zoned environmental feedback information.

[0101] Specifically, the start lighting instruction is a specific operation command generated according to the control parameters of the approach light control scheme and is used to activate the approach lights. The zoned environmental feedback information refers to the actual environmental data collected by the sensors in each approach light area. For the purpose of facilitating the refined analysis of the landing area of a large helicopter airport by region, this application conducts one-to-one zoned differentiation and zoned identification based on each different approach light area to obtain the zoned environmental feedback information corresponding to each approach light area. For the purpose of easy distinction, the zoned environmental feedback information can be associated with the corresponding unique area location identifier.

[0102] In this embodiment, send a start lighting instruction to each approach light area to activate the approach light control system. The sensors in the approach light area start to work, collect the current environmental information in real time, and organize and classify the collected environmental information to form the zoned environmental feedback information.

[0103] S42: Obtain the environmental change end information, and trigger a UAV position update instruction according to the environmental change end information.

[0104] Specifically, the environmental change end information refers to the information indicating that the current environmental change has tended to be stable, which may come from sensors or external systems; the UAV position update instruction is a command used to update the current position coordinates and status information of the UAV.

[0105] S43: Obtain the UAV position update result information, and based on the UAV position update result information and combined with the partitioned environment feedback information, obtain the current comprehensive status information of the specified position.

[0106] Specifically, the UAV position update result information refers to the latest position coordinates and status information after the UAV is updated; the current comprehensive status information refers to the comprehensive evaluation result obtained by combining the UAV position and the environment feedback information.

[0107] S44: Calculate the environmental difference value according to the current comprehensive status information and the set value in the initial guidance parameters, in combination with the emergency landing speed of the UAV.

[0108] Specifically, the environmental difference value refers to the degree of difference between the actual environmental state and the set value of the initial guidance parameters; the emergency landing speed refers to the flight speed of the UAV in an emergency, which affects the requirements and effects of visual guidance.

[0109] For example, assume that the navigation aid light areas A, B, and C are located at different positions on the UAV landing path respectively:

[0110] Area A: The light intensity is 500 lux and the weather condition is light fog.

[0111] Area B: The light intensity is 3000 lux and the weather condition is medium fog.

[0112] Area C: The light intensity is 600 lux and the weather condition is medium fog.

[0113] Partitioned environment feedback information:

[0114] Area A: The light intensity is 500 lux, and the recommended brightness adjustment is 75%.

[0115] Area B: The light intensity is 300 lux, and the recommended brightness adjustment is 90%.

[0116] Area C: The light intensity is 600 lux, and the recommended brightness adjustment is 70%.

[0117] Initial guidance parameter set value:

[0118] Light intensity adaptation brightness: 80%; Color mode: High contrast mode; Direction indicator light flashing frequency: 2 times per second.

[0119] Based on the UAV position update instruction, the current position of the UAV is obtained: It is still 200 meters away from the landing point, with a flight altitude of 50 meters and a flight speed of 10 m / s.

[0120] Current comprehensive status information:

[0121] Area A: Brightness 75%, color mode high contrast, direction indicator flashing frequency 2 times per second.

[0122] Area B: Brightness 85%, color mode high contrast, direction indicator flashing frequency 2 times per second.

[0123] Area C: Brightness 70%, color mode high contrast, direction indicator flashing frequency 2 times per second.

[0124] Combining the new position of the UAV and the area environment feedback information, the calculated result is:

[0125] At 200 meters away from the landing point, stronger visual guidance is required.

[0126] The light intensity in Area B has been improved, but still requires a higher brightness.

[0127] S45: Compare the environmental difference value with the preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction to the corresponding navigation light control terminal.

[0128] For example, the preset environmental change threshold range is 5%, and the calculated result of the environmental difference value is:

[0129] Area A: Brightness difference = 80% - 75% = 5%;

[0130] Area B: Brightness difference = 80% - 85% = -5%;

[0131] Area C: Brightness difference = 80% - 70% = 10%.

[0132] Comparison result:

[0133] Area A: Brightness difference 5% (within the threshold range);

[0134] Area B: Brightness difference -5% (within the threshold range);

[0135] Area C: Brightness difference 10% (exceeds the threshold range).

[0136] Trigger the environmental adaptability adjustment instruction:

[0137] Area C: Since the brightness difference exceeds the threshold range, trigger the environmental adaptability adjustment instruction to adjust the brightness back to 80%.

[0138] S5: Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation light adjustment parameters and send an adjustment lighting instruction to the corresponding navigation light area.

[0139] Specifically, the navigation light adjustment parameters are the new working parameters calculated according to the environmental adaptability adjustment instruction; the adjustment lighting instruction is a specific command for adjusting the working state of the navigation lights.

[0140] In this embodiment, step S5 further includes:

[0141] S51: According to the environmental adaptability adjustment instruction, obtain the navigation light adjustment parameter information, where the navigation light adjustment parameter information includes the LED light emission intensity adjustment value, color mode adjustment value, and direction indicator working state adjustment value in each navigation light area.

[0142] Specifically, the color mode adjustment value includes the adjustment of color combination, color change frequency, and color contrast. For example, the color is switched once per second, or a certain color is maintained unchanged within a specific time period; the direction indicator working state adjustment value includes the on / off state, blinking mode, brightness level (80% brightness to avoid glare caused by overbrightness), and sequence control (such as lighting the indicators in sequence from the landing point outwards to guide the UAV to land correctly).

[0143] S52: Compare the LED light emission intensity adjustment value with the preset brightness threshold. If the LED light emission intensity adjustment value is less than the preset brightness threshold, trigger an adjustment lighting instruction according to the navigation light adjustment parameter information in combination with the emergency landing speed of the UAV.

[0144] Specifically, the brightness threshold is an interval value. If the LED light emission intensity adjustment value is less than the preset brightness threshold, it is determined that when the navigation lights are adjusted according to the navigation light adjustment parameter information, the navigation lights will not have light decay or temperature increase. At this time, the junction temperature of the LED chip will not be too high, and the heat generation of the LED lamp beads will not be too high.

[0145] S53: If the LED light emission intensity adjustment value is greater than the preset brightness threshold, trigger a secondary adjustment instruction, and obtain secondary adjustment parameter information according to the secondary adjustment instruction.

[0146] Specifically, the secondary adjustment parameter information refers to the parameter information after the navigation light adjustment information is adjusted; if the LED light emission intensity adjustment value is greater than the preset brightness threshold, the current light emission intensity is too high, and the junction temperature of the LED chip may be too high, which is not conducive to maintaining the service life of the navigation lights, and the lighting effect of the navigation lights will be affected after long-term use; at this time, trigger a secondary adjustment instruction, and obtain secondary adjustment parameter information after adjustment.

[0147] S54: Trigger an adjustment lighting instruction according to the secondary adjustment parameter information.

[0148] Specifically, the specific operation commands generated based on the secondary adjustment parameters are used to further adjust the working state of the navigation lights.

[0149] In one embodiment, as Figure 2 shown, before step S1, a control method for a self-positioning heliport navigation light further includes:

[0150] S101: Obtain the installation information of the navigation light system and the design speed; wherein, the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the recognition range of the navigation light, and the distance between the recognition range of the navigation light and the landing area, and the design speed includes the design speed of the navigation light brightness, the first design forced landing speed of the unmanned aerial vehicle (UAV), and the second design forced landing speed of the UAV.

[0151] Specifically, the installation information of the navigation light system refers to the information describing the specific installation position and layout of the navigation light; the installation height of the navigation light is the height of the navigation light relative to the ground; the horizontal angle of the navigation light is the angle of the navigation light relative to the horizontal plane, which affects the light coverage range; the distance of the recognition range of the navigation light refers to the maximum distance at which the navigation light can effectively recognize the UAV; the distance between the recognition range of the navigation light and the landing area refers to the distance from the starting point of the recognition range of the navigation light to the end point of the landing area; the design speed is the speed reference value used to calculate and adjust the working parameters of the navigation light; the design speed of the navigation light brightness is the brightness standard of the navigation light set based on different flight speeds; the first design forced landing speed of the UAV is the expected speed when the UAV enters the recognition range of the navigation light; the second design forced landing speed of the UAV is the expected speed when the UAV passes through the landing area.

[0152] S102: According to the first design forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance of the recognition range of the navigation light, judge the first predicted forced landing speed when the UAV enters the recognition range of the navigation light.

[0153] Specifically, considering the influence of factors such as wind speed and terrain on the flight speed, calculate the first predicted forced landing speed when the UAV enters the recognition range of the navigation light.

[0154] S103: According to the installation type of the navigation light, the second design forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area, judge the second predicted forced landing speed when the UAV passes through the landing area.

[0155] Specifically, considering factors such as the deceleration strategy of the UAV and weather conditions; calculate the second predicted forced landing speed when the UAV passes through the landing area.

[0156] S104: Generate a navigation light turn-on speed comparison table for controlling and adjusting the turn-on speed of the navigation light according to the design speed of the navigation light brightness, the first predicted forced landing speed, and the second predicted forced landing speed.

[0157] Specifically, step S104 includes:

[0158] S1041: Obtain the predicted landing time based on the distance between the navigation light recognition range and the landing area, the first predicted forced landing speed, and the second predicted forced landing speed.

[0159] Specifically, the distance between the navigation light recognition range and the landing area refers to the distance from when the UAV enters the navigation light recognition range to when it reaches the landing area.

[0160] S1042: Obtain the designed landing time based on the first designed forced landing speed and the second designed forced landing speed.

[0161] Specifically, the first designed forced landing speed is the speed of the UAV when it enters the navigation light recognition range under the design standard; the second designed forced landing speed is the speed of the UAV when it passes through the landing area under the design standard; the designed landing time is the expected landing time calculated based on the designed speed.

[0162] Assume:

[0163] The first designed forced landing speed = 10 m / s; the second designed forced landing speed = 5 m / s.

[0164] Calculation of the designed landing time:

[0165] The time from entering the recognition range to the landing area = 500 m / 10 m / s = 50 s.

[0166] Assume that an additional time (such as 15 s) is required for the deceleration process within the landing area, then the total designed landing time = 50 s + 15 s = 65 s.

[0167] S1043: Obtain the predicted navigation light turning-on speed based on the navigation light brightness design speed, the predicted landing time, and the designed landing time.

[0168] Specifically, the navigation light brightness design speed refers to the navigation light brightness standard set based on different flight speeds; the predicted navigation light turning-on speed refers to the speed at which the navigation light should turn on calculated based on the predicted landing time and the designed landing time.

[0169] Assume:

[0170] The navigation light brightness design speed = 80%.

[0171] The predicted landing time = 65.56 s.

[0172] The designed landing time = 65 s.

[0173] Calculation of the predicted navigation light turning-on speed:

[0174] If the predicted landing time is slightly longer than the designed landing time, the brightness design speed can be appropriately reduced (e.g., 78%).

[0175] S1044: Calculate the ratio of the first predicted ditching speed to the second predicted ditching speed to obtain a predicted ditching speed ratio for predicting the second actual ditching speed.

[0176] S1045: Calculate the difference in landing time between the predicted landing time and the designed landing time, and calculate the difference in turn-on speed between the predicted turn-on speed of the approach lights and the brightness design speed of the approach lights.

[0177] Specifically, the difference in landing time refers to the difference between the predicted landing time and the designed landing time; the difference in turn-on speed refers to the difference between the predicted turn-on speed of the approach lights and the brightness design speed of the approach lights.

[0178] S1046: According to the difference in landing time and the difference in turn-on speed, obtain a predicted turn-on speed-time correspondence for judging the actual turn-on speed of the approach lights.

[0179] Specifically, according to the difference in landing time and the difference in turn-on speed, establish a predicted turn-on speed-time correspondence; for example, if the difference in landing time is positive, the turn-on speed may need to be increased; otherwise, it is decreased.

[0180] S1047: According to the predicted ditching speed ratio and the predicted turn-on speed-time correspondence, generate an approach light turn-on speed comparison table for controlling and adjusting the turn-on speed of the approach lights.

[0181] Specifically, the approach light turn-on speed comparison table refers to a standard reference table containing the turn-on speeds of the approach lights under different predicted ditching speeds and predicted turn-on speed-time correspondences.

[0182] S105: Obtain a reference range of approach light turn-on speed change representing the threshold of approach light turn-on speed change. According to the reference range of approach light turn-on speed change and the approach light turn-on speed comparison table, generate an approach light turn-on speed control model, which is used to adjust the turn-on speed of the approach lights.

[0183] In this embodiment, the approach light turn-on speed comparison table is a standard reference table containing the turn-on speeds of the approach lights corresponding to different predicted ditching speeds; the reference range of approach light turn-on speed change refers to the allowable change range of the turn-on speed of the approach lights, and adjustment is required if it exceeds this range; the approach light turn-on speed control model refers to an adjustment model generated based on the approach light turn-on speed comparison table and the change reference range, which is used to dynamically adjust the turn-on speed of the approach lights.

[0184] Assume that in a specific scenario, the installation information of the approach light system is as follows:

[0185] Installation height of the navigation aid light: 5 meters;

[0186] Horizontal angle of the navigation aid light: 15 degrees;

[0187] Distance of the recognition range of the navigation aid light: 500 meters;

[0188] Distance between the recognition range of the navigation aid light and the landing area: 100 meters;

[0189] The design speeds are as follows:

[0190] The first designed emergency landing speed of the drone: 10 m / s.

[0191] The second designed emergency landing speed of the drone: 5 m / s.

[0192] Assume that the prediction model obtains the first predicted emergency landing speed of 9 m / s. The prediction model obtains the second predicted emergency landing speed of 6 m / s.

[0193] The content of the navigation aid light activation speed comparison table includes:

[0194] 9 m / s: 75% brightness.

[0195] 6 m / s: 60% brightness.

[0196] The reference range of the navigation aid light activation speed change is set to ±10%, that is, the allowable brightness change range is ±5%. At this time, the navigation aid light activation speed control model generates corresponding adjustment instructions, such as adjusting the brightness to 75% (for the first predicted emergency landing speed) and 60% (for the second predicted emergency landing speed).

[0197] It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0198] In one embodiment, a control system for a self-positioning heliport navigation aid light is provided. The control system for the self-positioning heliport navigation aid light corresponds to a control method for a self-positioning heliport navigation aid light in the above embodiment.

[0199] A control system for a self-positioning heliport navigation aid light includes an information acquisition module, a guidance parameter determination module, a control scheme determination module, an illumination state monitoring module, and an adaptive adjustment module. The detailed descriptions of each functional module are as follows:

[0200] The information acquisition module is used to acquire environmental information, drone status information, and navigation aid light layout information;

[0201] A guiding parameter determination module, configured to determine initial guiding parameters according to environmental information, UAV status information, and navigation light layout information; and calculate visual guiding signal parameters for each navigation light area based on the position status of the UAV relative to each navigation light and the initial guiding parameters.

[0202] A control scheme determination module, configured to determine a navigation light control scheme according to the visual guiding signal parameters and the initial guiding parameters, and send a start lighting instruction to a corresponding number of navigation lights based on the navigation light control scheme.

[0203] An illumination status monitoring module, configured to obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set values in the initial guiding parameters, and calculate an environmental difference value; if the environmental difference value exceeds a preset environmental change threshold range, trigger an environmental adaptability adjustment instruction.

[0204] An adaptability adjustment module, configured to calculate corresponding navigation light adjustment parameters based on the environmental adaptability adjustment instruction and send an adjustment lighting instruction to the corresponding navigation light area.

[0205] For specific limitations on the control system based on self-positioning heliport navigation lights, reference can be made to the limitations on a control method based on self-positioning heliport navigation lights in the above text, which will not be elaborated here; each module in the above control system based on self-positioning heliport navigation lights can be implemented in whole or in part by software, hardware, and their combinations; the above modules can be embedded in the processor of a computer device in hardware form or be independent of it, or can be stored in the memory of a computer device in software form for the processor to call and execute the operations corresponding to the above modules.

[0206] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0207] S1: Obtain environmental information, UAV status information, and navigation light layout information, and determine initial guiding parameters according to the environmental information, UAV status information, and navigation light layout information; the initial guiding parameters include light brightness level, color mode, and working status of direction indicators.

[0208] S2: Calculate visual guiding signal parameters for each navigation light area based on the position status of the UAV relative to each navigation light and the initial guiding parameters.

[0209] S3: Determine a navigation light control scheme according to the visual guiding signal parameters and the initial guiding parameters, and send a start lighting instruction to a corresponding number of navigation lights based on the navigation light control scheme.

[0210] S4: Obtain the environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameters, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction;

[0211] S5: Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation light adjustment parameters and send the adjustment lighting instruction to the corresponding navigation light area.

[0212] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0213] In one embodiment, in particular, according to the embodiments of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments of the present invention include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication module and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), it executes various functions defined in the present invention.

[0214] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0215] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method based on self-positioning helicopter airport navigation lights, characterized in that: include: Acquire environmental information, drone status information, and navigation light layout information, and determine initial guidance parameters based on the environmental information, drone status information, and navigation light layout information; The initial guidance parameters include light brightness level, color mode, and working status of the direction indicator lights; Calculate visual guidance signal parameters for each navigation light area based on the position of the UAV relative to each navigation light and the initial guidance parameters; Determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; Obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger an environmental adaptability adjustment instruction; Based on the environmental adaptability adjustment instruction, calculate the corresponding navigation light adjustment parameters and send the lighting adjustment instruction to the corresponding navigation light area; Before obtaining the environmental information, the UAV state information and the navigation light layout information, and determining the initial guidance parameters according to the environmental information, the UAV state information and the navigation light layout information, the method further includes: Obtaining the installation information and design speed of the navigation light system; wherein the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the navigation light recognition range, and the distance between the navigation light recognition range and the landing area; the design speed includes the navigation light brightness design speed, the first design forced landing speed of the UAV, and the second design forced landing speed of the UAV; the navigation light brightness design speed refers to the navigation light brightness standard set based on different flight speeds; According to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light and the distance of the navigation light identification range, determining the first predicted forced landing speed of the UAV when entering the navigation light identification range; Determine the second predicted forced landing speed of the UAV when it passes through the landing area according to the installation type of the navigation light, the second designed forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area; Generate a navigation light turn-on speed comparison table for adjusting the navigation light turn-on speed according to the navigation light brightness design speed, the first predicted forced landing speed, and the second predicted forced landing speed; A reference range of the navigation light turning on speed change representing the navigation light turning on speed change threshold is obtained, and a navigation light turning on speed control model is generated according to the reference range of the navigation light turning on speed change and the navigation light turning on speed comparison table. The navigation light turning on speed control model is used to adjust the turning on speed of the navigation light.

2. A control method based on self-positioning helicopter airport navigation lights according to claim 1, characterized in that: The acquiring of environmental information, UAV status information and navigation light layout information, and determining initial guidance parameters according to the environmental information, UAV status information and navigation light layout information, specifically includes: extracting current light intensity and weather conditions from the environmental information; Determine the light brightness level of each navigation light area according to the position coordinates, flight altitude and speed in the drone status information and the relative positions of each navigation light area in the navigation light layout information; Determine the working status of the color mode and the direction indicator light according to the environmental information and the drone status information; The light brightness level, color mode and working state of the direction indicator light are associated to obtain the initial guidance parameters.

3. A control method based on self-positioning helicopter airport navigation lights according to claim 2, characterized in that: The calculating of visual guidance signal parameters for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters specifically includes: Calculate the LED luminous intensity in each navigation light area based on the relative distance and angle between the drone and each navigation light area; Determine a color change pattern of each navigation light area according to the relative distance and angle, and the color pattern; According to the relative distance and angle, as well as the working state of the direction indicator light, and in combination with the emergency landing speed of the UAV, determining the order and speed of turning on the direction indicator lights; The LED luminous intensity, color change pattern, turn-on sequence and turn-on speed are associated to obtain the visual guidance signal parameters.

4. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: The step of obtaining environmental feedback information from each navigation light area, comparing the environmental feedback information with the set value in the initial guidance parameter, and calculating an environmental difference value; if the environmental difference value exceeds a preset environmental change threshold range, triggering an environmental adaptability adjustment instruction specifically includes: According to the lighting start instruction, environmental feedback information of each navigation light area is obtained to obtain zone environmental feedback information; Obtaining environmental change completion information, and triggering a drone position update instruction according to the environmental change completion information; Obtaining the drone position update result information, and obtaining the current comprehensive status information of the specified location based on the drone position update result information and the partition environment feedback information; Calculate the environmental difference value according to the current comprehensive state information and the set value in the initial guidance parameter in combination with the emergency landing speed of the UAV; The environmental difference value is compared with a preset environmental change threshold range; if the environmental difference value exceeds the preset environmental change threshold range, an environmental adaptability adjustment instruction is triggered to the corresponding navigation light control terminal.

5. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: The step of calculating corresponding navigation light adjustment parameters based on the environmental adaptability adjustment instruction and sending the lighting adjustment instruction to the corresponding navigation light area specifically includes: According to the environmental adaptability adjustment instruction, the navigation light adjustment parameter information is obtained, wherein the navigation light adjustment parameter information includes the LED luminous intensity adjustment value, the color mode adjustment value and the direction indicator light working state adjustment value in each navigation light area; The LED luminous intensity adjustment value is compared with a preset brightness threshold. If the LED luminous intensity adjustment value is less than the preset brightness threshold, a lighting adjustment instruction is triggered according to the navigation light adjustment parameter information and the emergency landing speed of the UAV; If the LED luminous intensity adjustment value is greater than a preset brightness threshold, a secondary adjustment instruction is triggered, and secondary adjustment parameter information is obtained according to the secondary adjustment instruction; According to the secondary adjustment parameter information, a lighting adjustment instruction is triggered.

6. The control method based on the self-positioning helicopter airport navigation light according to claim 1 is characterized in that: The generating, according to the navigation light brightness design speed, the first predicted forced landing speed and the second predicted forced landing speed, a navigation light opening speed comparison table for adjusting the navigation light opening speed specifically includes: Obtaining a predicted landing time according to the distance between the navigation light recognition range and the landing area, the first predicted forced landing speed, and the second predicted forced landing speed; acquiring a designed landing time according to the first designed forced landing speed and the second designed forced landing speed; According to the navigation light brightness design speed, the predicted landing time, and the designed landing time, the predicted turning-on speed of the navigation light is obtained; Calculating a ratio of the first predicted forced landing speed to the second predicted forced landing speed to obtain a predicted forced landing speed ratio for predicting a second actual forced landing speed; Calculate the landing time difference between the predicted landing time and the designed landing time, and calculate the turning-on speed difference between the predicted turning-on speed of the navigation light and the designed brightness speed of the navigation light; According to the landing time difference and the opening speed difference, a predicted opening speed-time correspondence relationship for determining an actual opening speed of the navigation light is obtained; Generate a navigation light opening speed comparison table for adjusting the navigation light opening speed according to the predicted forced landing speed ratio and the predicted opening speed time correspondence; Before obtaining the environmental information, the UAV state information and the navigation light layout information, and determining the initial guidance parameters according to the environmental information, the UAV state information and the navigation light layout information, the method further includes: Obtaining the installation information and design speed of the navigation light system; wherein the installation information of the navigation light system includes the installation height of the navigation light, the horizontal angle of the navigation light, the distance of the navigation light recognition range, and the distance between the navigation light recognition range and the landing area; the design speed includes the navigation light brightness design speed, the first design forced landing speed of the UAV, and the second design forced landing speed of the UAV; the navigation light brightness design speed refers to the navigation light brightness standard set based on different flight speeds; According to the first designed forced landing speed of the UAV, the horizontal angle of the navigation light and the distance of the navigation light identification range, determining the first predicted forced landing speed of the UAV when entering the navigation light identification range; Determine the second predicted forced landing speed of the UAV when it passes through the landing area according to the installation type of the navigation light, the second designed forced landing speed of the UAV, the horizontal angle of the navigation light, and the distance between the recognition range of the navigation light and the landing area; Generate a navigation light turn-on speed comparison table for adjusting the navigation light turn-on speed according to the navigation light brightness design speed, the first predicted forced landing speed, and the second predicted forced landing speed; A reference range of the navigation light turning on speed change representing the navigation light turning on speed change threshold is obtained, and a navigation light turning on speed control model is generated according to the reference range of the navigation light turning on speed change and the navigation light turning on speed comparison table. The navigation light turning on speed control model is used to adjust the turning on speed of the navigation light.

7. A control system based on self-positioning helicopter airport navigation lights, characterized in that: The system is used to execute a control method based on a self-positioning helicopter airport navigation light according to any one of claims 1 to 6, and comprises: Information acquisition module, used to obtain environmental information, drone status information and navigation light layout information; A guidance parameter determination module is used to determine initial guidance parameters according to the environmental information, the drone state information and the navigation light layout information; and calculate visual guidance signal parameters for each navigation light area based on the position of the drone relative to each navigation light and the initial guidance parameters; A control scheme determination module, used to determine a navigation light control scheme according to the visual guidance signal parameters and the initial guidance parameters, and send a lighting start instruction to a corresponding number of navigation lights based on the navigation light control scheme; The lighting status monitoring module is used to obtain environmental feedback information from each navigation light area, compare the environmental feedback information with the set value in the initial guidance parameter, and calculate the environmental difference value; if the environmental difference value exceeds the preset environmental change threshold range, trigger the environmental adaptability adjustment instruction; The adaptive adjustment module is used to calculate the corresponding navigation light adjustment parameters based on the environmental adaptive adjustment instruction and send the lighting adjustment instruction to the corresponding navigation light area.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a control method based on self-positioning helicopter airport navigation lights as described in any one of claims 1 to 6 are implemented.

9. A computer program product, characterized in that When the computer program product is run on a system, the system is enabled to execute the control method based on the self-positioning helicopter airport navigation light as claimed in any one of claims 1 to 6.

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